IP Library › Granted Patent US 12,427,921
Granted Patent B2
US 12,427,921 · App. 17/977,511 · Granted Sep 30, 2025

Sensor assembly with radar for autonomous vehicles

Inventors: Donald Burnette (Mountain View, CA); Court Hinricher (Mountain View, CA); Jay Kuvelker (Mountain View, CA); Andreas Wendel (Mountain View, CA); John Zinn (Mountain View, CA); Laura Shane (Mountain View, CA)
Assignee: Kodiak Robotics, Inc.
B60R1/12B60R1/0605B60R11/04G01S13/865G01S13/867G01S13/931G01S17/86G01S17/931G03B37/04H04N23/90B60R2001/1223B60R2001/1253B60R2011/004
View Patent ↗
Loading inventors, assignments & file history…
Monitor This Case
Get email alerts when status or documents change.
Order Certified Copies
Most orders are placed with the USPTO same day — all within 24 business hours.
Order via The Patent Place →
Pre-filled with this patent's details
Quick Facts
Patent No.
US 12,427,921
App. No.
17/977,511
Granted
Sep 30, 2025
Kind
B2
Abstract

A sensor assembly for autonomous vehicles includes a side mirror assembly configured to mount to a vehicle. The side mirror assembly includes a first camera having a field of view in a direction opposite a direction of forward travel of the vehicle; a second camera having a field of view in the direction of forward travel of the vehicle; and a third camera having a field of view in a direction substantially perpendicular to the direction of forward travel of the vehicle. The first camera, the second camera, and the third camera are oriented to provide, in combination with a fourth camera configured to be mounted on a roof of the vehicle, an uninterrupted camera field of view from the direction of forward travel of the vehicle to a direction opposite the direction of forward travel of the vehicle.

Claims (44)

1. An autonomous vehicle comprising:

a sensor assembly having a proximal end and a distal end, the sensor assembly comprising:

a housing having a forward facing side and a rear facing side;

one or more radars coupled to the housing; and

a side view mirror coupled to the rear facing side of the housing; and

an arm having a proximal end and a distal end, the proximal end of the arm configured to couple to the autonomous vehicle and the distal end of the arm configured to couple to the sensor assembly,

wherein said sensor assembly has a natural frequency between 20 Hz and 200 Hz, and

wherein a distance from a proximal end of the arm to a distal end of the housing is from about 300 mm to about 650 mm.

2. The autonomous vehicle of claim 1 , wherein the housing is configured to be coupled to a side surface of the autonomous vehicle.

3. The autonomous vehicle of claim 2 , further comprising an arm configured to extend the housing laterally away from the side surface of the autonomous vehicle.

4. The autonomous vehicle of claim 3 , wherein the arm has a proximal end coupled to the autonomous vehicle and a distal end coupled to the housing, wherein at least one radar of the one or more radars is positioned between 50 mm and 650 mm from the proximal end.

5. The autonomous vehicle of claim 1 , further comprising a second mirror coupled to the rear facing side of the housing below the side view mirror, the second mirror having a convex mirrored surface.

6. The autonomous vehicle of claim 1 , wherein at least one radar of the one or more radars is positioned at the rear facing side of the housing.

7. The autonomous vehicle of claim 1 , further comprising a vertical plane that is coplanar with the rear facing side of the housing, wherein at least one radar of the one or more radars is directed at an angle with respect to the vertical plane.

8. The autonomous vehicle of claim 7 , wherein the angle is between 10 degrees and 170 degrees about a vertical axis that is parallel to the vertical plane.

9. The autonomous vehicle of claim 7 , further comprising a horizontal plane that is perpendicular to the vertical plane, wherein the at least one radar is directed at a second angle about a horizontal axis with respect to the horizontal plane.

10. The autonomous vehicle of claim 9 , wherein the second angle is a positive upward angle or a negative downward angle.

11. The autonomous vehicle of claim 1 , wherein at least one radar of the one or more radars is positioned at a lower portion of the housing.

12. The autonomous vehicle of claim 1 , wherein at least one radar of the one or more radars is positioned at an upper portion of the housing.

13. The autonomous vehicle of claim 1 , wherein at least one radar of the one or more radars has a viewing angle of about 90 degrees, 180 degrees, 270 degrees, or 360 degrees.

14. The autonomous vehicle of claim 1 , wherein the housing, the one or more radars, and the side view mirror form a side mirror assembly configured to be coupled to an A-pillar of the autonomous vehicle.

