Patent ID: 9367065
Filing Date: 2016-06-14
CPC Classification: B60W,G05D

Claim Text:
1. A method comprising: generating, for each given sensor of a plurality of sensors for detecting objects in a vehicle's environment, a 3D model of the given sensor's field of view; receiving weather information, the weather information including one or more of reports, radar information, forecasts and real-time measurements concerning actual or expected weather conditions in the vehicle's environment; adjusting one or more characteristics of the plurality of 3D models based on the received weather information to account for an impact of the actual or expected weather conditions on a range of the field of view for one or more of the plurality of sensors; after the adjusting, aggregating, by one or more processors, the plurality of 3D models to generate a comprehensive 3D model, wherein the comprehensive 3D model indicates an extent of an aggregated field of view for the plurality of sensors; combining the comprehensive 3D model with detailed map information using probability data of the detailed map information indicating a probability of detecting objects at various locations in the detailed map information from various possible locations of the vehicle to produce a combined model annotated with information identifying a first portion of the environment as occupied by an object, a second portion of the environment as unoccupied by an object, and a third portion of the environment as unobserved by any of the plurality of sensors; and using the combined model to maneuver the vehicle.