# US 2022/0035005 A1 · Camera ring structure 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 2022/0035005 A1 - Document ID: US20220035005A1 - Status: Published application - Kind: A1 - Application number: 17/503,571 - Filed: 2021-10-18 - Published: 2022-02-03 - Earliest claimed: 2018-06-14 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Kimberly Geneva Toth; Brendan Hermalyn; Shane Mcguire; Felix Jose Alvarez Rivera; Jeremy Dittmer; Andreas Wendel - Web page: https://patentgrep.com/patent/US20220035005A1 ## CPC - G01S 7/4813: {Housing arrangements} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G05D 1/0246: {using a video camera in combination with image processing means} - H04N 23/45: for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images - H04N 23/51: Housings - H04N 23/52: Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements - H04N 23/57: Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - B60R 2300/102: using 360 degree surveillance camera system - B60R 2300/105: using multiple cameras - 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 - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing. ## Claims ### Claim 1 A camera assembly for use on a vehicle configured to operate in an autonomous driving mode, the camera assembly comprising: a chassis including a series of camera mounts distributed along a perimeter of the chassis in a ring arrangement around a central axis; a set of camera modules, each one of the camera modules being affixed to a respective one of the series of camera mounts, the set of camera modules including a first subset and a second subset, the first subset including a pair of image sensors and the second subset comprising an image sensor; a plate affixed to the set of camera modules; and an outer cover connected to the plate, the outer cover including a series of openings corresponding to fields of view of the image sensors of the first and second subsets. ### Claim 2 (depends on 1) The camera assembly of claim 1, wherein the pair of image sensors of the first subset is co-located and aligned along a common vertical axis. ### Claim 3 (depends on 2) The camera assembly of claim 2, wherein a first one of the pair of image sensors of the first subset is recessed relative to a second one of the pair of image sensors of the first subset. ### Claim 4 (depends on 1) The camera assembly of claim 1, wherein a first one of the pair of image sensors of the first subset is set to auto exposure and a second one of the pair of image sensors is set to a fixed exposure. ### Claim 5 (depends on 1) The camera assembly of claim 1, wherein the pair of image sensors of the first subset has an overlapping field of view with the image sensor of the second subset. ### Claim 6 (depends on 1) The camera assembly of claim 1, wherein: the set of camera modules further includes a third subset having a pair of image sensors; and the second subset is disposed so that the first subset is arranged adjacent to a first side of the second subset and the third subset is arranged adjacent to a second side of the second subset. ### Claim 7 (depends on 1) The camera assembly of claim 1, wherein the set of camera modules provides a 360° field of view around the vehicle. ### Claim 8 (depends on 1) The camera assembly of claim 1, wherein the chassis has a diameter sized to provide a 360° field of view around the vehicle. ### Claim 9 (depends on 1) The camera assembly of claim 1, wherein the image sensor of the second subset has a higher resolution than either of the pair of image sensors of the first subset. ### Claim 10 (depends on 1) The camera assembly of claim 1, wherein a first one of the pair of image sensors of the first subset is configured to operate in the range of 10 to 5,000 cd/m2, and a second one of the pair of image sensors of the first subset is configured to operate in the range of 1,000 to 200,000 cd/m2. ### Claim 11 (depends on 10) The camera assembly of claim 10, wherein the image sensor of the second subset is configured to operate in the range of 0.01 to 25 cd/m2. ### Claim 12 (depends on 1) The camera assembly of claim 1, further comprising at least one baffle configured to receive either the first subset or the second subset, the at least one baffle having a corrective optical element secured thereto. ### Claim 13 (depends on 1) The camera assembly of claim 1, further comprising at least one fan disposed within the camera assembly, the at least one fan being having an airflow path directed onto an optical surface of at least one of the first and second subsets of camera modules in order to keep the optical surface clear. ### Claim 14 (depends on 1) The camera assembly of claim 1, wherein the camera assembly comprises a sensor assembly, the sensor assembly further including at least one sensor disposed within the outer cover and separated from the set of camera modules by the plate. ### Claim 15 (depends on 14) The camera assembly of claim 14, wherein: the at least one sensor is a lidar sensor; and the plate is configured to provide at least one of electromagnetic interference protection for the set of camera modules from emissions by the lidar sensor, or electromagnetic interference protection for the lidar sensor from emissions by the set of camera modules. ### Claim 16 A vehicle configured to operate in an autonomous mode, the vehicle comprising: a driving system configured to perform driving operations in the autonomous mode; a perception system configured to detect objects in an environment surrounding the vehicle during the driving operations in the autonomous mode; 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 when operating in the autonomous mode; wherein the perception system includes a sensor assembly, the sensor assembly including: a chassis including a series of camera mounts distributed along a perimeter of the chassis in a ring arrangement around a central axis; a set of camera modules, each one of the camera modules being affixed to a respective one of the series of camera mounts, the set of camera modules including a first subset and a second subset, the first subset including a pair of image sensors and the second subset comprising an image sensor; a plate affixed to the set of camera modules; and an outer cover connected to the plate, the outer cover including a series of openings corresponding to fields of view of the image sensors of the first and second subsets. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein the image sensor of the second subset is arranged to provide a field of view of between 60-135° along a front of the vehicle. ### Claim 18 (depends on 16) The vehicle of claim 16, wherein the pair of image sensors of the first subset is co-located and aligned along a common vertical axis. ### Claim 19 (depends on 16) The vehicle of claim 16, wherein a first one of the pair of image sensors of the first subset is recessed relative to a second one of the pair of image sensors of the first subset. ### Claim 20 (depends on 16) The vehicle of claim 16, wherein: the set of camera modules further includes a third subset having a pair of image sensors; and the second subset is disposed so that the first subset is arranged adjacent to a first side of the second subset and the third subset is arranged adjacent to a second side of the second subset, so that the first subset has an overlapping field of view with the second subset along the first side and the third subset has an overlapping field of view with the second subset along the second side.