Sensor components for autonomous vehicles

Abstract

A sensor assembly for an autonomous vehicle includes a side mirror assembly configured to be mounted to the vehicle. The side mirror assembly includes a first camera having a field of view in a direction opposite to the vehicle's forward direction of travel; a second camera having a field of view in the vehicle's forward direction of travel; and a third camera having a field of view in a direction substantially perpendicular to the vehicle's forward direction of travel. The first, second, and third cameras are oriented to provide, in conjunction with a fourth camera configured to be mounted on a roof of the vehicle, an uninterrupted camera field of view from the vehicle's forward direction of travel to a direction opposite to the vehicle's forward direction of travel.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Patent Application No. 62 / 812,779, filed on March 1, 2019, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to autonomous vehicles and, more particularly, to sensor assemblies for autonomous vehicles. Background Art

[0004] The trucking industry transports the majority of raw materials and finished goods across the world's roads. In the United States, trucking is responsible for the majority of overland freight. Technological developments, such as those associated with autonomous driving, are driving numerous improvements within the industry, increasing the productivity and safety of these operations. Summary of the Invention

[0005] A sensor assembly for an autonomous vehicle includes a side mirror assembly configured to be mounted to the vehicle. The side mirror assembly includes a first camera having a field of view in a direction opposite to the vehicle's forward direction of travel; a second camera having a field of view in the vehicle's forward direction of travel; and a third camera having a field of view in a direction substantially perpendicular to the vehicle's forward direction of travel. The first, second, and third cameras are oriented to provide, in conjunction with a fourth camera configured to be mounted on a roof of the vehicle, an uninterrupted camera field of view from the vehicle's forward direction of travel to a direction opposite to the vehicle's forward direction of travel.

[0006] According to one aspect, the uninterrupted camera field of view spans at least 180°. According to one aspect, the second camera and the third camera are configured to be mounted on a roof of the vehicle. According to one aspect, the sensor assembly further includes a fourth camera configured to be mounted on the roof of the vehicle, the fourth camera being oriented to have a field of view in a forward direction of travel of the vehicle.

[0007] According to one aspect, the fourth camera and the second camera are oriented such that the field of view of the fourth camera overlaps the field of view of the second camera. According to one aspect, the fourth camera and the third camera are oriented such that the field of view of the fourth camera overlaps the field of view of the third camera. According to one aspect, the first camera and the second camera are narrow field of view cameras, and the third camera and the fourth camera are wide field of view cameras.

[0008] According to one aspect, the side mirror assembly further includes at least one of a radar sensor and a lidar sensor. According to one aspect, the side mirror assembly further includes a radar sensor, a lidar sensor, and an inertial measurement unit (IMU).

[0009] According to one aspect, a sensor assembly for an autonomous vehicle further includes an arm assembly configured to extend a side mirror assembly outward from the autonomous vehicle, wherein the autonomous vehicle is a truck, and wherein the arm assembly includes a mount for attachment to an A-pillar of the truck. According to one aspect, the autonomous vehicle is a tractor-trailer, and the camera field of view is uninterrupted horizontally beyond 1 meter from a point at the center of the tractor-trailer. According to one aspect, the camera field of view co-terminates with a side of the trailer of the tractor-trailer.

[0010] A sensor assembly for an autonomous vehicle includes a side mirror assembly configured to be mounted to the vehicle. The side mirror assembly includes a first camera having a field of view in a direction opposite to the vehicle's forward direction of travel; a second camera having a field of view in the vehicle's forward direction of travel; and a third camera having a field of view in a direction substantially perpendicular to the vehicle's forward direction of travel. The first, second, and third cameras are oriented to provide an uninterrupted camera field of view from the vehicle's forward direction of travel to a direction opposite to the vehicle's forward direction of travel.

[0011] According to one aspect, the uninterrupted camera field of view spans at least 180°. According to one aspect, the first camera and the second camera are narrow field of view cameras, and the third camera is a wide field of view camera. According to one aspect, the third camera and the second camera are oriented such that the field of view of the third camera overlaps the field of view of the second camera by at least 5 degrees. According to one aspect, the third camera and the second camera are oriented such that the field of view of the third camera overlaps the field of view of the second camera by approximately 10 degrees.

[0012] According to one aspect, the first camera, the second camera, and the third camera are each disposed on an upper portion of the side mirror assembly. According to one aspect, the first camera, the second camera, and the third camera are each disposed on an upper portion of the side mirror assembly. 3 within the volume.

[0013] According to one aspect, the sensor assembly further includes a fourth camera configured to be mounted on a roof of the vehicle, the fourth camera being oriented to have a field of view in the vehicle's forward direction of travel. According to one aspect, the fourth camera is a wide-field-of-view camera. According to one aspect, the fourth camera and the first camera are oriented such that the fourth camera's field of view overlaps with the first camera's field of view. According to one aspect, the fourth camera and the third camera are oriented such that the fourth camera's field of view overlaps with the third camera's field of view.

[0014] According to one aspect, the side mirror assembly further includes at least one of a radar sensor and a lidar sensor. According to one aspect, the side mirror assembly further includes a radar sensor, a lidar sensor, and an inertial measurement unit (IMU).

[0015] According to one aspect, a sensor assembly for an autonomous vehicle further comprises an arm assembly configured to project the sensor assembly outward from the autonomous vehicle, wherein the autonomous vehicle is a truck, and wherein the arm assembly includes a mount for attaching to an A-pillar of the truck. According to one aspect, the autonomous vehicle is a tractor-trailer, and wherein the camera field of view is uninterrupted in a horizontal direction beyond 1 meter laterally from a point at a tractor center of the tractor-trailer. According to one aspect, the camera field of view co-terminates with a side of the trailer of the tractor-trailer. According to one aspect, the first camera is mounted with a tolerance such that when the first camera is rotated maximally away from the side of the autonomous vehicle, the field of view of the first camera co-terminates with the side of the autonomous vehicle.

[0016] A method for providing an uninterrupted camera field of view from a forward direction of travel of a vehicle to a direction opposite to the forward direction of travel of the vehicle includes: obtaining a field of view in a direction opposite to the forward direction of travel of the vehicle; obtaining a field of view in the forward direction of travel of the vehicle; and obtaining a field of view in a direction substantially perpendicular to the forward direction of travel of the vehicle. The method also includes processing the obtained field of view to generate an uninterrupted camera field of view from the forward direction of travel of the vehicle to the direction opposite to the forward direction of travel of the vehicle. The method may also include continuously obtaining the field of view and processing the obtained field of view in real time to generate an updated uninterrupted camera field of view.

[0017] A method for autonomous driving includes driving by calculation using the uninterrupted camera field of view provided by the aforementioned method.

[0018] By considering the following detailed description, drawings and claims, additional features, advantages and embodiments of the present disclosure are set forth or apparent. In addition, it should be understood that the foregoing summary of the present disclosure and the following detailed description are exemplary and intended to provide further explanation without limiting the scope of the present disclosure as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A is a schematic diagram of a front perspective view of a sensor assembly according to an aspect of the present disclosure.

[0020] Figure 1B is a schematic diagram of a rear perspective view of a sensor assembly according to an aspect of the present disclosure.

[0021] Figure 2A is a schematic diagram of the interior of a side mirror assembly according to one aspect of the present disclosure.

[0022] Figure 2B is a schematic diagram of the exterior of a side mirror assembly according to one aspect of the present disclosure.

[0023] Figure 3 is a schematic diagram of an exploded view of a side mirror assembly according to an aspect of the present disclosure.

[0024] Figures 4A-4C is a schematic diagram of example fields of view of a first camera, a second camera, and a third camera according to an aspect of the present disclosure.

[0025] Figure 4D is a schematic diagram of an example field of view of a fourth camera according to an aspect of the present disclosure.

[0026] Figure 4E-1 and Figure 4E-2 is a schematic diagram of example fields of view of a first camera, a second camera, and a third camera in combination with a field of view of a fourth camera according to an aspect of the present disclosure.

[0027] Figure 5-1 and Figure 5-2 is a schematic diagram of a top view of a combination of a first camera's field of view, a second camera's field of view, a third camera's field of view, and a fourth camera's field of view according to an aspect of the present disclosure.

[0028] Figure 6-1 and Figure 6-2 is a schematic diagram of a camera field of view when a first camera has been rotated away from an autonomous vehicle according to one aspect of the present disclosure.

[0029] Figure 7 is a schematic diagram of the distal end of a trailer according to an aspect of the present disclosure.

[0030] Figure 8 and Figure 9 is a schematic diagram of an example camera field of view according to an aspect of the present disclosure.

[0031] Figure 10 is a schematic diagram of example camera fields of view of a sensor assembly at 50 m, 100 m, 150 m, and 200 m according to an aspect of the present disclosure.

[0032] Figure 11-1 and Figure 11-2 According to one aspect of the present disclosure Figure 10 A more enlarged view of the schematic diagram.

