Sensing assembly for autonomous driving

An autonomous driving assembly for a vehicle, comprising:

• a plurality of lidar units configured to be supported by a vehicle body, the lidar units being collectively configured to detect a periphery region in proximity to the vehicle body to aid in autonomous driving upon coupling the driving assembly to the vehicle body, the plurality of lidar units including a subset of lidar units including at least two lidar units having a fixed disposition relative to one another, the subset of lidar units being supported by a support structure;
• wherein:
• each of the plurality of lidar units has a field of view of less than 180 degrees;
• the support structure is attached to the vehicle rotatably attached to the vehicle body via a gimbal;
• and
• at least one of the plurality of lidar units is configured to be moved to focus on a region having a highest object density within a volume of space around the vehicle, the object density being determined based on a number of objects within the volume of space, a percentage of the volume of space that is taken up by one or more objects, or a percentage of the volume of space that is not taken up by one or more objects having a continuous volume that meets a minimum threshold.