https://www.cnet.com/roadshow/news/toyota-lexus-ls-500h-self-driving-car-ces-2019/

The P4 car fits two additional cameras as well as a pair of imaging sensors mounted at the front and rear. The car's radar system has been optimized to improve the field of view, specifically for close-range imaging. Toyota says the lidar system carries over from the Platform 3.0 car, though it's been modified to fit into the new LS 500h's design.

Speaking of which, the P4's design was handled by CALTY Design Research, in Ann Arbor, Michigan.