US Patent 10963462 Enhancing autonomous vehicle perception with off-vehicle collected data

In an embodiment, a method includes receiving, at an autonomous vehicle, reported data regarding an object in proximity to the autonomous vehicle. The data is collected by a collecting device external to the autonomous vehicle, and is relayed to the autonomous vehicle via a server. The reported data includes a current location, type, or predicted location of the object. The method further includes determining whether the reported data of the object matches an object in an object list determined by on-board sensors of the autonomous vehicle. If the determination finds a found object in the object list, the method correlates the reported data of the object to the found object in the object list. Otherwise, the method adds the reported data of the object to an object list of objects detected by sensor from on-board sensors of the autonomous vehicle. In embodiments, the collecting device is a mobile device.