A method of identifying an object includes setting scan parameters for scanning, with a sensor, objects in a field of view of the sensor; setting classification parameters for identifying objects scanned in the field of view of the sensor; controlling the sensor to scan for objects in the field of view using the scan parameters, and to identify any scanned objects based upon the classification parameters; receiving information relating to a first object which is not in the field of view but is expected to enter the field of view; modifying the scan parameters based upon the received information, controlling the sensor to scan based upon the modified scan parameters; and identifying the first object in the field of view. Responsive to identifying the first object, the method performs one or more actions so the vehicle avoids the first object.