- Rain sensor.
- LIDAR receiver (stereo).
- LIDAR transmitter. Probably it shows a grid and the stereo receiver then can determine the distance and shape of the object.
Radar is located in the front behind a rectangle thingie.
- First generation of City Safety didn't have a radar.
- Second generation models have radar in front.
- The third generation, now used, has no LIDAR but instead a multi-beam radar and a camera in windscreen (and of course rain sensor).
So now, LIDAR's problem with weather is erased since radar is better on that part. And since the radar is moved to the wind screen its not affected by heavy snow or ice build up like it was in the front before.
The camera and radar cooperate and gets two pictures of the world and if they are considered to be approximately the same, the system reacts. Can now detect pedestrian half way behind car (like kid running out in front of parked car), cyclist and cars.
I have the new system and is has NEVER indicated failure due to weather, like snow build up. My father has generation two and on some occasions the system triggers an alarm for the radar not working properly due to snow slush.
Works like a charm and together with rear radar and surrounding sodar you have a car that can detect obstacles, read signs, see the road, partly drive by itself, keep cruise control distance, warn rear driver if they don't see you are at standstill in a queue (the car then flashes the lights to wake them up) and to protect you (if they still doesn't react and my car thinks this will not end well, it pretensions seat belts, apply full brake if you are at stand still, to prevent you from bouncing further, and precharge the airbag safety system - if nothing happens, it releases the belts and so on), and it can find parking spot that fits and help you park there and of course help you with obstacles around the car when parking by yourself.
Oh, and blind spot too - even before the car comes to your side. It determines the speed of the car and then signal to me that soon, a car will be in your blind spot. Also using rear radar detectors. And if you reverse from a parking spot, they look at the sides of some one is crossing and alert you about that too.