15. The autonomous vehicle of claim 1 , further comprising one or more cameras coupled to the housing.

16. The autonomous vehicle of claim 15 , wherein at least one camera of the one or more cameras are coupled to an upper portion of the housing.

17. The autonomous vehicle of claim 15 , wherein the one or more cameras comprises at least two cameras coupled to the housing such that the at least two cameras having a portion of a field of view in opposing directions.

18. The autonomous vehicle of claim 17 , further comprising one or more lidars or a thermal camera.

19. The autonomous vehicle of claim 18 , wherein the one or more lidars comprise two or more lidars or the one or more radars comprises two or more radars.

20. The autonomous vehicle of claim 15 , wherein the one or more cameras comprises at least two cameras coupled to the housing such that the at least two cameras having a portion of a field of view in substantially perpendicular directions.

21. The autonomous vehicle of claim 20 , further comprising one or more lidars or a thermal camera.

22. The autonomous vehicle of claim 21 , wherein the one or more lidars comprise two or more lidars or the one or more radars comprises two or more radars.

23. The autonomous vehicle of claim 1 , further comprising one or more lidars.

24. The autonomous vehicle of claim 23 , wherein the one or more lidars comprise two or more lidars or the one or more radars comprises two or more radars.

25. The autonomous vehicle of claim 23 , further comprising one or more cameras.

26. The autonomous vehicle of claim 25 , wherein the one or more cameras comprises at least two cameras coupled to the housing such that the at least two cameras having a portion of a field of view in opposing directions.

27. The autonomous vehicle of claim 25 , wherein the one or more cameras comprises at least two cameras coupled to the housing such that the at least two cameras having a portion of a field of view in substantially perpendicular directions.

28. The autonomous vehicle of claim 1 , further comprising one or more lidars, a thermal camera, a first camera having a field of view including a direction opposite of a direction of travel, a second camera having a field of view including the direction of travel, a third camera having a field of view including a direction perpendicular to the direction of travel.

29. The autonomous vehicle of claim 28 , wherein the second camera is a wide field of view camera.

30. The autonomous vehicle of claim 28 , wherein the second camera is a narrow field of view camera.

31. The autonomous vehicle of claim 28 , wherein the one or more lidars comprise two or more lidars or the one or more radars comprises two or more radars.

32. The autonomous vehicle of claim 1 , wherein

the arm is configured to extend the sensor assembly laterally away from the autonomous vehicle.

33. The autonomous vehicle of claim 1 , wherein at least one lidar of the one or more radars is located vertically below a hood of the autonomous vehicle.

34. The autonomous vehicle of claim 1 , wherein the sensor assembly is a first sensor assemble, the autonomous vehicle comprising:

a second sensor assembly,

wherein the first sensor assembly is coupled to a left side of the autonomous vehicle and the second sensor assembly is coupled to a right side of the autonomous vehicle.

