US 12,332,379 B2
Vehicle with multiple light detection and ranging devices (LIDARs)
Gaetan Pennecot, San Francisco, CA (US); Zachary Morriss, San Francisco, CA (US); Samuel Lenius, Sunnyvale, CA (US); Dorel Ionut Iordache, Pleasanton, CA (US); Daniel Gruver, San Francisco, CA (US); Pierre-Yves Droz, Los Altos, CA (US); Luke Wachter, San Francisco, CA (US); Drew Ulrich, San Francisco, CA (US); William Mccann, San Francisco, CA (US); Rahim Pardhan, San Francisco, CA (US); Bernard Fidric, Cupertino, CA (US); Anthony Levandowski, Palo Alto, CA (US); and Peter Avram, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Mar. 8, 2021, as Appl. No. 17/194,447.
Application 17/194,447 is a continuation of application No. 15/715,802, filed on Sep. 26, 2017, granted, now 10,976,437.
Application 15/715,802 is a continuation of application No. 15/714,326, filed on Sep. 25, 2017, granted, now 10,120,079, issued on Nov. 6, 2018.
Application 15/714,326 is a continuation of application No. 15/493,066, filed on Apr. 20, 2017, granted, now 9,864,063, issued on Jan. 9, 2018.
Application 15/493,066 is a continuation of application No. 15/455,009, filed on Mar. 9, 2017, granted, now 9,778,364, issued on Oct. 3, 2017.
Application 15/455,009 is a continuation of application No. 14/668,452, filed on Mar. 25, 2015, granted, now 9,625,582, issued on Apr. 18, 2017.
Prior Publication US 2021/0278503 A1, Sep. 9, 2021
Int. Cl. G01S 7/48 (2006.01); G01C 3/02 (2006.01); G01S 7/481 (2006.01); G01S 17/10 (2020.01); G01S 17/42 (2006.01); G01S 17/66 (2006.01); G01S 17/87 (2020.01); G01S 17/89 (2020.01); G01S 17/93 (2020.01); G01S 17/931 (2020.01); G01S 17/86 (2020.01)
CPC G01S 7/4808 (2013.01) [G01C 3/02 (2013.01); G01S 7/4813 (2013.01); G01S 7/4815 (2013.01); G01S 7/4816 (2013.01); G01S 7/4817 (2013.01); G01S 17/10 (2013.01); G01S 17/42 (2013.01); G01S 17/66 (2013.01); G01S 17/87 (2013.01); G01S 17/89 (2013.01); G01S 17/93 (2013.01); G01S 17/931 (2020.01); G01S 17/86 (2020.01)] 23 Claims
OG exemplary drawing
 
1. A sensor assembly comprising:
a first module including:
a first light filter along an external surface of the first module;
a first light detection and ranging device (lidar) unit disposed within the first module, the first lidar unit having a first field of view, the first lidar unit being configured to detect objects in an external environment of a vehicle based on the first field of view;
a first dividing structure disposed within the first module, the first dividing structure supporting the first lidar unit within the first module; and
a first set of one or more cameras, the first set of cameras being configured to detect objects in the external environment of the vehicle,
wherein the dividing structure separates the first lidar unit from the first set of cameras; and
a second module including:
a second light filter along an external surface of the second module; and
a second lidar unit disposed within the second module, the second lidar unit having a second field of view different from the first field of view, the second lidar unit being configured to detect objects in the external environment of the vehicle based on the second field of view.