Realtime proactive object fusion for object tracking

A system for tracking objects in an autonomous vehicle having multiple sensors, comprising:

• a data storage device that stores a plurality of weights, each weight is associated with a type of environmental condition and a type of a sensor;
• and
• a control module configured to, by a processor, determine a type of an environmental condition associated with the autonomous vehicle, adjust a weight associated with a first type of sensor of the multiple sensors in response to the determined type of the environmental condition based on the plurality of stored weights, fuse sensor data from the multiple sensors based on the adjusted weight, track an object in the environment of the autonomous vehicle based on the fused sensor data, and control the autonomous vehicle based on the tracked object.

A vehicle, comprising:

• a plurality of sensors having a plurality of different sensor types;
• and
• a controller configured to, by a processor, determine a type of an environmental condition associated with the autonomous vehicle, adjust a weight associated with a first type of sensor of the multiple sensors in response to the type of the environmental condition, fuse sensor data from the multiple sensors based on the adjusted weight, track an object in the environment of the autonomous vehicle based on the fused sensor data, and control the autonomous vehicle based on the tracked object.