Sensor layout for autonomous vehicles
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.
1. A system, comprising:
a plurality of forward-facing cameras coupled to a vehicle and configured to have a field of view in front of the vehicle;
a first backward-facing camera coupled to the vehicle and configured to have a field of view behind the vehicle, the first backward-facing camera having a first focal length;
a second backward-facing camera coupled to the vehicle and configured to have the field of view behind the vehicle, the second backward-facing camera having a second focal length that is same as the first focal length of the first backward-facing camera,
wherein the plurality of forward-facing cameras has different focal lengths from one another, and
wherein one of the plurality of forward-facing cameras has a focal length that is same as the first focal length of the first backward-facing camera.
2. The system of claim 1 , wherein the plurality of forward-facing cameras includes:
a first forward-facing camera having a focal length of 15 mm or less,
a second forward-facing camera having a focal length of 8-36 mm, and
a third forward-facing camera having a focal length of at least 25 mm.
3. The system of claim 1 , wherein the plurality of forward-facing cameras includes:
a first forward-facing camera having a focal length of 6 mm,
a second forward-facing camera having a focal length of 12 mm, and
a third forward-facing camera having a focal length of 25 mm.
4. The system of claim 1 , wherein the plurality of forward-facing cameras includes:
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.
5. The system of claim 1 , wherein the first focal length of the first backward-facing camera is equal to or smaller than 12 mm.
6. The system of claim 1 , wherein the plurality of forward-facing cameras, the first backward-facing camera, and the second backward-facing camera are configured to provide a 360 degree field of vision view.
7. 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.
8. 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.
9. 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.
10. A system, comprising:
a first forward-facing camera and a second forward-facing camera that are coupled to a vehicle and configured to have a field of view in front of the vehicle;
a first backward-facing camera and a second backward-facing camera that are coupled to the vehicle and configured to have a field of view behind the vehicle,
wherein the first backward-facing camera and the second backward-facing camera have a same focal length, and
wherein a focal length of the first forward-facing camera is different from a focal length of the second forward-facing camera, and
wherein each of a focal length of the first backward-facing camera and a focal length of the second backward-facing camera is not greater than the focal length of the first forward-facing camera.
11. The system of claim 10 ,
wherein the focal length of the first forward-facing camera and the focal length of the second forward-facing camera are different from the focal length of the first backward-facing camera and the second backward-facing camera.
12. The system of claim 11 , further comprising:
a third forward-facing camera configured to have a field of view in front of the vehicle and having a focal length that is same as the focal length of the first backward-facing camera and the second backward-facing camera.
13. The system of claim 10 ,
wherein one of the focal length of the first forward-facing camera and the focal length of the second forward-facing camera is same as the focal length of the first backward-facing camera and the second backward-facing camera.
14. The system of claim 10 , wherein the first backward-facing camera and the second backward-facing camera have a perception range of about 250 meters or 350 meters.
15. The system of claim 10 , further comprising:
a LiDAR configured to monitor an angle of vehicle.
16. The system of claim 10 , further comprising:
a set of LiDARs coupled to the vehicle, the set of LiDARs configured to measure a distance between the vehicle and an object; and
a long-range RADAR coupled to the vehicle, the long-range RADAR being a microwave RADAR and configured to detect the object near the vehicle.
17. The system of claim 10 , further comprising:
a GPS (global positioning system) transceiver coupled to the vehicle, the GPS transceiver configured to provide longitude, latitude, and heading angle information; and
an IMU (inertial measurement unit) coupled to the vehicle, the IMU configured to sense position and orientation changes of the vehicle based on inertial acceleration.
18. The system of claim 10 , further comprising:
a plurality of short/medium-range RADAR coupled to the vehicle, the plurality of short/medium-range RADAR configured to measure velocity and distance of an object near the vehicle and configured to operate at a frequency between 2 and 36 GHz.
19. The system of claim 10 , further comprising:
a global mobile satellite system (GMSS) coupled to the vehicle.
20. The system of claim 10 , wherein the vehicle includes a car, truck, motorcycle, bus, tractor, or a semi-trailer.