[0033] Figure 12 is a schematic diagram of a perspective view of an example camera field of view of a sensor assembly according to an aspect of the present disclosure.

[0034] Figure 13 is a schematic diagram of an example camera field of view according to an aspect of the present disclosure.

[0035] Figure 14A is a schematic diagram of the total field of view of the front lidar and two side lidars according to one aspect of the present disclosure.

[0036] Figure 14Bis a schematic diagram of the field of view of a front lidar according to one aspect of the present disclosure.

[0037] Figure 14C is a schematic diagram of the total field of view of two side lidars according to one aspect of the present disclosure.

[0038] Figure 15 A non-limiting perspective view of a side view device for an autonomous vehicle is shown in accordance with an aspect of the present disclosure.

[0039] Figure 16 A non-limiting illustration of a side view device for an autonomous vehicle is shown in accordance with an aspect of the present disclosure.

[0040] Figure 17 A non-limiting front view photograph of a side view device for an autonomous vehicle is shown in accordance with an aspect of the present disclosure.

[0041] Figure 18 A non-limiting rear view photograph of a side view device for an autonomous vehicle is shown in accordance with an aspect of the present disclosure.

[0042] Figure 19 A non-limiting perspective view of a sensor system for an autonomous vehicle is shown in accordance with an aspect of the present disclosure.

[0043] Figure 20 A non-limiting detailed perspective view of a sensor system for an autonomous vehicle according to an aspect of the present disclosure is shown.

[0044] Figure 21 A non-limiting perspective view of a retrofit sensor suite for an autonomous vehicle is shown in accordance with an aspect of the present disclosure.

[0045] Figure 22 Shown is a front elevation view of a side view device (left / driver's side) for an autonomous vehicle, according to an aspect of the present disclosure.

[0046] Figure 23 A rear elevation view of a side view device for an autonomous vehicle is shown according to an aspect of the present disclosure.

[0047] Figure 24 Shown is a right side elevation view of a side view device for an autonomous vehicle according to an aspect of the present disclosure.

[0048] Figure 25 Shown is a left side elevation view of a side view device for an autonomous vehicle according to an aspect of the present disclosure.

[0049] Figure 26 A top view of a side view device for an autonomous vehicle is shown according to an aspect of the present disclosure.

[0050] Figure 27 A top rear left perspective view of a side viewing device for an autonomous vehicle is shown according to an aspect of the present disclosure.

[0051] Figure 28 A top front left perspective view of a side viewing device for an autonomous vehicle is shown according to an aspect of the present disclosure. DETAILED DESCRIPTION

[0052] Embodiments described herein relate to sensor assemblies for autonomous vehicles. Autonomous vehicles use various sensors to monitor their surroundings. The sensors may include, for example, cameras, lidars, radars, and inertial measurement units (IMUs). A processor can use the combined data from the sensors to autonomously navigate roads in various lighting and weather conditions.

[0053] Several sensor-related technologies have been applied to the expanding field of autonomous vehicles. While some advances have been made for personal and commercial cars and vehicles, applying these technologies to semi-trailer trucks presents unique challenges and constraints. First, semi-trailer trucks often travel long distances on roads of varying quality under conditions of high vibration and impact forces. Therefore, the sensor systems used thereby must be configured to withstand such vibrations and forces for extended periods of time. Second, because the trailer towed by a semi-trailer truck blocks most of the rear visibility, the position of the sensors relative to the vehicle is critical to minimizing and eliminating sensor blind spots. Third, the heavy cargo towed by such vehicles can be difficult to maneuver, accelerate, and decelerate according to road conditions and hazards, and therefore requires accurate and extensive object detection to enable fast and safe autonomous driving.

[0054] Therefore, the present invention provides a device, system and kit including a support structure and sensors, which are configured to provide a larger field of view and higher quality and more reliable data to autonomous driving. The specific sensor placement and the rigidity of the support structure achieve a sufficient field of view while reducing vibration interference to improve object detection rate and higher quality position data. In addition, the device, system and kit described herein can be installed on an autonomous vehicle without the need for substantial modification to the autonomous vehicle and will not prevent a human driver from entering the vehicle, obstructing the human driver's sight or hindering the operation of the vehicle by a human driver. This human driver entry allows more complex loading and unloading operations, precise operation in dangerous or confined areas, and enables safety and / or security personnel to remain in the vehicle, whether or not the vehicle is being operated.

[0055] When driving on the road, sensors used for autonomous driving are subject to a lot of shock and vibration. The movement caused by these vibrations (deflections) can degrade sensor data and potentially impair the performance of the self-driving system. The shape of the tractor and trailer makes it challenging to position the sensors without blind spots. In order for the sensors to look rearward, they must be cantilevered out to the side at a point wider than the trailer. However, the structure will deflect more as its cantilever length increases, so this article describes a high-stiffness structure that increases the natural frequency of the cantilever component.

[0056] Figure 1A and Figure 1B is a schematic diagram of a sensor assembly 100 for an autonomous vehicle according to an aspect of the present disclosure. Figure 1A is a schematic diagram of a front perspective view of the sensor assembly 100, and Figure 1B is a schematic diagram of a rear perspective view of a sensor assembly 100. The sensor assembly 100 includes a side mirror assembly 102 configured to be mounted to a vehicle. The side mirror assembly 102 includes a first camera 104 having a field of view in a direction opposite to the vehicle's forward direction of travel. The sensor assembly 100 includes a second camera 106 having a field of view in the vehicle's forward direction of travel. The sensor assembly 100 includes a third camera 108 having a field of view in a direction substantially perpendicular to the vehicle's forward direction of travel. The first camera 104, the second camera 106, and the third camera 108 are oriented to, in combination with a fourth camera configured to be mounted on the roof of the vehicle, provide an uninterrupted camera field of view from the vehicle's forward direction of travel to a direction opposite to the vehicle's forward direction of travel.

[0057] The second camera 106 and the third camera 108 may be included in the side mirror assembly 102, such as Figure 1A and Figure 1B as shown, or may be positioned elsewhere, such as on the roof of the autonomous vehicle.

[0058] According to one aspect, the first camera 104 and the second camera 106 are narrow field of view cameras, and the third camera 108 and the fourth camera are wide field of view cameras.

[0059] The term "camera field of view" is used herein to refer to the total field of view of one or more cameras. A camera can be configured to capture two-dimensional or three-dimensional images. The term "wide field of view camera" is used herein to refer to a camera having a field of view that is wider than the field of view of a "narrow field of view camera." According to one aspect, a wide field of view camera has a field of view greater than 90°. According to one aspect, a wide field of view camera has a field of view greater than 120°. According to one aspect, a wide field of view camera is configured to detect objects at a distance of less than 200 meters from the autonomous vehicle.

[0060] According to one aspect, the narrow field of view camera has a field of view of less than 90°. According to one aspect, the narrow field of view camera has a field of view of less than 45°. According to one aspect, the narrow field of view camera is configured to detect objects at a distance greater than 50m from the autonomous vehicle.

[0061] According to one aspect of the present disclosure, the side mirror assembly 102 includes one or more of a radar, a lidar, and an inertial measurement unit (IMU). Figure 1A and Figure 1B The side mirror assembly 102 schematically shown in FIG. 1 includes a radar 110 and a lidar 112. In one aspect, the lidar 112 includes an IMU integrated therein. However, the side mirror assembly 102 may include an IMU independent of other sensors or integrated with a camera, radar, or additional sensor. The side mirror assembly 102 may also include a mirror 114.

[0062] LiDAR 112 and radar 110 can provide different types of information than cameras 104, 106, 108 and can be particularly useful for certain tasks or conditions. LiDAR 112 can help track vehicles or objects that pass by the autonomous vehicle or that the autonomous vehicle passes by. For example, as a car passes by the autonomous vehicle, the appearance of the car may change as it is captured first from the front, then from the side, and then from behind, making it difficult to track the car with a camera. However, LiDAR can provide a continuous signal corresponding to the car, enabling the autonomous vehicle to track the car as it passes by. LiDAR can also be particularly useful at night when visible light is limited and therefore camera signals are weak. For example, LiDAR 112 can be configured to detect objects within a radius of approximately 75m. In one aspect, LiDAR 112 can be configured to detect objects within a radius of approximately 50m.

[0063] Radar 110 enables the autonomous vehicle to navigate in adverse weather and lighting conditions. Radar 110 can supplement the information from cameras 104, 106, 106, and lidar 112, which can struggle to obtain clear images and signals in fog, rain, and snow. Radar 110 can also provide information about objects that are obscured in camera and lidar data. For example, radar 110 can detect a car in front of the autonomous vehicle and a motorcycle in front of the car. In contrast, if a motorcycle is completely obscured by the car, cameras 104, 106, 108, and lidar 112 may not be able to detect it.

