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Methods and systems for detecting weather conditions including fog using vehicle onboard sensors

  • US 8,983,705 B2
  • Filed: 04/30/2013
  • Issued: 03/17/2015
  • Est. Priority Date: 04/30/2013
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving laser data collected from scans of 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 by;

    for a first scan of the environment, associating, by the computing device, the laser data points of the plurality of laser data points with the one or more objects in the environment;

    for a second scan of the environment, determining laser data points that match to the one or more objects based on a location of an object represented by the laser data points;

    determining laser data points that are unassociated with the one or more objects in the environment based on a lack of a match to the one or more objects in the first scan;

    comparing the laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog; and

    based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.

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