Patent ID: 11899466
Assignee: WAYMO LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A vehicle configured to operate in an autonomous driving mode, the vehicle comprising:
a driving system configured to perform driving operations;
a perception system configured to detect objects in an environment surrounding the vehicle; and
a control system operatively coupled to the driving system and the perception system, the control system having one or more computer processors configured to receive data from the perception system and to direct the driving system based on the received data when operating in the autonomous driving mode;
wherein the perception system includes a pair of side sensor assemblies attached to opposite sides of the vehicle, each side sensor assembly including:
an exterior housing receiving a plurality of sensors therein;
a mounting element configured to rigidly secure the exterior housing to a corresponding side of the vehicle; and
a plurality of sensors received within the exterior housing, the plurality of sensors including:
a long range light detection and ranging (lidar) sensor vertically aligned along a common axis within the exterior housing, the long range lidar sensor having a first detection range of at least 50 meters and a first field of view immediately adjacent to the corresponding side of the vehicle;
a short range lidar sensor vertically aligned along the common axis within the exterior housing, the short range lidar sensor having a second detection range with a second field of view immediately adjacent to the corresponding side of the vehicle, wherein:
the long range lidar sensor is disposed in the exterior housing closer to a roof of the vehicle than the short range lidar sensor, and
the first field of view of the long range lidar sensor wholly encompasses the second field of view of the short range lidar sensor;

a radar sensor disposed within the exterior housing between the long range and short range lidar sensors; and
a camera disposed within the exterior housing between the long range lidar sensor and the radar sensor.