# US 2021/0344849 A1 · Sensor layout for autonomous vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0344849 A1 - Document ID: US20210344849A1 - Status: Published application - Kind: A1 - Application number: 17/374,112 - Filed: 2021-07-13 - Published: 2021-11-04 - Earliest claimed: 2019-09-16 - Assignees: Tusimple, Inc. - Applicants: Tusimple, Inc. - Inventors: Lei NIE - Web page: https://patentgrep.com/patent/US20210344849A1 ## CPC - G01S 13/426: {Scanning radar, e.g. 3D radar (G01S13/66 takes precedence)} - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar - G01S 13/931: of land vehicles - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled - H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils - G01S 2013/9316: {combined with communication equipment with other vehicles or with base stations} - G01S 2013/9318: {Controlling the steering} - G01S 2013/93185: {Controlling the brakes} - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93273: {on the top of the vehicles} - G01S 2013/93274: {on the side of the vehicles} - G01S 2013/93277: {in the lights} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Disclosed are devices and systems for an optimized sensor layout for an autonomous or semi-autonomous vehicle. In one aspect, the system includes a vehicle capable of semi-autonomous or autonomous operation. A plurality of forward-facing cameras is coupled to the vehicle and configured to have a field of view in front of the vehicle. At least three forward-facing cameras of the plurality of forward-facing cameras have different focal lengths. A right-side camera is coupled to the right side of the vehicle, the right-side camera configured to have a field of view to the right of the vehicle. A left-side camera is coupled to the left side of the vehicle, the left-side camera is configured to have a field of view to the left of the vehicle. ## Claims ### Claim 1 A system comprising: a vehicle capable of semi-autonomous or autonomous operation; a plurality of forward-facing cameras coupled to the vehicle and configured to have a field of view in front of the vehicle; at least two backward-facing cameras coupled to the vehicle and configured to have a field of view behind the vehicle, wherein the at least two backward-facing cameras have a focal length that is same as a focal length of one of the plurality of forward-facing cameras. ### Claim 2 (depends on 1) The system of claim 1, further comprising: a right-side camera coupled to a right side of the vehicle, the right-side camera configured to have a field of view to a right of the vehicle; and a left-side camera coupled to a left side of the vehicle, the left-side camera configured to have a field of view to a left of the vehicle. ### Claim 3 (depends on 1) The system of claim 1, wherein the plurality of forward-facing cameras includes at least three forward-facing cameras having different focal lengths from one another. ### Claim 4 (depends on 1) The system of claim 1, wherein a first forward-facing camera of the plurality of forward-facing cameras has a focal length of 15 mm or less, a second forward-facing camera of the plurality of forward-facing cameras has a focal length of 8-36 mm, and a third forward-facing camera of the plurality of forward-facing cameras has a focal length of at least 25 mm. ### Claim 5 (depends on 1) The system of claim 1, wherein the backward-facing camera includes a camera having a focal length of 12 mm. ### Claim 6 (depends on 1) The system of claim 1, further comprising: a set of LiDARs (light detection and rangings) coupled to the vehicle, the set of LiDARs configured to measure a distance between the vehicle and an object. ### Claim 7 (depends on 1) The system of claim 1, further comprising: a RADAR (radio detection and ranging) coupled to the vehicle and configured to detect an object near the vehicle and/or measure a velocity and a distance of the object. ### Claim 8 (depends on 7) The system of claim 7, wherein the RADAR operates at a frequency greater than 40 GHz. ### Claim 9 (depends on 7) The system of claim 7, wherein the RADAR is configured to have a range of vision at or near 360 degrees around the vehicle. ### Claim 10 A system comprising: a tractor capable of semi-autonomous or autonomous operation, the tractor coupled to a semi-trailer; at least three forward-facing cameras coupled to the tractor or the semi-trailer and configured to have a field of view in front of one of the tractor or the semi-trailer, the at least three forward-facing cameras having different perception ranges from one another; at least two backward-facing cameras coupled to one of the tractor or the semi-trailer and configured to have a field of view behind the tractor or the semi-trailer, the at least two backward-facing cameras having a perception range that is same as a perception range of one of the at least three forward-facing cameras. ### Claim 11 (depends on 10) The system of claim 10, wherein the at least three forward-facing cameras include a first forward-facing camera having a perception range of about 250 meters, a second forward-facing camera having a perception range of about 500 meters, and a third forward-facing camera having a perception range of about 1000 meters. ### Claim 12 (depends on 11) The system of claim 11, wherein the at least two backward-facing cameras having the perception range of about 250 meters. ### Claim 13 (depends on 10) The system of claim 10, further comprising: a LiDAR configured to monitor an angle of the semi-trailer relative to the tractor. ### Claim 14 (depends on 10) The system of claim 10, further comprising: a set of LiDARs coupled to the tractor, the set of LiDARs configured to measure a distance between the tractor and an object; and a long-range RADAR coupled to the tractor, the long-range RADAR being a microwave RADAR and configured to detect the object near the tractor. ### Claim 15 (depends on 14) The system of claim 14, wherein the set of LiDARs is configured to have a range of vision at or near 360 degrees around the tractor and the semi-trailer and the long-range RADAR operates at a frequency greater than 40 GHz. ### Claim 16 (depends on 10) The system of claim 10, further comprising: a GPS (global positioning system) transceiver coupled to the tractor, the GPS transceiver configured to provide longitude, latitude, and heading angle information; and an IMU (inertial measurement unit) coupled to the tractor, the IMU configured to sense position and orientation changes of the tractor based on inertial acceleration. ### Claim 17 (depends on 16) The system of claim 16, wherein the GPS transceiver is further configured to provide localization data and pose estimation data and the IMU is further configured to assist in accurately locating the tractor for a period of time during a signal outage. ### Claim 18 (depends on 10) The system of claim 10, further comprising: a plurality of short/medium-range RADAR coupled to one of the tractor or the semi-trailer, the plurality of short/medium-range RADAR configured to measure velocity and distance of an object near the tractor and configured to operate at a frequency between 2 and 36 GHz. ### Claim 19 (depends on 18) The system of claim 18, wherein the plurality of short/medium-range RADAR is configured to have a range of vision at or near 360 degrees around the tractor. ### Claim 20 (depends on 8) The system of claim 8, further comprising: a global mobile satellite system (GMSS) coupled to the tractor.