[0064] Figure 2Ais a schematic diagram of the interior of a side mirror assembly 102 according to one aspect of the present disclosure. The side mirror assembly 102 has a sheet metal box structure and includes a plurality of brackets 200, 202 attached to box walls 204, 206. The sheet metal box structure has a certain shape and is made of a material that imparts high rigidity to the system. Importantly, the side mirror assembly 102 does not have a resonant frequency that is equal to or lower than a common frequency generated when driving on the highway, such as 15-20 Hz. Common frequencies generated when driving are referred to herein as "ambient frequencies." The shape and material of the sheet metal box, combined with the triangular brackets 200, 202 and the epoxy used to connect key components, stiffen the system so that the total frequency of each natural mode of the system is higher than the ambient frequency. For example, the side mirror assembly 102 can have a natural frequency that is at least 1.5-2 times higher than the ambient frequency. The term "natural frequency" refers to the frequency of the natural mode of the side mirror assembly 102.

[0065] like Figures 1A-2A As shown in FIG, the first camera 104, the second camera 106, and the third camera 108 can be collectively located on the upper portion of the side mirror assembly 102. In one aspect, the first camera 104, the third camera 108, and the second camera 106 are all disposed within an 8-inch area of ​​the upper portion of the side mirror assembly 102. 3 volume. Co-locating the three cameras on the upper portion of the side mirror assembly 102 reduces the total number of sensor mounting locations, which reduces the time required to assemble each vehicle. Co-locating the three cameras also reduces the mechanical tolerance stack-up between the cameras and provides an easily accessible location to add camera cleaning features, such as a water jet or compressed air nozzle. Each camera can weigh less than 100g. In one aspect, each camera can have a weight of 70g or less. In one aspect, the total weight of the three cameras can be less than 200g. Reducing the weight of the cameras reduces the torque on the side mirror assembly 102, and therefore can reduce the deflection of the side mirror assembly 102.

[0066] The side mirror assembly 102 may include a camera mounting platform 208. The camera mounting platform 208 may accommodate one or more cameras and may be designed for a specific camera or not for a specific camera. This enables the cameras to be easily adjusted or replaced. Before the cameras are mounted on the side mirror assembly 102, the relative position and orientation of the cameras may be fixed, for example, by mounting the cameras to a common fixture 208. Each camera may include a separate mounting fixture that is designed to fix the camera in a specific orientation relative to the common fixture 210. The orientation of the camera can be adjusted by adjusting or replacing the mounting fixture, or by adjusting the design of the common fixture 210. The modularity of the cameras and the common fixture 210 enables one or more cameras to be quickly adjusted or replaced without having to reposition or replace other components of the side mirror assembly 102.

[0067] Figure 2B FIG2 is a schematic diagram of the exterior of the side mirror assembly 102 according to one aspect of the present disclosure. The side mirror assembly 102 includes a housing 212 positioned to cover the first camera 104, the second camera 106, and the third camera 108. The housing 212 includes a top 214 and side portions 216. The side portions 216 define through-holes through which the cameras capture images. The housing 212 can prevent debris from damaging the cameras and associated cables and can also reduce solar heating of the cameras.

[0068] Figure 3 is a schematic diagram of an exploded view of a side mirror assembly 102 according to one aspect of the present disclosure. The first camera 104, the second camera 106, and the third camera 108 are each disposed on an upper portion of the side mirror assembly 102 and are enclosed in a top 214 and a side 216 of a housing 212. The side mirror assembly 102 includes a radar 110 configured to be secured to a lower portion of the side mirror assembly 102. The radar 110 is mounted on a removable part 300, which allows its position and orientation to be easily changed by modifying the part. The side mirror assembly 102 also includes a lidar 112 configured to be secured to a lower portion of the side mirror assembly 102. The lidar 112 is mounted on a removable part 302, which allows its position and orientation to be easily changed by modifying the part.

[0069] Sensor assembly 100 also includes an arm assembly 304 configured to extend side mirror assembly 102 outward from the autonomous vehicle. Arm assembly 304 includes a beam assembly 306 configured to connect to side mirror assembly 102 and a mounting assembly 308 configured to attach to the autonomous vehicle. For example, the autonomous vehicle may be a truck, and the mounting assembly may include a mount, such as bracket 310, for attaching to the truck's A-pillar. The truck's A-pillar provides a very sturdy mounting point.

[0070] Figures 4A-4C FIG is a diagram of example fields of view of the first camera 104, the second camera 106, and the third camera 108 according to an aspect of the present disclosure. Figure 4A As shown, the first camera 104 has a field of view 400 in a direction opposite to the forward travel direction 402 of the vehicle 404. Figure 4B As shown, the second camera 106 has a field of view 406 in the forward travel direction 402 of the vehicle 404. Figure 4CAs shown, third camera 108 has a field of view 408 that is substantially perpendicular to forward travel direction 402 of vehicle 404. Wide field of view 408 may or may not be completely perpendicular to forward travel direction 402 of vehicle 404. For example, the center of field of view 408 may be within 30° of the direction perpendicular to forward travel direction 402. In one aspect, the center of field of view 408 may be within 10° of the direction perpendicular to forward travel direction 402. First camera 104, second camera 106, and third camera 108 are oriented to provide an uninterrupted camera field of view from the forward travel direction of the vehicle to a direction opposite to the forward travel direction of the vehicle.

[0071] Figure 4D 4 is a schematic diagram of an example field of view of the fourth camera 410. The fourth camera 410 is configured to be mounted on the roof of the vehicle 404. Figure 4D As shown, fourth camera 410 has a field of view 412 in the forward travel direction 402 of vehicle 404 .

[0072] The sensor assembly 100 may include additional sensors positioned on the roof of the autonomous vehicle. For example, the sensor assembly 100 may include a second lidar positioned on the roof of the autonomous vehicle, for example, near the fourth camera 410. The second lidar may be configured to detect objects at a different distance than the lidar 112. For example, the second lidar may be configured to detect objects within a radius of approximately 125m. According to one aspect, the second lidar may be configured to detect objects within a radius of approximately 100m. For example, the lidar 112 and any additional lidars may emit lasers having a frequency between 800nm ​​and 1600nm. The sensor assembly 100 may include an inertial measurement unit (IMU) located on the roof of the vehicle. The IMU on the roof of the vehicle may be used for navigation, for example, the IMU may help the autonomous vehicle determine the direction of vehicle travel.

[0073] Figure 4E-1 and Figure 4E-2 is a diagram of example fields of view 400, 406, 408 of the first camera 104, the second camera 106, and the third camera 108 in combination with a field of view 412 of the fourth camera 410 according to an aspect of the present disclosure. Figure 4E-1 In , each field of view is filled with a representative pattern, highlighting the concept of an uninterrupted field of view. Figure 4E-2 In , representative patterns are included only along the inner edges of the fields of view, making it easier to distinguish the boundaries of the individual fields of view. Figure 4E-1 and Figure 4E-2 As shown, first camera 104 , second camera 106 , and third camera 108 are oriented to provide an uninterrupted camera field of view in conjunction with fourth camera 410 from the forward travel direction 402 of vehicle 404 to a direction opposite to the forward travel direction 402 of vehicle 404 .

[0074] According to one aspect, the uninterrupted camera field of view spans at least 180°. Figure 4E-1 and Figure 4E-2 In the example, more than 180° of the circle 414 is within the camera field of view without interruption. Figure 5-1 and Figure 5-2 Described in more detail in .

[0075] Although Figure 4A-4E-2 The field of view of four cameras is illustrated, but the sensor assembly may include three additional cameras on the opposite side of the autonomous vehicle from the first camera 104, the second camera 106, and the third camera 108. Figure 5-1 、 Figure 5-2 、 Figure 6-1 and Figure 6-2 As schematically shown in , the three additional cameras may have three additional fields of view corresponding to the fields of view of the first camera 104 , the second camera 106 , and the third camera 108 .

[0076] Figure 5-1 and Figure 5-2 4 is a schematic diagram of a top view of the combined field of view 400 of the first camera 104, the field of view 406 of the second camera 106, the field of view 408 of the third camera 108, and the field of view 412 of the fourth camera 410 according to an aspect of the present disclosure. The combined fields form an uninterrupted camera field of view that spans more than 180°. For example, arc 516 spans more than 180°, starting from a first point 518 on the side of the autonomous vehicle and extending to a second point 520 at the outer edge of the field of view 412 of the fourth camera 410. Arc 516 is completely covered by the camera field of view without interruption. Figure 5-1 and Figure 5-2 As shown, by adding three cameras on the right side of the autonomous vehicle to mirror the three cameras 104, 106, and 108 on the left side of the autonomous vehicle, the camera field of view extends uninterrupted from the left side of the vehicle to the front of the vehicle and the right side of the vehicle. In the case of towing a trailer, the edges of the camera field of view end together with the sides 522 and 524 of the trailer, as shown in FIG. Figure 5-1 and Figure 5-2 shown.

