| 摘要 |
Aspects of the present disclosure relate generally to modeling a vehicle's (101) view of its environment. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors (310-311, 320-323, 330-331) if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component (148), a computer (110) may employ an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models (1304, 1306 in FIG. 13). After this adjusting, the models may be aggregated into a comprehensive 3D model (FIG. 10, 1308 in FIG. 13). The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations (1100 in FIG. 11, 1310 in FIG. 13). A model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information (1312 in FIG. 13) and may be used to maneuver the vehicle (1314 in FIG. 13). |
