US Patent 9434382 Vehicle operation in environments with second order objects

Arrangements related to the detection of objects in an external environment of a vehicle are presented. At least a portion of the external environment can be sensed to detect a first order object therein. It can be determined whether the first order object includes a translucent portion. Responsive to determining that the first order object includes a translucent portion, the translucent portion can be analyzed to determine whether a second order object is located within the translucent portion. Responsive to determining that a second order object is located within the translucent portion, the second order object can be analyzed. Information about the second order object can be presented to a vehicle occupant, an alert regarding the second order object can be presented to a vehicle occupant, and/or, when the vehicle is an autonomous vehicle, a driving maneuver for the autonomous vehicle can be determined.