Assignments (2)
SECURITY INTEREST Recorded Jun 12, 2024
From: KODIAK ROBOTICS, INC.
To: HORIZON TECHNOLOGY FINANCE CORPORATION
Reel/Frame 067711/0909 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 4, 2022
From: BURNETTE, DONALD; HINRICHER, COURT; KUVELKER, JAY; WENDEL, ANDREAS; ZINN, JOHN; SHANE, LAURA
To: KODIAK ROBOTICS, INC.
Reel/Frame 061662/0058 →
Continuity (3)
Continuation 17435368
Provisional Application 62812779 · Mar 1, 2019
Related Publication 20230053054A1 · Feb 16, 2023
References Cited (140)
US 7168818B1 · Schnell · 2007 [cited by examiner]
US 9555740B1 · Zhu et al. · 2017 [cited by applicant]
US 9568608B2 · Ono et al. · 2017 [cited by applicant]
US 10699376B1 · Kwok · 2020 [cited by examiner]
US 20020039064A1 · Yamada · 2002 [cited by applicant]
US 20050257975A1 · Cavin · 2005 [cited by applicant]
US 20070234500A1 · Holmes · 2007 [cited by applicant]
US 20090009604A1 · Kanaoka et al. · 2009 [cited by applicant]
US 20100079883A1 · Englander · 2010 [cited by examiner]
US 20140204215A1 · Kriel et al. · 2014 [cited by applicant]
US 20160148062A1 · Fürsich · 2016 [cited by examiner]
US 20160165211A1 · Balasubramanian · 2016 [cited by applicant]
US 20160288713A1 · Hoyda · 2016 [cited by examiner]
US 20160379411A1 · Harbach et al. · 2016 [cited by applicant]
US 20170210297A1 · Kim et al. · 2017 [cited by applicant]
US 20170343799A1 · Ito et al. · 2017 [cited by applicant]
US 20180032822A1 · Frank et al. · 2018 [cited by applicant]
US 20180032824A1 · Yamamoto · 2018 [cited by applicant]
US 20180188732A1 · Yoo et al. · 2018 [cited by applicant]
US 20180267558A1 · Tiwari et al. · 2018 [cited by applicant]
US 20180356214A1 · Kozak et al. · 2018 [cited by applicant]
US 20180356527A1 · Kozak et al. · 2018 [cited by applicant]
US 20180372875A1 · Juelsgaard et al. · 2018 [cited by applicant]
US 20190204845A1 · Grossman · 2019 [cited by examiner]
US 20190235504A1 · Carter · 2019 [cited by examiner]
US 20190331764A1 · Abari et al. · 2019 [cited by applicant]
US 20200099865A1 · Kodama · 2020 [cited by applicant]
US 20200238914A1 · Almahmoud et al. · 2020 [cited by applicant]
US 20210122293A1 · Hayashida et al. · 2021 [cited by applicant]
CN 106060456A · 2016 [cited by applicant]
CN 108473092A · 2018 [cited by applicant]
DE 10337991A1 · 2005 [cited by applicant]
DE 102015226502A1 · 2017 [cited by applicant]
DE 102017114706A1 · 2018 [cited by applicant]
JP 2002172978A · 2002 [cited by applicant]
JP 2010095185A · 2010 [cited by applicant]
WO 2004062953A2 · 2004 [cited by applicant]
WO 2010052521A1 · 2010 [cited by applicant]
WO 2014189166A1 · 2014 [cited by applicant]
WO 2017177205A1 · 2017 [cited by applicant]
WO 2017196165A1 · 2017 [cited by applicant]
WO 2018170074A1 · 2018 [cited by applicant]
International Search Report and Written Opinion issued in related International Patent Application No. PCT/US2020/020450 dated May 7, 2020. [cited by applicant]
Office Action dated Feb. 23, 2023, directed to Canadian Patent Application No. 3,129,866; 4 pages. [cited by applicant]
U.S. Appl. No. 17/977,475, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,498, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,507, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,520, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,525, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,533, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,540, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,549, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,561, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,569, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,572, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/977,586, filed Oct. 31, 2022. [cited by applicant]
U.S. Appl. No. 17/980,249, filed Nov. 3, 2022. [cited by applicant]
U.S. Appl. No. 17/980,242, filed Nov. 3, 2022. [cited by applicant]
European Search Report for European Application No. 20766668.6 dated Nov. 16, 2022. [cited by applicant]
Non-Final Rejection dated Aug. 14, 2023, directed to U.S. Appl. No. 17/435,368; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 11, 2023, directed to U.S. Appl. No. 17/977,475; 10 pages. [cited by applicant]
Non-Final Rejection dated Sep. 7, 2023, directed to U.S. Appl. No. 17/977,498; 12 pages. [cited by applicant]
