Vehicle interior and exterior monitoring

A method comprising receiving data from a first LIDAR sensor 101 mounted to a vehicle exterior with a first field of view 301including a vehicle interior view first portion and vehicle exterior view first portion and determining a state of a vehicle occupant (204, fig 2A) based at least in part on data from the first LIDAR sensor. A three dimensional (3D) model of the occupant may be generated. Inthe instance the occupant is determined to be in an unexpected state (e.g. drowsy), a haptic module may be actuated to bring the occupant to an expected state (see fig 5). Data may also be received from a second LIDAR sensor 301 mounted to a vehicle exterior with a second field of view covering vehicle interior view second portion and vehicle exterior view second portion. The LIDAR sensors may bemounted on pillars of the vehicle exterior or exterior side mirror holders. 种LIDAR传感器可安装至车辆外部，该LIDAR传感器具有包括车辆内部视野第部分和车辆外部视野第部分的视场。可以从LIDAR传感器接收数据。可以至少部分地基于来自LIDAR传感器的数据来确定车辆乘员的状态。