Sensor assembly for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-12466322-B2
Application number	US-202217980242-A
Country	US
Kind code	B2
Filing date	Nov 3, 2022
Priority date	Mar 1, 2019
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

A sensor assembly for autonomous vehicles includes a side minor assembly configured to mount to a vehicle. The side mirror assembly includes a first camera having a field of view in a direction opposite a direction of forward travel of the vehicle; a second camera having a field of view in the direction of forward travel of the vehicle; and a third camera having a field of view in a direction substantially perpendicular to the direction of forward travel of the vehicle. The first camera, the second camera, and the third camera are oriented to provide, in combination with a fourth camera configured to be mounted on a roof of the vehicle, an uninterrupted camera field of view from the direction of forward travel of the vehicle to a direction opposite the direction of forward travel of the vehicle.

First claim

The invention claimed is:

1 . A sensor system for an autonomous vehicle, comprising:
an arm assembly, comprising:
a mounting assembly configured to attach to the autonomous vehicle;
a beam assembly configured to project outward from a surface of the autonomous vehicle;
a sensor assembly having an upper portion, a lower portion, a forward portion and a rearward portion, the sensor assembly having a vertical axis extending from the upper portion to the lower portion; and a plurality of sensors housed in the sensor assembly including at least one of each of a camera, a radar, and a lidar, wherein one of the camera, the radar, or the lidar is positioned vertically below the beam assembly, another of the camera, the radar, or the lidar is positioned vertically in line with the beam assembly, and another of the camera, the radar, or the lidar is positioned vertically above the beam assembly, wherein at least one of the plurality of sensors has a field of view directed in a direction of travel of the autonomous vehicle and at least one of the plurality of sensors has a field of view in a direction opposite the direction of travel, wherein the camera comprises a rear view camera having a narrow field of view in the direction opposite the direction of travel, the narrow field of view being less than or equal to 30 degrees, and the rear view camera being angled about the vertical axis about 10 degrees away from the direction opposite the direction of travel and being configured to detect objects at a distance greater than 50 meters from the autonomous vehicle, and wherein the radar comprises a rear view radar directed in the direction opposite the direction of travel, the rear view radar being angled about the vertical axis about 20 degrees away from the direction opposite the direction of travel.

2 . The sensor system of claim 1 , wherein the mounting assembly is configured to be coupled to a side surface of the autonomous vehicle.

3 . The sensor system of claim 2 , further comprising a side view mirror coupled to the sensor assembly.

4 . The sensor system of claim 3 , further comprising a second mirror coupled to a rear facing side of the sensor assembly below the side view mirror.

5 . The sensor system of claim 1 , wherein a lidar is positioned at the lower portion of the sensor assembly.

6 . The sensor system of claim 1 , wherein the beam assembly has a longitudinal axis extending from the mounting assembly to the sensor assembly, the autonomous vehicle having a surface to connect the mounting assembly to the autonomous vehicle such that the longitudinal axis of the beam assembly is substantially perpendicular to the surface of the autonomous vehicle.

7 . The sensor system of claim 6 , wherein the vertical axis of the sensor assembly is substantially perpendicular to the longitudinal axis of the beam assembly.

8 . The sensor system of claim 7 , wherein the direction of travel of the autonomous vehicle is substantially perpendicular to the vertical axis of the sensor assembly and the longitudinal axis of the beam assembly.

9 . The sensor system of claim 8 , wherein the sensor assembly is projected outward from the autonomous vehicle at a distance between 50 mm and 650 mm.

10 . The sensor system of claim 1 , wherein a first sensor has a field of view in a direction in substantially the direction of travel and a first sensor type of either a lidar, camera or radar; and a second sensor has a field of view in a direction substantially opposite of the direction of travel and a second sensor type of either a lidar, camera or radar that is different than the first sensor type.

11 . A sensor system for an autonomous vehicle, comprising:
an arm assembly, comprising:
a mounting assembly configured to attach to the autonomous vehicle;
a beam assembly configured to project outward from a surface of the autonomous vehicle;
a sensor assembly having an upper portion, a lower portion, a forward portion and a rearward portion, the sensor assembly having a vertical axis extending from the upper portion to the lower portion; and a plurality of sensors housed in the sensor assembly including at least one of each of a camera, a radar, and a lidar, wherein one of the camera, the radar, or the lidar is positioned vertically below the beam assembly, another of the camera, the radar, or the lidar is positioned vertically in line with the beam assembly, and another of the camera, the radar, or the lidar is positioned vertically above the beam assembly; wherein the plurality of sensors has a field of view around the autonomous vehicle of 360 degrees, wherein the camera comprises a rear view camera having a narrow field of view in a direction opposite a direction of travel, the rear view camera being angled about the vertical axis about 10 degrees away from the direction opposite the direction of travel, being angled downward at least 5 degrees from a horizontal plane that is perpendicular to the vertical axis, and being configured to detect objects at a distance greater than 50 meters from the autonomous vehicle, and wherein the radar comprises a rear view radar directed in the direction opposite the direction of travel, the rear view radar being angled about the vertical axis about 20 degrees away from the direction opposite the direction of travel.

12 . The sensor system of claim 11 , wherein the mounting assembly is configured to be coupled to a side surface of the autonomous vehicle.

13 . The sensor system of claim 12 , further comprising a side view mirror coupled to the sensor assembly.

14 . The sensor system of claim 13 , further comprising a second mirror coupled to a rear facing side of the sensor assembly below the side view mirror.

15 . The sensor system of claim 11 , wherein a lidar is positioned at the lower portion of the sensor assembly.

16 . The sensor system of claim 11 , wherein the beam assembly has a longitudinal axis extending from the mounting assembly to the sensor assembly, the autonomous vehicle having a surface to connect the mounting assembly to the autonomous vehicle such that the longitudinal axis of the beam assembly is substantially perpendicular to the surface of the autonomous vehicle.

17 . The sensor system of claim 16 , wherein the vertical axis of the sensor assembly is substantially perpendicular to the longitudinal axis of the beam assembly.

18 . The sensor system of claim 17 , wherein a direction of travel of the autonomous vehicle is substantially perpendicular to the vertical axis of the sensor assembly and the longitudinal axis of the beam assembly.

19 . The sensor system of claim 18 , wherein the sensor assembly is projected outward from the autonomous vehicle at a distance between 50 mm and 650 mm.

20 . The sensor system of claim 11 , wherein a first sensor has a field of view in a direction in substantially a direction of travel and a first sensor type of either a lidar, camera or radar; and a second sensor has a field of view in a direction substantially opposite of the direction of travel and a second sensor type of either a lidar, camera or radar that is different than the first sensor type.

Assignees

• Kodiak Robotics Inc

Inventors

• Burnette Donald
• Hinricher Court
• Kuvelker Jay
• Wendel Andreas
• Zinn John
• Shane Laura

Classifications

• B60R2001/1253

  with cameras, video cameras or video screens · CPC title

• H04N23/90

  Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums · CPC title

• G03B37/04

  with cameras or projectors providing touching or overlapping fields of view · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title