[0077] In one aspect, the fourth camera 410 and the second camera 106 are oriented such that the field of view 412 of the fourth camera 410 overlaps the field of view 406 of the second camera 106. Figure 5-1 and Figure 5-2 As shown, the field of view 412 of the fourth camera 410 may completely overlap, in a horizontal plane, the field of view 406 of the second camera 106. However, the fourth camera 410 may be oriented at different inclinations and may be configured to capture images of objects at different distances.

[0078] In one aspect, the sensor assembly 100 provides sufficient tolerance such that when the first camera 104 is deflected maximally to the tolerance limit, the edges of the camera's field of view remain co-terminal with the sides 522 , 524 of the trailer. Figure 6-1 and Figure 6-2 is a schematic diagram of the camera field of view when the first camera has rotated away from the autonomous vehicle. Figure 6-1 and Figure 6-2 As shown, the overlap between the field of view 400 of the first camera 104 and the field of view 408 of the third camera 108 has increased, but the camera fields of view still co-terminate with the sides of the trailer 522, 524. This ensures that objects adjacent to the trailer are always visible.

[0079] In one aspect, the first camera 104 is oriented so that the side of the trailer is included in the field of view. Figure 7 The far end of the trailer 700 is shown. If the sides of the trailer 700 did not obstruct the field of view 400, the field of view 400 of the right first camera 104 would extend to line 702.

[0080] Figure 8 and Figure 9 is a schematic diagram of an example camera field of view according to an aspect of the present invention.

[0081] Figure 10 FIG is a diagram of example camera fields of view of the sensor assembly 100 at 50 m, 100 m, 150 m, and 200 m. In one aspect, the first camera 104 and the third camera 108 are oriented such that the field of view 400 of the first camera 104 overlaps the field of view 408 of the third camera 108. The overlap 1000 is Figure 10 In one aspect, overlap 1000 spans an angle of at least 5°. In another aspect, overlap 1000 spans an angle of at least 10°. Overlap 1000 increases the fault tolerance of sensor assembly 100, thereby ensuring that objects approaching from behind the vehicle, for example, can be detected and tracked.

[0082] In one aspect, the fourth camera 410 and the third camera 108 are oriented such that the field of view 412 of the fourth camera 410 overlaps the field of view 408 of the third camera 108. The overlap 1002 is Figure 10 In one aspect, overlap 1002 spans an angle of at least 5°. In another aspect, overlap 1002 spans an angle of at least 10°. Overlap 1000 increases the fault tolerance of sensor assembly 100, thereby ensuring that objects approaching the vehicle from the front and sides, for example, can be detected and tracked.

[0083] Figure 11-1 and Figure 11-2 yes Figure 10 A more enlarged view of the schematic diagram of . Figure 11-1 In , each field of view is filled with a representative pattern, while in Figure 11-2 , only representative patterns are included along the inner edge of the field of view. Figure 12 is a schematic diagram of a perspective view of an example camera field of view of sensor assembly 100 .

[0084] Figure 13 is a schematic diagram of an example camera field of view according to aspects of the present disclosure. Figure 13 A field of view 400 corresponding to the first camera 104, a field of view 406 corresponding to the second camera 106, and a field of view 408 corresponding to the third camera 108 are shown. The three fields of view 400, 406, 408 provide an uninterrupted camera field of view from the forward direction of travel of the vehicle to the direction opposite to the forward direction of travel of the vehicle. The field of view 412 of the fourth camera 410 overlaps the field of view 406 of the second camera 106 and the field of view 408 of the third camera 108. The sensor assembly 100 may include three right-side cameras that mirror the three left-side cameras, and the fields of view 400, 406, 408 of the three left-side cameras are overlapped. Figure 13 Middle picture.

[0085] According to some embodiments of the present invention, a sensor assembly for an autonomous vehicle includes a plurality of lidars. Figures 14A-14C is a schematic diagram of a lidar field of view according to one aspect.

[0086] Figure 14A The total field of view of one front lidar (or multiple lidars) and two side lidars is shown. Figure 14B The field of view of a front lidar (or multiple lidars) is shown. Figure 14C The total field of view of the two side lidars is shown. The two side lidars provide a 360-degree field of view. The field of view can be trimmed to, for example, 210 degrees using software.

[0087] In one aspect, disclosed herein is a side-view device for an autonomous vehicle, comprising: a support frame having a proximal end, a distal end, and a vertical mid-plane defined as intersecting and parallel to a vector generated by the proximal end and the distal end, wherein the proximal end includes a coupler for attaching to the autonomous vehicle, and wherein the distal end includes a rear-facing portion, an upper portion, and a lower portion; a camera attached to the distal end of the support frame; and one, two, or more of a lidar, a radar, and an inertial measurement unit (IMU) attached to the distal end of the support frame.

[0088] In some embodiments, the side-viewing device comprises a radar. In some embodiments, the radar is directed toward the rearward-facing portion of the support frame. In some embodiments, the radar is directed within a range of approximately 0 degrees to approximately 180 degrees of a vertical mid-plane. In some embodiments, the radar is positioned at a lower portion of the distal end of the support frame. In some embodiments, the radar is positioned at an upper portion of the distal end of the support frame. In some embodiments, the side-viewing device comprises a lidar. In some embodiments, the lidar comprises a frequency-modulated continuous wave (FMCW) laser. In some embodiments, the lidar is positioned at a lower portion of the distal end of the support frame. In some embodiments, the lidar is positioned at an upper portion of the distal end of the support frame. In some embodiments, a camera is positioned at an upper portion of the distal end of the support frame. In some embodiments, the camera is directed toward the rearward-facing portion of the support frame. In some embodiments, the side-viewing device comprises an inertial measurement unit (IMU) attached to the distal end of the support frame. In some embodiments, the side-viewing device further comprises a mirror attachment on the rearward-facing portion of the support frame, wherein the mirror attachment is configured to accommodate a mirror assembly. In some embodiments, the side-viewing device further comprises a mirror assembly on the rearward-facing portion of the support frame. In some embodiments, the autonomous vehicle includes a car, a truck, a semi-truck, a trailer, a cart, a snowmobile, a tank, a bulldozer, a tractor, a van, a bus, a motorcycle, a scooter, or a road roller.

[0089] In some embodiments, the camera is pointed within a range of about 0 degrees from the vertical mid-plane to about 180 degrees from the vertical mid-plane. In some embodiments, the distance from the proximal end to the distal end of the support frame is about 50 mm to about 650 mm. In some embodiments, the side-viewing device has a natural frequency of about 20 Hz to about 200 Hz.

[0090] Another aspect provided herein is a sensor system for an autonomous vehicle, comprising a left side viewing device, a right side viewing device, or both a left side viewing device and a right side viewing device, wherein the left side viewing device and the right side viewing device comprise: a support frame having a proximal end, a distal end, and defining a perpendicular mid-plane that intersects and is parallel to a vector generated by the proximal end and the distal end, wherein the proximal end comprises a coupler for attaching to the autonomous vehicle, and wherein the distal end comprises a rear-facing portion, an upper portion, and a lower portion; a camera attached to the distal end of the support frame; and one, two, or more of a lidar, a radar, and an inertial measurement unit (IMU) attached to the distal end of the support frame; and one or more of: a left side sensor assembly configured to be mounted to the left side of the autonomous vehicle; a right side sensor assembly configured to be mounted to the right side of the autonomous vehicle; and a top side sensor assembly configured to be mounted to the roof of the autonomous vehicle; wherein the left side sensor assembly, the right side sensor assembly, and the top side sensor assembly comprise one or more of: an onboard camera; an onboard lidar; and an onboard radar.

[0091] In some embodiments, the left and right viewing devices include radars. In some embodiments, the radars are pointed toward the rearward-facing portion of the support frame. In some embodiments, the radars are pointed within a range of approximately 0 to approximately 180 degrees from a vertical midplane. In some embodiments, the radars are positioned below the distal end of the support frame. In some embodiments, the radars are positioned above the distal end of the support frame.

[0092] In some embodiments, the sensor system includes a laser radar. In some embodiments, the laser radar includes a frequency modulated continuous wave (FMCW) laser. In some embodiments, the laser radar is positioned below the distal end of the support frame. In some embodiments, the laser radar is positioned above the distal end of the support frame.

[0093] In some embodiments, the camera is positioned at an upper portion of the distal end of the support frame. In some embodiments, the sensor system comprises an inertial measurement unit (IMU) attached to the distal end of the support frame. In some embodiments, the sensor system further comprises a mirror attachment on a rearward-facing portion of the support frame, wherein the mirror attachment is configured to accommodate a mirror assembly. In some embodiments, the sensor system further comprises a mirror assembly on a rearward-facing portion of the support frame. In some embodiments, the autonomous vehicle comprises a car, a truck, a semi-trailer truck, a trailer, a cart, a snowmobile, a tank, a bulldozer, a tractor, a van, a bus, a motorcycle, a scooter, or a road roller. In some embodiments, the onboard camera comprises an infrared camera. In some embodiments, the onboard lidar comprises a forward-looking lidar, a side-looking lidar, and / or a rear-looking lidar. In some embodiments, the onboard radar comprises a forward-looking radar, a side-looking radar, and / or a rear-looking radar.

