Navigating in snow

A system for navigating a vehicle on a road at least partially covered with snow, the system comprising:

• at least one processor programmed to:
• receive from an image capture device, a plurality of images captured of an environment forward of the vehicle, including an area where snow covers a road on which the vehicle travels;
• analyze at least one of the plurality of images to identify a first free space boundary on a first side of the vehicle and extending forward of the vehicle, a second free space boundary on a second side of the vehicle and extending forward of the vehicle, and a forward free space boundary forward of the vehicle and extending between the first free space boundary and the second free space boundary, wherein the first free space boundary, the second free space boundary, and the forward free space boundary define a free space region forward of the vehicle;
• determine a first proposed navigational path for the vehicle through the free space region;
• provide the at least one of the plurality of images to a neural network and receive from the neural network a second proposed navigational path for the vehicle based on analysis of the at least one of the plurality of images by the neural network;
• determine whether the first proposed navigational path agrees with the second proposed navigational path;
• and
• cause the vehicle to travel on at least a portion of the first proposed navigational path if the first proposed navigational path is determined to agree with the second proposed navigational path.