US 12,135,391 B2
Self-driving sensor system
Yi-Hui Bruce-Wen, San Francisco, CA (US); YooJung Ahn, Mountain View, CA (US); Jared Gross, Belmont, CA (US); Joshua Newby, San Francisco, CA (US); Jerry Chen, San Francisco, CA (US); Ralph Shepard, Menlo Park, CA (US); and Adam Brown, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Aug. 11, 2020, as Appl. No. 16/990,491.
Application 16/990,491 is a continuation in part of application No. 29/722,227, filed on Jan. 28, 2020, granted, now D950404.
Application 29/722,227 is a continuation in part of application No. 29/689,690, filed on May 1, 2019, granted, now D915913.
Application 29/689,690 is a continuation in part of application No. 29/680,845, filed on Feb. 20, 2019, granted, now D902756.
Prior Publication US 2021/0293932 A1, Sep. 23, 2021
Int. Cl. G01S 7/481 (2006.01); B60R 11/00 (2006.01); B60R 11/04 (2006.01); G01S 7/02 (2006.01); G01S 7/52 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 15/931 (2020.01); G01S 17/08 (2006.01); G01S 17/931 (2020.01)
CPC G01S 7/4813 (2013.01) [G01S 7/027 (2021.05); G01S 7/4817 (2013.01); G01S 7/52006 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G01S 15/931 (2013.01); G01S 17/08 (2013.01); G01S 17/931 (2020.01); B60R 2011/0049 (2013.01); B60R 11/04 (2013.01); G01S 2013/93273 (2020.01); G01S 2015/937 (2013.01)] 1 Claim
OG exemplary drawing
 
1. A vehicle comprising:
a control system having one or more processors configured to operate the vehicle in an autonomous driving mode based on objects and conditions in an environment external to the vehicle; and
a perception system operatively coupled to the control system, the perception system being configured to detect one or more of the objects and conditions in the environment external to the vehicle, the perception system including a first sensor housing disposed along a roof of the vehicle and a second sensor housing disposed along a side quarterpanel of the vehicle,
the first sensor housing comprising:
a base section having a first side facing towards the roof of the vehicle and a second side opposite the first side;
an upper section being disposed along the second side of the base section and extending away from the roof of the vehicle, the upper section having one or more surfaces generally parallel to the second side of the base section, and one or more surfaces generally perpendicular to the second side of the base section; and
a sensor module disposed along the upper section, wherein the sensor module is configured to detect objects or environmental conditions external to the vehicle,
wherein:
the second side of the base section has a first color,
the one or more surfaces of the upper section generally parallel to the second side of the base section have the first color, and
the one or more surfaces of the upper section generally perpendicular to the second side of the base section having a second color distinct from the first color; and
the second sensor housing, the second sensor housing comprising:
a first region arranged generally parallel to a side surface of the vehicle, the first region including at least a first sensor of a first type and a second sensor of a second type;
one or more second regions generally orthogonal to the first region, the one or more second regions not including any sensors therealong; and
wherein the first region has the second color, and at least one of the one or more second regions has the first color distinct from the second color.