[0094] In some embodiments, the camera is directed toward a rearward-facing portion of the support frame. In some embodiments, the distance from the proximal end to the distal end of the support frame is from about 50 mm to about 650 mm. In some embodiments, the side-viewing device has a natural frequency of from about 20 Hz to about 200 Hz.

[0095] Another aspect provided herein is a retrofit sensor kit for an autonomous vehicle, comprising a left side viewing device, a right side viewing device, or both a left side viewing device and a right side viewing device, wherein the left side viewing device and the right side viewing device comprise: a support frame having a proximal end, a distal end, and defining a vertical mid-plane that intersects and is parallel to a vector generated by the proximal end and the distal end, wherein the proximal end comprises a coupler for attaching to the autonomous vehicle, and wherein the distal end comprises a rear-facing portion, an upper portion, and a lower portion; a camera attached to the distal end of the support frame; and one, two, or more of a lidar, a radar, and an inertial measurement unit (IMU) attached to the distal end of the support frame; and a fastener configured to attach at least one of the left side viewing device and the right side viewing device to the autonomous device.

[0096] In some embodiments, the left and right viewing devices include radars. In some embodiments, the radars are pointed toward the rearward-facing portion of the support frame. In some embodiments, the radars are pointed within a range of approximately 0 to approximately 180 degrees from a vertical midplane. In some embodiments, the radars are positioned below the distal end of the support frame. In some embodiments, the radars are positioned above the distal end of the support frame.

[0097] In some embodiments, the retrofit sensor suite includes a laser radar. In some embodiments, the laser radar includes a frequency modulated continuous wave (FMCW) laser. In some embodiments, the laser radar is positioned below the distal end of the support frame. In some embodiments, the laser radar is positioned above the distal end of the support frame.

[0098] In some embodiments, the camera is positioned at an upper portion of the distal end of the support frame. In some embodiments, the camera is directed toward a rearward facing portion of the support frame. In some embodiments, the camera is directed within approximately 0 degrees to approximately 180 degrees of a vertical midplane.

[0099] In some embodiments, the distance from the proximal end to the distal end of the support frame is at least about 50 mm. In some embodiments, the distance from the proximal end to the distal end of the support frame is about 300 mm to about 650 mm. In some embodiments, the retrofit sensor assembly has a natural frequency of about 20 Hz to about 200 Hz. In some embodiments, the retrofit sensor assembly further includes an inertial measurement unit (IMU) attached to the distal end of the support frame.

[0100] In some embodiments, the retrofit sensor kit further comprises a mirror attachment on a rearward-facing portion of the support frame, wherein the mirror attachment is configured to receive a mirror assembly. In some embodiments, the retrofit sensor kit further comprises a mirror assembly on a rearward-facing portion of the support frame. In some embodiments, the autonomous vehicle comprises a car, a truck, a semi-truck, a trailer, a cart, a snowmobile, a tank, a bulldozer, a tractor, a van, a bus, a motorcycle, a scooter, or a road roller. In some embodiments, the fastener comprises a screw, a bolt, a nut, an adhesive, a tape, a tie, a rope, a clamp, or any combination thereof.

[0101] This article provides apparatus, systems, and kits including support structures and sensors configured to provide a larger field of view and higher-quality data for autonomous driving. The specific sensor placement and support structure rigidity described herein achieve a sufficient field of view while reducing vibration interference to provide higher object detection rates and higher-quality position data.

[0102] Side view device for autonomous vehicle

[0103] One aspect of this disclosure is based on Figure 15-18 and Figure 22-Figure 28 A side-viewing device 1500 for an autonomous vehicle includes a support frame 1501, a camera 1502 attached to the support frame 1501, and one, two, or more of a lidar 1503, a radar 1504, and an inertial measurement unit (IMU) 1506 attached to the distal end of the support frame 1501. The side-viewing device 1500 can be configured for a specific type of autonomous vehicle. The side-viewing device 1500 can be a left-side view device 1500 or a right-side view device 1500.

[0104] Support frame 1501 may have a proximal end 1501B, a distal end 1501A, and a vertical midplane 1510, defined as intersecting and parallel to a vector generated by proximal end 1501B and distal end 1501A. Proximal end 1501B may be defined as the end of support frame 1501 or the side-viewing device closest to the autonomous vehicle. Distal end 1501A may be defined as the end of support frame 1501 or the side-viewing device farthest from the autonomous vehicle. Distal end 1501A of support frame 1501 may include a rear-facing portion 1520, an upper portion 1501C, and a lower portion 1501D. Rear-facing portion 1520 may be defined as the portion of support frame 1501 closest to the rear of the autonomous vehicle. Rear-facing portion 1520 may be defined as the portion of support frame 1501 farthest from the front of the autonomous vehicle. Upper portion 1501C of support frame 1501 may be defined as the uppermost portion of support frame 1501. Upper portion 1501C of support frame 1501 may be defined as the portion of support frame 1501 farthest from the ground when the side-view device is mounted on the autonomous vehicle. Lower portion 1501D of support frame 1501 may be defined as the lowermost portion of support frame 1501. Lower portion 1501D of support frame 1501 may be defined as the portion of support frame 1501 closest to the ground when the side-view device is mounted on the autonomous vehicle.

[0105] The side viewing device 1500 can be installed on a vehicle without requiring substantial modification to the autonomous vehicle. The side viewing device 1500 can be installed on an autonomous vehicle without preventing a human driver from entering the vehicle. The side viewing device 1500 can be installed on an autonomous vehicle without preventing a human driver from operating the autonomous vehicle. The side viewing device 1500 can be installed on an autonomous vehicle without significantly obstructing the human driver's field of view. This human driver access allows for more complex loading and unloading maneuvers, precise operation in hazardous or confined areas, and enables safety and / or security personnel to remain within the vehicle, whether or not operating the vehicle.

[0106] Data collected by camera 1502, radar 1504, lidar 1503, inertial measurement unit (IMU) 1506, or any combination thereof, may be transmitted to the autonomous vehicle, whereby the autonomous vehicle uses such data for navigation and driving.

[0107] The side-viewing device 1500 may also include an antenna, an antenna mount, a data port, a satellite receiver, or any combination thereof.

[0108] Support frame

[0109] Support frame 1501 serves as a stable platform for data captured by camera 1502, as well as one or more of radar 1504, lidar 1503, and inertial measurement unit (IMU) 1506. The configuration of support frame 1501 disclosed herein enables object detection in a larger field of view while preventing vibrations and external forces from degrading the quality of such data. Because camera 1502, radar 1504, and lidar 1503 capture data radially, small perturbations or fluctuations in the collection source propagate linearly as a function of the distance to the detected object. Such data degradation, particularly in the context of autonomous vehicles as described, can be hazardous to both the vehicle itself and its surroundings.

[0110] Support frame 1501 can have a proximal end 1501B, a distal end 1501A, and a vertical mid-plane 1510, which is defined as intersecting and parallel to a vector generated by proximal end 1501B and distal end 1501A. Distal end 1501A of support frame 1501 can include a rear-facing portion, an upper portion 1501C, and a lower portion 1501D. Proximal end 1501B of support frame 1501 can include a coupler 1505 for attachment to an autonomous vehicle.

[0111] In some embodiments, according to Figure 16 , a distance 1601 from the proximal end 1501B to the distal end 1501A of the support frame 1501 is about 50 mm to about 650 mm. The distance 1601 from the proximal end 1501B to the distal end 1501A of the support frame 1501 can be measured as the maximum distance, the minimum distance, or the average distance between the proximal end 1501B and the distal end 1501A of the support frame 1501. The distance 1601 from the proximal end 1501B to the distal end 1501A of the support frame 1501 can be directly related to the field of view of the side-viewing device 1500, whereby a larger distance 1601 allows for a larger field of view as the sensing device further deviates from the autonomous vehicle.

[0112] In some embodiments, the support frame 1501 enables the side-viewing device to have a natural frequency of about 20 Hz to about 200 Hz. The natural frequency is configured to provide optimal performance of the system and reduce data distortion. The frame can have a specific mass, center of mass, material properties, and geometry, or any combination thereof, to reduce the natural frequency of the side-viewing device and support structure.

[0113] like Figure 15As shown, the support structure may include struts, brackets, frames, or any combination thereof for rigidity. The support frame 1501 may also include springs, dampers, pulleys, plumb bobs, or any combination thereof. Two or more components of the support structure may be connected by any conventional means including, but not limited to, nuts, bolts, screws, rivets, welding, and adhesives. The support structure may be constructed of any rigid material including, but not limited to, steel, stainless steel, aluminum, carbon fiber, fiberglass, plastic, and glass. According to Figure 18 The support structure may include a housing. The housing may be designed to reduce the parasitic drag imparted by the side-viewing device 1500.

