Sensor Layout For Autonomous Vehicles

Patent No. US11076109 (titled "Sensor Layout For Autonomous Vehicles") was filed by Tusimple Inc on Sep 16, 2019.

’109 is related to the field of autonomous vehicle technology, specifically addressing the challenge of achieving robust environmental perception. Current autonomous driving systems rely on multiple sensors, but optimizing their layout to provide accurate and timely data without overwhelming processing modules is a complex problem. The invention aims to improve the sensor layout for autonomous vehicles, enabling them to better perceive their surroundings and make safer decisions.

The underlying idea behind ’109 is to use a combination of cameras with different focal lengths and strategically placed side and rear cameras to create a comprehensive view around the vehicle. By using at least three forward-facing cameras with varying focal lengths, the system can capture both a wide field of view for near-field awareness and a narrow field of view for long-range object detection. This multi-focal length approach enhances the system's ability to perceive objects at different distances with varying levels of detail.

The claims of ’109 focus on a sensor system for autonomous or semi-autonomous vehicles, comprising a set of forward-facing cameras, side cameras, and rear cameras. The key element is the use of at least three forward-facing cameras with different focal lengths. The system also includes a right-side camera and a left-side camera, each providing a field of view to the respective sides of the vehicle. The system further includes at least two backward-facing cameras with a focal length that matches one of the forward-facing cameras.

In practice, the system would mount multiple cameras on a vehicle, such as a tractor-trailer, with the forward-facing cameras providing overlapping fields of view at different zoom levels. The side cameras would cover blind spots, and the rear cameras would aid in maneuvers like reversing or lane changes. The different focal lengths allow the system to detect objects at varying distances, from nearby obstacles to distant vehicles, providing a more complete picture of the vehicle's surroundings. The rear cameras matching the focal length of one of the forward cameras simplifies the processing pipeline.

This approach differs from prior solutions that may rely on a single focal length or a limited number of cameras. By combining multiple focal lengths, the system can achieve a wider range of perception and better object detection capabilities. The strategic placement of side and rear cameras further enhances the system's ability to perceive its surroundings, providing a more robust and reliable sensor suite for autonomous driving. The 360-degree coverage is achieved through a combination of cameras, LiDAR, and RADAR, ensuring comprehensive environmental awareness.

How does this patent fit in bigger picture?

Technical landscape at the time

In the late 2010s when ’109 was filed, autonomous vehicle systems commonly relied on multiple sensors to perceive the surrounding environment. At a time when sensor fusion was typically implemented using algorithms to combine data from various sensors, the layout and configuration of these sensors was critical for providing accurate and timely data to downstream algorithm modules.

Novelty and Inventive Step

The examiner allowed the claims because a prior art reference (Dong et al.) taught a system with a vehicle capable of autonomous operation, forward-facing cameras with different focal lengths, and side cameras. However, Dong did not teach backward-facing cameras with a specific focal length relationship to the forward-facing cameras. Another reference (Mays) taught a tractor coupled to a semi-trailer with cameras, but when combined with Dong, it still failed to teach the backward-facing camera limitation. The examiner conducted a thorough search and found no prior art that anticipated or rendered obvious the claimed combination, especially the backward-facing camera limitation.

Claims

This patent contains 20 claims, with independent claims 1 and 8. The independent claims are directed to systems comprising vehicles or tractors with multiple cameras having different focal lengths, along with side and backward-facing cameras. The dependent claims generally add further details, features, or components to the systems described in the independent claims, such as specific focal lengths, LiDARs, RADARs, GPS, and IMUs.

Key Claim Terms New

Definitions of key terms used in the patent claims.

Term (Source)	Support for Specification	Interpretation
Backward-facing cameras (Claim 1, Claim 8)	“For example, an optimized sensor layout for autonomous vehicles is described to accurately perceive the environment, pedestrians, other vehicles and drivers, and debris. An optimized sensor layout allows the host vehicle and associated algorithm modules to address these potential scenarios and respond accordingly. Thus, the disclosure provides an optimized sensor layout as a solution to the above problems, among other solutions.”	At least two cameras positioned at the rear of the vehicle to capture images or video of the area behind it.
Different focal lengths (Claim 1, Claim 8)	“For example, an optimized sensor layout for autonomous vehicles is described to accurately perceive the environment, pedestrians, other vehicles and drivers, and debris. An optimized sensor layout allows the host vehicle and associated algorithm modules to address these potential scenarios and respond accordingly. Thus, the disclosure provides an optimized sensor layout as a solution to the above problems, among other solutions.”	At least three of the forward-facing cameras have different focal lengths, implying different zoom levels or fields of view.
Forward-facing cameras (Claim 1, Claim 8)	“For example, an optimized sensor layout for autonomous vehicles is described to accurately perceive the environment, pedestrians, other vehicles and drivers, and debris. An optimized sensor layout allows the host vehicle and associated algorithm modules to address these potential scenarios and respond accordingly. Thus, the disclosure provides an optimized sensor layout as a solution to the above problems, among other solutions.”	Multiple cameras positioned at the front of the vehicle (or tractor/semi-trailer) to capture images or video of the area in front of it.
Left-side camera (Claim 1, Claim 8)	“For example, an optimized sensor layout for autonomous vehicles is described to accurately perceive the environment, pedestrians, other vehicles and drivers, and debris. An optimized sensor layout allows the host vehicle and associated algorithm modules to address these potential scenarios and respond accordingly. Thus, the disclosure provides an optimized sensor layout as a solution to the above problems, among other solutions.”	A camera positioned on the left side of the vehicle (or tractor/semi-trailer) to capture images or video of the area to the left.
Right-side camera (Claim 1, Claim 8)	“For example, an optimized sensor layout for autonomous vehicles is described to accurately perceive the environment, pedestrians, other vehicles and drivers, and debris. An optimized sensor layout allows the host vehicle and associated algorithm modules to address these potential scenarios and respond accordingly. Thus, the disclosure provides an optimized sensor layout as a solution to the above problems, among other solutions.”	A camera positioned on the right side of the vehicle (or tractor/semi-trailer) to capture images or video of the area to the right.

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US11076109

TUSIMPLE INC

Application Number: US16572155
Filing Date: Sep 16, 2019
Status: Granted
Expiry Date: Sep 16, 2039
External Links: Slate, USPTO, Google Patents

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