Non-Final Rejection dated Sep. 27, 2023, directed to U.S. Appl. No. 17/977,507; 13 pages. [cited by applicant]
Non-Final Rejection dated Sep. 27, 2023, directed to U.S. Appl. No. 17/977,520; 13 pages. [cited by applicant]
Non-Final Rejection dated Sep. 20, 2023, directed to U.S. Appl. No. 17/977,525; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 27, 2023, directed to U.S. Appl. No. 17/977,533; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 27, 2023, directed to U.S. Appl. No. 17/977,540; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 7, 2023, directed to U.S. Appl. No. 17/977,549; 16 pages. [cited by applicant]
Non-Final Rejection dated Sep. 7, 2023, directed to U.S. Appl. No. 17/977,561; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 20, 2023, directed to U.S. Appl. No. 17/977,569; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 20, 2023, directed to U.S. Appl. No. 17/977,572; 14 pages. [cited by applicant]
Non-Final Rejection dated Sep. 11, 2023, directed to U.S. Appl. No. 17/977,586; 14 pages. [cited by applicant]
Non-Final Rejection dated Oct. 20, 2023, directed to U.S. Appl. No. 17/980,249; 17 pages. [cited by applicant]
Non-Final Rejection dated Oct. 17, 2023, directed to U.S. Appl. No. 17/980,242; 17 pages. [cited by applicant]
Notification of the First Office Action dated Aug. 17, 2023, directed to CN Application No. 202080018022.4; 18 pages. [cited by applicant]
Communication pursuant to Article 94(3) EPC dated Jul. 11, 2023, directed to EP Application No. 20 766 668.6; 5 pages. [cited by applicant]
Final Rejection dated Jan. 12, 2024, directed to U.S. Appl. No. 17/435,368; 17 pages. [cited by applicant]
Final Rejection dated Jan. 16, 2024, directed to U.S. Appl. No. 17/977,475; 12 pages. [cited by applicant]
Final Rejection dated Jan. 25, 2024, directed to U.S. Appl. No. 17/977,498; 13 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/977,507; 14 pages. [cited by applicant]
Final Rejection dated Jan. 25, 2024, directed to U.S. Appl. No. 17/977,520; 14 pages. [cited by applicant]
Notice of Allowance dated Jan. 26, 2024, directed to U.S. Appl. No. 17/977,525; 8 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/977,533; 15 pages. [cited by applicant]
Notice of Allowance dated Jan. 29, 2024, directed to U.S. Appl. No. 17/977,540; 8 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/977,549; 18 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/977,561; 15 pages. [cited by applicant]
Final Rejection dated Jan. 11, 2024, directed to U.S. Appl. No. 17/977,569; 14 pages. [cited by applicant]
Final Rejection dated Jan. 11, 2024, directed to U.S. Appl. No. 17/977,572; 16 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/977,586; 15 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/980,249; 19 pages. [cited by applicant]
Final Rejection dated Jan. 24, 2024, directed to U.S. Appl. No. 17/980,242; 18 pages. [cited by applicant]
Communication pursuant to Article 94(3) dated Jan. 29, 2024, directed to EP Application No. 20 766 668.6; 4 pages. [cited by applicant]
Notification of Second Office Action dated Feb. 21, 2024, directed to CN Patent Application No. 202080018022; 13 pages. [cited by applicant]
Office Action dated Mar. 26, 2024, directed to CA Patent Application No. 3, 129,866; 4 pages. [cited by applicant]
Notice of Allowance dated Mar. 13, 2024, directed to U.S. Appl. No. 17/977,540; 8 pages. [cited by applicant]
Notice of Allowance dated Mar. 20, 2024, directed to U.S. Appl. No. 17/977,525; 8 pages. [cited by applicant]
Notice of Allowance dated Mar. 26, 2024, directed to U.S. Appl. No. 17/435,368; 9 pages. [cited by applicant]
Advisory Action dated Mar. 26, 2024, directed to U.S. Appl. No. 17/977,475; 4 pages. [cited by applicant]
Advisory Action dated Mar. 21, 2024, directed to U.S. Appl. No. 17/977,569; 4 pages. [cited by applicant]
Advisory Action dated Mar. 20, 2024, directed to U.S. Appl. No. 17/977,572; 4 pages. [cited by applicant]
Notice of Allowance dated Apr. 30, 2024, directed to U.S. Appl. No. 17/977,569; 8 pages. [cited by applicant]
Notice of Allowance dated May 15, 2024, directed to U.S. Appl. No. 17/977,572; 8 pages. [cited by applicant]