[0114] coupler

[0115] Coupler 1505 may include a shaft, a bearing, a hole, a screw, a bolt, a nut, a hinge, or any combination thereof. Coupler 1505 may include a removable coupler 1505. Coupler 1505 may include a permanent coupler 1505. Coupler 1505 may include a rotational coupler 1505. Coupler 1505 may include an existing coupler of the autonomous vehicle. Rotational coupler 1505 may include a motor or engine to rotate coupler 1505. Rotational coupler 1505 may include a lock to set the rotational orientation of coupler 1505. Rotational coupler 1505 may rotate about a vertical axis. The vertical axis may coincide with mid-plane 1510. Coupler 1505 should be strong and rigid to withstand vibration forces between the autonomous vehicle and support frame 1501. Coupler 1505 may or may not require modifications to the autonomous vehicle.

[0116] camera

[0117] The side viewing device 1500 may include one or more cameras 1502. The cameras 1502 may be attached to the distal end 1501A of the support frame 1501. Figure 15As seen in FIG, camera 1502 can be positioned at an upper portion 1501C of distal end 1501A of support frame 1501. Camera 1502 can be positioned above upper portion 1501C of the support structure. Camera 1502 can be positioned at a lower portion 1501D of distal end 1501A of support frame 1501. Camera 1502 can be attached to a fixed position on support frame 1501. Camera 1502 can include a camera 1502 housing. Camera 1502 can include a tilter configured to change the orientation of camera 1502 relative to support frame 1501. Camera 1502 can include a tilter configured to change the orientation of camera 1502 relative to support frame 1501 about one or more axes. Camera 1502 can be configured to zoom in or out to increase or decrease image magnification, respectively. Camera 1502 can include a video camera, an infrared camera, a thermal imaging camera, or any combination thereof. The camera 1502 may have a resolution of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 14, 16, 18, 20, 30, or more megapixels, including increments therein. The camera may have a focal length of about 4 mm to about 30 mm. The camera 1502 may have a focal length of about or at least about 4, 6, 8, 12, 14, 16, 18, 20, 22, 24, 26, or 28 mm, including increments therein. The camera 1502 may have a field of view of at least about 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 160, 170, or 180 degrees, including increments therein. The camera 1502 may have a field of view of up to about 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 160, 170, or 180 degrees, including increments therein. The camera 1502 may have a field of view of up to about 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 160, 170, or 180 degrees, including increments therein.

[0118] The camera 1502 may correspond to one or more of the first camera 104, the second camera 106, and the third camera 108 described above. According to one aspect, the camera 1502 corresponds to the first camera 104 described above. The camera 1502 may be directed toward a rearward-facing portion of the support frame 1501. Figure 15As seen in FIG, camera 1502 can be pointed at an angle of approximately 30 degrees relative to midplane 1510 and about a vertical axis. In some embodiments, camera 1502 is pointed within 90, 80, 70, 60, 50, 40, 30, 20, or 10 degrees of perpendicular to vertical midplane 1510, including increments therein. In some embodiments, camera 1502 is pointed within 90 degrees of perpendicular to vertical midplane 1510 and about the vertical axis. The vertical axis can be parallel to or coincident with midplane 1510. Additionally, camera 1502 can be pointed at a tilt within approximately 45 degrees relative to a horizontal plane perpendicular to the midplane. Camera 1502 can be pointed at a tilt within approximately 45, 40, 35, 30, 25, 20, 15, 10, or 5 degrees relative to the horizontal plane, including increments therein. The tilt can be a positive upward-pointing tilt or a negative downward-pointing tilt. Camera 1502 can be positioned approximately 50 mm to approximately 650 mm from the proximal end 1501B of the support structure. The position of camera 1502 can be defined by a point-to-point distance from the proximal end 1501B of the support structure, a horizontal distance from the proximal end 1501B of the support structure, or a vertical distance from the proximal end 1501B of the support structure. The horizontal distance can be perpendicular to the rearward-facing direction. The position of camera 1502 can be defined relative to the center of the outer lens of camera 1502.

[0119] radar

[0120] The side-viewing device may include one or more radars 1504. Figure 15 , the radar 1504 can be positioned at the lower portion 1501D of the distal end 1501A of the support frame 1501. As seen, the radar 1504 can be positioned far side of the laser radar 1503. Alternatively, the radar 1504 can be positioned near the laser radar 1503. The radar 1504 can be positioned at the upper portion 1501C of the distal end 1501A of the support frame 1501. The radar 1504 can be directed toward the rearward facing portion of the support frame 1501. As shown Figure 15As seen in FIG, radar 1504 is pointed approximately 45 degrees from vertical mid-plane 1510. Alternatively, radar 1504 may be pointed within approximately 10 degrees to approximately 170 degrees of vertical mid-plane 1510. Radar 1504 may be pointed about a vertical axis within approximately 10 degrees to approximately 170 degrees of vertical mid-plane 1510. In some embodiments, radar 1504 is pointed within 90, 80, 70, 60, 50, 40, 30, 20, or 10 degrees of vertical mid-plane 1510, including increments therein. In some embodiments, radar 1504 is pointed about a vertical axis within 90 degrees of vertical mid-plane 1510. The vertical axis may be parallel to or coincident with mid-plane 1510. Additionally, radar 1504 may be pointed at an inclination within approximately 45 degrees from a horizontal plane perpendicular to the mid-vertical plane. Radar 1504 can be pointed within approximately 45, 40, 35, 30, 25, 20, 15, 10, or 5 degrees of the horizontal plane, including increments therein. The tilt can be a positive upward tilt or a negative downward tilt. Radar 1504 can have a field of view of approximately 90, 180, 270, or 360 degrees. Radar 1504 can be positioned approximately 50 mm to approximately 650 mm from the proximal end 1501B of the support structure. The position of radar 1504 can be defined by a point-to-point distance from the proximal end 1501B of the support structure, a horizontal distance from the proximal end 1501B of the support structure, or a vertical distance from the proximal end 1501B of the support structure. The horizontal distance can be perpendicular to the rearward-facing direction. The position of radar 1504 can be defined relative to the center of the outer lens of radar 1504.

[0121] LiDAR

[0122] The side-viewing device may include one or more laser radars 1503. Figure 15, the laser radar 1503 can be positioned at a lower portion 1501D of the distal end 1501A of the support frame 1501. As shown, the laser radar 1503 can be positioned near the radar 1504. Alternatively, the laser radar 1503 can be positioned far to the radar 1504. The laser radar 1503 can extend beyond the lower portion 1501D of the support structure. The laser radar 1503 can be positioned at an upper portion 1501C of the distal end 1501A of the support frame 1501. The laser radar 1503 can be positioned approximately 50 mm to approximately 650 mm from the proximal end 1501B of the support structure. The position of the laser radar 1503 can be defined by a point-to-point distance from the proximal end 1501B of the support structure, a horizontal distance from the proximal end 1501B of the support structure, or a vertical distance from the proximal end 1501B of the support structure. The horizontal distance can be perpendicular to the direction facing rearward. The position of the laser radar 1503 can be defined relative to the center of rotation of the laser radar 1503. In addition, the laser radar 1503 can be pointed at an inclination within approximately 45 degrees from a horizontal plane perpendicular to the intermediate vertical plane. The laser radar 1503 can be pointed within approximately 45, 40, 35, 30, 25, 20, 15, 10, or 5 degrees of the horizontal plane, including increments therein. The inclination can be a positive upward pointing inclination or a negative downward pointing inclination. The laser radar 1503 can have a viewing angle of approximately 90, 180, 270, or 360 degrees.

[0123] LiDAR 1503 is a distance measuring device. LiDAR 1503 can use ultraviolet light, visible light, or near infrared light to image objects. LiDAR 1503 can target a wide range of materials, including non-metallic objects, rocks, rain, compounds, aerosols, clouds, and even single molecules. LiDAR 1503 can include narrow laser beam LiDAR 1503. LiDAR 1503 can have a resolution of 30, 25, 20, 15, 10, 5, 4, 3, 2, 1, 0.5 cm, or less, including increments therein. LiDAR 1503 can have a wavelength of about 10 microns to about 250 nanometers. LiDAR 1503 can use any common distance measurement technology, including Rayleigh scattering, Mie scattering, Raman scattering, fluorescence, or any combination thereof.

[0124] In some embodiments, the lidar 1503 includes a frequency modulated continuous wave (FMCW) laser. FMCW, also known as continuous wave frequency modulation (CWFM), is a distance measurement technology. FMCW improves the reliability of distance measurements by additionally measuring the velocity of the object to account for more than one reflection source. The signal transmitted by FMCW can have a stable continuous wave frequency that is varied over a fixed time period by a modulating signal, whereby the frequency difference between the received signal and the transmitted signal increases with delay and, therefore, with distance. The echo from the target can then be mixed with the transmitted signal to produce a beat signal to blur any Doppler signal and determine the distance to the target after demodulation. The modulating signal can include a sine wave, a sawtooth wave, a triangle wave, or a square wave.

