Fuente: Wipo "Sensorization" An autonomous driving assembly for a vehicle includes a plurality of lidar groups supported by a vehicle body of the vehicle and collectively configured to detect a periphery region in proximity to the vehicle body. Different ones of the plurality of lidar groups are supported at different areas of the vehicle body and have different group fields of view. At least two of the different group fields of view overlap with each other. Each of the plurality lidar groups includes a plurality of lidar units fixed at a same location. Different ones of the plurality of lidar units have different unit fields of view. At least two of the different unit fields of view overlap with each other.