Non-Final Rejection dated May 30, 2024, directed to U.S. Appl. No. 17/977,498; 14 pages. [cited by applicant]
Non-Final Rejection dated May 30, 2024, directed to U.S. Appl. No. 17/977,561; 15 pages. [cited by applicant]
Non-Final Rejection dated May 30, 2024, directed to U.S. Appl. No. 17/977,507; 14 pages. [cited by applicant]
Notice of Allowance dated Jun. 5, 2024, directed to U.S. Appl. No. 17/977,533; 8 pages. [cited by applicant]
Notice of Allowance dated Jun. 7, 2024, directed to U.S. Appl. No. 17/977,475, 8 pages. [cited by applicant]
Non-Final Rejection dated Jun. 12, 2024, directed to U.S. Appl. No. 17/977,520; 13 pages. [cited by applicant]
Non-Final Rejection dated Jun. 12, 2024, directed to U.S. Appl. No. 17/977,549; 17 pages. [cited by applicant]
Non-Final Rejection dated Jun. 12, 2024, directed to U.S. Appl. No. 17/980,249; 22 pages. [cited by applicant]
Notice of Allowance dated Jun. 20, 2024, directed to U.S. Appl. No. 17/977,586; 9 pages. [cited by applicant]
Notification of Third Office Action dated Jun. 26, 2024, directed to CN Patent Application No. 202080018022.4; 13 pages. [cited by applicant]
Non-Final Rejection dated Jul. 5, 2024, directed to U.S. Appl. No. 17/980,242; 20 pages. [cited by applicant]
Notice of Allowance dated Jul. 30, 2024, directed to U.S. Appl. No. 17/977,540; 8 pages. [cited by applicant]
Notice of Allowance dated Jul. 30, 2024, directed to U.S. Appl. No. 17/435,368; 8 pages. [cited by applicant]
Communication under Rule 71(3) EPC dated Jul. 2, 2024, directed to EP Application No. 20 766 668.6; 5 pages. [cited by applicant]
Notice of Allowance dated Sep. 5, 2024, directed to U.S. Appl. No. 17/977,572; 8 pages. [cited by applicant]
Notice of Allowance dated Sep. 5, 2024, directed to U.S. Appl. No. 17/977,569; 8 pages. [cited by applicant]
Final Rejection dated Sep. 11, 2024, directed to U.S. Appl. No. 17/977,498; 6 pages. [cited by applicant]
Final Rejection dated Sep. 11, 2024, directed to U.S. Appl. No. 17/977,507; 16 pages. [cited by applicant]
Final Rejection dated Sep. 11, 2024, directed to U.S. Appl. No. 17/977,561; 17 pages. [cited by applicant]
Rejection Decision mailed Sep. 27, 2024, directed to Chinese Patent Application No. 202080018022.4; 15 pages. [cited by applicant]
Final Rejection dated Oct. 1, 2024, directed to U.S. Appl. No. 17/980,249; 17 pages. [cited by applicant]
Final Rejection dated Oct. 1, 2024, directed to U.S. Appl. No. 17/977,520; 25 pages. [cited by applicant]
Final Rejection dated Oct. 22, 2024, directed to U.S. Appl. No. 17/980,242; 26 pages. [cited by applicant]
Examination Report No. 1 for Standard Patent Application dated Nov. 15, 2024, directed to AU Patent Application No. 2020231338; 3 pages. [cited by applicant]
Advisory Action dated Nov. 19, 2024, directed to U.S. Appl. No. 17/977,498; 4 pages. [cited by applicant]
Final Rejection dated Dec. 9, 2024, directed to U.S. Appl. No. 17/977,549; 19 pages. [cited by applicant]
Notice of Allowance dated Jan. 23, 2025, directed to U.S. Appl. No. 17/977,507; 8 pages. [cited by applicant]
Notice of Allowance dated Jan. 23, 2025, directed to U.S. Appl. No. 17/977,561; 8 pages. [cited by applicant]
Notice of Allowance dated Jan. 29, 2025, directed to U.S. Appl. No. 17/977,525; 8 pages. [cited by applicant]
Notice of Allowance dated Feb. 11, 2025, directed to U.S. Appl. No. 17/435,368; 8 pages. [cited by applicant]
Non-Final Rejection dated Feb. 20, 2025, directed to U.S. Appl. No. 17/980,249; 27 pages. [cited by applicant]
Office Action mailed Feb. 12, 2025, directed to Canadian Patent Application No. 3, 129, 866; 5 pages. [cited by applicant]
Notice of Allowance dated Feb. 12, 2025, directed to U.S. Appl. No. 17/977,498; 8 pages. [cited by applicant]
Notice of Allowance dated Feb. 27, 2025, directed to U.S. Appl. No. 17/980,242; 9 pages. [cited by applicant]
Notice of Allowance dated Mar. 4, 2025, directed to U.S. Appl. No. 17/977,520; 10 pages. [cited by applicant]
Rejection Decision mailed Feb. 9, 2025, directed to Chinese Patent Application No. 202080018022.4; 19 pages. [cited by applicant]
Notice of Allowance dated Apr. 28, 2025, directed to U.S. Appl. No. 17/977,549; 8 pages. [cited by applicant]
Extended European Search Report dated Feb. 20, 2025, directed to EP Application No. 24214351.9; 12 pages. [cited by applicant]