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A review of the literature indicates that the autonomous vehicle is sensitive to changing weather conditions. This paper presents the results of our own bench tests to determine the impact of weather conditions on the sensors of an autonomous vehicle. The effects of rainfall and snowfall were analysed. Using the results of the own tests, simulations of vehicle braking were performed. The atmospheric conditions are represented in two parameters that were changed in the simulation tests: the coefficient of adhesion and the visibility range. The simulations performed were intended to determine the safe speed at which a vehicle can travel in the given weather conditions to stop in front of an obstacle. The paper compares the braking results for different values of adhesion coefficient and different visibility range of the sensors. The results of the calculations demonstrate that a vehicle dynamics model with 5 degrees of freedom, can be used to determine the braking distance of a vehicle. In the cases analysed in this paper, the occurrence of severe weather conditions necessitated a reduction of the vehicle speed by half.