US 12,466,322 B2
Sensor assembly for autonomous vehicles
Donald Burnette, Mountain View, CA (US); Court Hinricher, Mountain View, CA (US); Jay Kuvelker, Mountain View, CA (US); Andreas Wendel, Mountain View, CA (US); John Zinn, Mountain View, CA (US); and Laura Shane, Mountain View, CA (US)
Assigned to Kodiak Robotics, Inc., Mountain View, CA (US)
Filed by Kodiak Robotics, Inc., Mountain View, CA (US)
Filed on Nov. 3, 2022, as Appl. No. 17/980,242.
Application 17/980,242 is a continuation of application No. 17/435,368, previously published as PCT/US2020/020450, filed on Feb. 28, 2020.
Claims priority of provisional application 62/812,779, filed on Mar. 1, 2019.
Prior Publication US 2023/0057515 A1, Feb. 23, 2023
Int. Cl. B60R 1/12 (2006.01); B60R 1/06 (2006.01); B60R 11/04 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G03B 37/04 (2021.01); H04N 23/90 (2023.01); B60R 11/00 (2006.01)
CPC B60R 1/12 (2013.01) [B60R 1/0605 (2013.01); B60R 11/04 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G03B 37/04 (2013.01); H04N 23/90 (2023.01); B60R 2001/1223 (2013.01); B60R 2001/1253 (2013.01); B60R 2011/004 (2013.01)] 20 Claims
OG exemplary drawing
 
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.