[0125] Inertial Measurement Unit

[0126] like Figure 15 and Figure 16 As shown, the side-viewing device may also include an inertial measurement unit (IMU) 1506. The IMU 1506 may be attached to the distal end 1501A of the support frame 1501. The IMU 1506 may be attached to the support frame 1501 at the center of mass (inertia) of the side-viewing device. The IMU 1506 may include a plurality of sensors, including but not limited to gyroscopes, accelerometers, level sensors, pressure sensors, potentiometers, anemometers, and strain gauges. The IMU 1506 may be configured to measure the position, rotation, velocity, acceleration, or any combination thereof of the side-viewing device 1500. The IMU 1506 may be configured to measure the position, rotation, velocity, acceleration, or any combination thereof of the side-viewing device 1500 relative to the autonomous vehicle.

[0127] The IMU 1506 may transmit position, rotation, velocity, acceleration, or any combination thereof to the autonomous vehicle.

[0128] Data collected by the camera 1502, radar 1504, lidar 1503, or any combination thereof may be transmitted to the IMU 1506. The IMU 1506 may transmit data collected by the camera 1502, radar 1504, lidar 1503, or any combination thereof to the autonomous vehicle. Data collected by the camera 1502, radar 1504, lidar 1503, or any combination thereof may be transmitted to the autonomous vehicle.

[0129] Mirror

[0130] The side-viewing device 1500 may also include one or more mirror attachments. The mirror attachments may be on a rear-facing portion of the support frame 1401. The mirror attachments may be configured to accommodate the mirror assembly 1801. The mirror attachments may include snaps, screws, bolts, adhesives, threaded features, or any combination thereof. The mirror attachments may be configured to manually or automatically adjust the position of the mirror.

[0131] The side viewing device 1500 may also include a mirror assembly 1801. The mirror assembly 1801 may be on a rearward-facing portion of the support frame 1501. The mirror assembly 1801 may include one or more mirrors. The mirrors may include concave mirrors, flat mirrors, or convex mirrors. The mirrors may include multifocal mirrors.

[0132] autonomous vehicles

[0133] In some embodiments, according to Figure 17 Autonomous vehicle 1700 may include a semitrailer. Alternatively, autonomous vehicle 1700 may include a car, truck, trailer, cart, snowmobile, tank, bulldozer, tractor, van, bus, motorcycle, scooter, or road roller. Autonomous vehicle 1700 may include a land vehicle. Autonomous vehicle 1700 may have a front side, a right side, a left side, and a rear side. The front side may be defined as the forward or primary direction of travel of the autonomous vehicle. The right side may be defined from the perspective of autonomous vehicle 1700, or 90 degrees clockwise from the forward direction when viewed from above.

[0134] A semi-truck (also known as a semi-truck, semi, tractor-trailer, big rig, or eighteen-wheeler) is the combination of a tractive unit body and one or more semi-trailers configured to contain freight.

[0135] Autonomous vehicles 1700 (also referred to as self-driving vehicles or unmanned vehicles) are vehicles that are capable of sensing their environment and moving with little or no human input. Autonomous vehicles 1700 employ various sensors to perceive their surroundings, whereby advanced control systems interpret the sensory information to identify appropriate navigation paths, as well as obstacles and relevant landmarks. Autonomous vehicles 1700 may include fully autonomous vehicles or semi-autonomous vehicles 1700.

[0136] Sensor systems for autonomous vehicles

[0137] according to Figure 18 and Figure 19, another aspect provided herein is a sensor system 1900 for an autonomous vehicle (including a left side viewing device 1500B, a right side viewing device 1500A, or both a left side viewing device 1500B and a right side viewing device 1500A), and one or more of a left side sensor assembly 1901, a right side sensor assembly 1903, and a top side sensor assembly 1902.

[0138] Right viewing device 1500A can be configured to couple to an autonomous vehicle. Right viewing device 1500A can be configured to couple to an autonomous vehicle via a coupler. Left viewing device 1500B can be configured to couple to an autonomous vehicle. Left viewing device 1500B can be configured to couple to an autonomous vehicle via a coupler.

[0139] Left sensor assembly 1901 can be configured to be mounted on the left side of an autonomous vehicle. Right sensor assembly 1903 can be configured to be mounted on the right side of an autonomous vehicle. Top sensor assembly 1902 can be configured to be mounted on the roof of an autonomous vehicle. At least one of left sensor assembly 1901, right sensor assembly 1903, and top sensor assembly 1902 can be configured to be permanently mounted on an autonomous vehicle. At least one of left sensor assembly 1901, right sensor assembly 1903, and top sensor assembly 1902 can be configured to be removably mounted on an autonomous vehicle. At least one of left sensor assembly 1901, right sensor assembly 1903, and top sensor assembly 1902 can be configured to reduce parasitic drag when mounted on an autonomous vehicle. Sensor system 1900 can be mounted on an autonomous vehicle without requiring substantial modification to the autonomous vehicle. Sensor system 1900 can be mounted on an autonomous vehicle without preventing a human driver from entering the vehicle. Sensor system 1900 can be mounted on an autonomous vehicle without preventing a human driver from operating the autonomous vehicle. The sensor system 1900 can be mounted on an autonomous vehicle without significantly obstructing the human driver's field of view. This human driver access allows for more complex loading and unloading maneuvers, precision operation in hazardous or confined areas, and enables safety and / or security personnel to remain in the vehicle, whether or not the vehicle is being operated.

[0140] according to Figure 20, the left sensor assembly 1901, the right sensor assembly 1903, and the top sensor assembly 1902 may include one or more of the following: a vehicle-mounted camera 2002, a vehicle-mounted lidar 2001, and a vehicle-mounted radar 2003. The vehicle-mounted camera 2002 may include a forward-looking vehicle-mounted camera 2002, a side-forward-looking vehicle-mounted camera 2002, a side-looking vehicle-mounted camera 2002, a wide-field-of-view camera 2002, a narrow-field-of-view vehicle-mounted camera 2002, or any combination thereof. The forward-looking vehicle-mounted camera 2002 may generally point toward the front of the autonomous vehicle. The side-forward-looking vehicle-mounted camera 2002 may generally point toward the front of the autonomous vehicle at an angle within approximately 45 degrees. The side-looking vehicle-mounted camera 2002 may generally point toward the front of the autonomous vehicle at a perpendicular angle. The wide-field-of-view camera 2002 may have a focal length of approximately 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, or 5 mm, including increments therein. The narrow field of view onboard camera 2002 can have a focal length of approximately 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 24, 26, 28, or 30 mm, including increments therein.

[0141] The sensor system 1900 may further include a front bumper sensor assembly, a front window sensor assembly, or both. The front bumper sensor assembly and the front window sensor assembly may include a vehicle-mounted camera 2002 , a vehicle-mounted laser radar 2001 , and a vehicle-mounted radar 2003 .

[0142] In some embodiments, the vehicle-mounted laser radar 2001 includes a forward-looking laser radar, a side-looking laser radar, or a rear-looking laser radar. In some embodiments, the vehicle-mounted radar 2003 includes a forward-looking radar, a side-looking radar, or a rear-looking radar.

[0143] Sensor system 1900 can achieve a 360-degree field of view around the autonomous vehicle. Sensor system 1900 can achieve a 360-degree field of view around the autonomous vehicle with a diameter of approximately 100, 125, 150, 175, 200, 225, 250, 275, 300, 325, 350, 375, 400 meters, or larger, including increments therein. Sensor system 1900 can provide redundant coverage of approximately 10, 20, 30, 40, 50, 60, 70, 80, 90, or more percent of the field of view, including increments therein.

[0144] Retrofit sensor kit for autonomous vehicles

[0145] according to Figure 21 Another aspect provided herein is a retrofit sensor kit for an autonomous vehicle, comprising a side looking device 1500 and one or more of: a left side sensor assembly 2102 , a right side sensor assembly 2103 , and a top side sensor assembly 2104 , and a fastener 2101 .

[0146] The side-viewing device 1500 may include a left-side viewing device, a right-side viewing device, or both a left-side viewing device and a right-side viewing device.

[0147] Fastener 2101 can be configured to attach at least one of the left-side viewing device, the right-side viewing device, the left-side sensor assembly, the right-side sensor assembly, and the top-side sensor assembly to the autonomous vehicle. In some embodiments, fastener 2101 includes a screw, a bolt, a nut, an adhesive, a tape, a strap, a lace, a cable, a clip, or any combination thereof.

[0148] As used herein, the term "about" refers to an amount that approximates 10%, 5%, or 1% of the stated amount, including increments therein.

[0149] Example

[0150] The following illustrative examples are representative of embodiments of the software applications, systems, and methods described herein and are not meant to be limiting in any way.

[0151] Example 1 - Camera Field of View

[0152] In one example, a sensor system for an autonomous vehicle includes a left side viewing device including a camera, a left side sensor assembly including a side-view vehicle-mounted camera and a side-front-view vehicle-mounted camera, and a top-side sensor assembly including a front-view vehicle-mounted camera.

