Methods and Systems for Detecting Weather Conditions Including Sunlight Using Vehicle Onboard Sensors
First Claim
1. A method comprising:
- receiving laser data collected for an environment of a vehicle, wherein the laser data includes a plurality of laser data points;
associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment;
determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle;
determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and
identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.
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Abstract
Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.
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Citations
20 Claims
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1. A method comprising:
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receiving laser data collected for an environment of a vehicle, wherein the laser data includes a plurality of laser data points; associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment; determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle; determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
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receiving laser data collected for an environment of a vehicle, wherein the laser data includes a plurality of laser data points; associating laser data points of the plurality of laser data points with one or more objects in the environment; determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle; determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and identifying an indication that a weather condition of the environment of the vehicle is sunny. - View Dependent Claims (16, 17)
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18. A system, comprising:
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at least one processor; and data storage comprising instructions executable by the at least one processor to cause the system to perform functions comprising; receiving laser data collected for an environment of a vehicle, wherein the laser data includes a plurality of laser data points; associating laser data points of the plurality of laser data points with one or more objects in the environment; and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle; determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and identifying an indication that a weather condition of the environment of the vehicle is sunny. - View Dependent Claims (19, 20)
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Specification