The occupancy grid mapping module is designed to create an occupancy grid map from the input point cloud data of a driving sequence, distinguishing between drivable and non-drivable areas at each timestamp.

The figure on the left illustrates the process of generating an occupancy map for the S8 scenario. For a detailed explanation of the generation process, please refer to the accompanying paper.

Additionally, this section provides global map visualizations for all scenarios, including S1, S2, S3, ..., and S8. Note that the occupancy status of the map will be updated in real-time during the planning process. (see Trajectory Generation).