[0153] In this example, the focal length of each camera (eg, the front-view vehicle-mounted camera, the side-view vehicle-mounted camera, the side-view vehicle-mounted camera, and the left-side-view device's camera) is approximately 4 mm to 30 mm.

[0154] Additionally, the side front view vehicle mounted camera may have a tilt of approximately -10 degrees relative to the horizontal plane, the side view vehicle mounted camera may have a tilt of approximately -25 degrees, and the left side view device's camera may have a tilt of approximately -10 degrees.

[0155] Example 2 - Radar and LiDAR Field of View

[0156] In another example, a sensor system for an autonomous vehicle includes a left-side viewing device including radar and lidar, and a right-side viewing device including radar and lidar. The radar and lidar on the left and right viewing devices provide a 360-degree field of view with a diameter of approximately 200 meters.

[0157] Only exemplary and representative embodiments have been described herein, and only a few examples of its versatility have been shown and described in this disclosure. It should be understood that the present invention is capable of use in various other combinations and environments and is capable of changes or modifications within the scope of the inventive concept as expressed herein.

[0158] Although the foregoing description is directed to a preferred embodiment, it is to be noted that other variations and modifications will be apparent to those skilled in the art and may be made without departing from the spirit or scope of the invention. In addition, features described in conjunction with one embodiment may be used in conjunction with other embodiments, even if not explicitly stated above.

Claims

1. A sensor assembly for an autonomous vehicle, comprising: A side mirror assembly configured to be mounted to a vehicle and having a box structure, the side mirror assembly comprising: a first camera having a field of view in a direction opposite to a forward direction of travel of the vehicle; a second camera having a field of view in the forward direction of travel of the vehicle; a third camera, wherein a center of the field of view of the third camera is not perpendicular to the forward travel direction and a center of the field of view of the third camera is within 30 degrees of a direction perpendicular to the forward travel direction; First radar and second radar; a housing positioned to cover the first camera, the second camera, and the third camera; and a plurality of brackets attached to the walls of the box structure, wherein the first camera, the second camera, and the third camera are each disposed within a volume on an upper portion of the side mirror assembly, wherein the side mirror assembly has a natural frequency between 20 Hz and 200 Hz, wherein the first camera, the second camera, and the third camera are oriented to provide an uninterrupted camera field of view from the forward direction of travel of the vehicle to a direction opposite to the forward direction of travel of the vehicle, wherein each of the first camera and the second camera is configured as a narrow field of view camera having a field of view of less than 45 degrees, the third camera is configured as a wide field of view camera having a field of view of greater than 120 degrees, and the second radar has a field of view of 360 degrees, and The sensor assembly further includes an arm assembly configured to project outwardly from the autonomous vehicle toward the side mirror assembly and the arm assembly includes a beam assembly configured to be connected to the side mirror assembly.

2. The sensor assembly for an autonomous vehicle according to claim 1, wherein the first radar is tilted downward within 10 degrees of a horizontal plane. 3 . The sensor assembly for an autonomous vehicle according to claim 2 , wherein the first camera and the third camera are tilted downward.

4. The sensor assembly for an autonomous vehicle according to claim 1 , wherein the side mirror assembly comprises a left side mirror assembly and a right side mirror assembly, and each of the left side mirror assembly and the right side mirror assembly comprises a first camera, a second camera, and a third camera, wherein the first camera, the second camera, and the third camera in the left side mirror assembly are oriented to provide an uninterrupted camera field of view to the left from the forward direction of travel of the vehicle to a direction opposite to the forward direction of travel of the vehicle and terminate at a first edge that co-terminates with a first side of the vehicle, wherein the first camera, the second camera, and the third camera in the right side mirror assembly are oriented to provide an uninterrupted camera field of view to the right side from the forward direction of travel of the vehicle to a direction opposite to the forward direction of travel of the vehicle and terminating at a second edge that co-terminates with a second side surface of the vehicle, Wherein the sensor assembly does not provide a field of view extending from the first edge to the second edge in a direction opposite to the forward travel direction and in a direction opposite to the forward travel direction. 5 . The sensor assembly for an autonomous vehicle of claim 4 , wherein the field of view of the first camera in the left mirror assembly does not overlap with the field of view of the first camera in the right mirror assembly. 6 . The sensor assembly for an autonomous vehicle of claim 5 , wherein the field of view of the second camera in the left mirror assembly overlaps with the field of view of the second camera in the right mirror assembly.

7. A sensor assembly for an autonomous vehicle, comprising: A side mirror assembly configured to be mounted to a vehicle and having a box structure, the side mirror assembly comprising: a first camera having a field of view in a direction opposite to a forward direction of travel of the vehicle; a second camera having a field of view in the forward direction of travel of the vehicle; a third camera, wherein a center of the field of view of the third camera is not perpendicular to the forward travel direction and a center of the field of view of the third camera is within 30 degrees of a direction perpendicular to the forward travel direction; a housing positioned to cover the first camera, the second camera, and the third camera; and a plurality of brackets attached to the walls of the box structure, wherein the first camera, the second camera, and the third camera are each disposed within a volume on an upper portion of the side mirror assembly, wherein the side mirror assembly has a natural frequency between 20 Hz and 200 Hz, wherein the first camera, the second camera, and the third camera are oriented to provide an uninterrupted camera field of view from the forward direction of travel of the vehicle to a direction opposite to the forward direction of travel of the vehicle, and The sensor assembly further includes an arm assembly configured to project outwardly from the autonomous vehicle toward the side mirror assembly and the arm assembly includes a beam assembly configured to be connected to the side mirror assembly.

8. The sensor assembly for an autonomous vehicle of claim 7, wherein the uninterrupted camera field of view spans at least 180°.

9. The sensor assembly for an autonomous vehicle of claim 7, wherein the first camera and the second camera are narrow field of view cameras, and the third camera is a wide field of view camera.

10. The sensor assembly for an autonomous vehicle of claim 7, wherein the third camera and the second camera are oriented such that the field of view of the third camera overlaps the field of view of the second camera by at least 5 degrees.

11. The sensor assembly for an autonomous vehicle of claim 7, wherein the third camera and the second camera are oriented such that the field of view of the third camera overlaps the field of view of the second camera by 10 degrees.

12. The sensor assembly for an autonomous vehicle according to claim 7, wherein the first camera, the second camera, and the third camera are each provided within 8 inches of an upper portion of the side mirror assembly. 3 within the volume.

13. The sensor assembly for an autonomous vehicle of claim 7, wherein the sensor assembly further comprises a fourth camera configured to be mounted on a roof of the vehicle, the fourth camera being oriented to have a field of view in the forward direction of travel of the vehicle.

14. The sensor assembly for an autonomous vehicle of claim 13, wherein the fourth camera is a wide field of view camera.

15. The sensor assembly for an autonomous vehicle of claim 13, wherein the fourth camera and the second camera are oriented such that the field of view of the fourth camera overlaps the field of view of the second camera.

16. The sensor assembly for an autonomous vehicle of claim 13, wherein the fourth camera and the third camera are oriented such that the field of view of the fourth camera overlaps the field of view of the third camera.

17. The sensor assembly for an autonomous vehicle of claim 7, wherein the side mirror assembly further comprises at least one of a radar sensor and a lidar sensor.

18. The sensor assembly for an autonomous vehicle according to claim 7, wherein the side mirror assembly further comprises a radar sensor, a lidar sensor, and an inertial measurement unit (IMU).

19. The sensor assembly for an autonomous vehicle according to claim 7, wherein the vehicle is an autonomous truck, and Wherein the arm assembly includes a mount for attachment to an A-pillar of the autonomous truck.

20. The sensor assembly for an autonomous vehicle of claim 7, wherein the vehicle is an autonomous tractor trailer, and wherein the uninterrupted camera field of view is uninterrupted in a horizontal direction out to about 1 meter from a point at a tractor center of the autonomous tractor trailer.

21. The sensor assembly for an autonomous vehicle of claim 20, wherein the uninterrupted camera field of view co-terminates with a side of a trailer of the autonomous towing trailer.

22. The sensor assembly for an autonomous vehicle of claim 7, wherein the first camera is mounted with tolerances such that when the first camera is rotated maximally away from the side of the vehicle, the field of view of the first camera co-terminates with the side of the vehicle.

23. The sensor assembly for an autonomous vehicle of claim 7, wherein the field of view of the third camera is centered at 10 degrees from a direction perpendicular to the forward travel direction.

24. The sensor assembly for an autonomous vehicle of claim 7, wherein each of the first camera and the second camera is configured as a narrow field of view camera having a field of view of less than 45 degrees, and the third camera is configured as a wide field of view camera having a field of view of greater than 120 degrees.

25. The sensor assembly for an autonomous vehicle of claim 24, wherein the first camera and the third camera are tilted downward.

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