USING ENVIRONMENTAL INFORMATION TO ESTIMATE SENSOR FUNCTIONALITY FOR AUTONOMOUS VEHICLES

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. This may include receiving, by one or more processors of the vehicle, first information identifying a current relative humidity measurement within a sensor housing of a vehicle having an autonomous driving mode. The relative humidity measurement and pre-stored environmental map information may be used by the one or more processors to estimate a condition of a sensor within the sensor housing at a future time. This estimated condition may be used by the one or more processors to control the vehicle.