Mobile

Abstract

The present invention provides a mobile body capable of appropriately cooling an external information acquisition device. An autonomous driving vehicle (M) capable of autonomous movement comprises: a laser radar (15) for acquiring external information related to the autonomous movement; and a bracket (55) for holding the laser radar (15) and fixed to the autonomous driving vehicle (M). A rearview mirror (60) as another device different from the laser radar (15) is fixed to the bracket (55).

Description

Technical Field

[0001] The present invention relates to a mobile object such as an autonomous driving vehicle, and more particularly to a mobile object having an external information acquisition device capable of acquiring external information around the vehicle. Background Art

[0002] In recent years, there is known an automatic driving vehicle, which is equipped with an external information acquisition device to obtain external information related to automatic movement in order to reduce the burden on the driver and realize safe and comfortable vehicle operation, and performs automatic driving based on the external information. Since the external information acquisition device generates heat during operation, the temperature of the components constituting the external information acquisition device may rise to a temperature above the upper limit temperature of use, and there is a concern that its performance may be affected. Therefore, it is important to properly cool the external information acquisition device to maintain its performance.

[0003] For example, Patent Document 1 discloses a camera module that is an external information acquisition device and is mounted on a mounted body via a thermally conductive bracket, thereby dissipating heat from a sensor substrate unit that is a heat source to the outside via the thermally conductive bracket.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-200087 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, the camera module described in Patent Document 1 is cooled only by heat conduction cooling using a heat conduction bracket, and there is a high possibility that the cooling performance is insufficient, and there is room for improvement.

[0009] The present invention provides a mobile body capable of appropriately cooling an external information acquisition device.

[0010] Solutions to Solve Problems

[0011] The present invention relates to a mobile body capable of automatic movement, wherein:

[0012] The mobile body comprises:

[0013] an external information acquisition device for acquiring external information related to the automatic movement; and

[0014] a bracket, which holds the external information acquisition device and is fixed to the moving body,

[0015] A device other than the external information acquisition device is fixed to the bracket.

[0016] Effects of the Invention

[0017] According to the present invention, by transferring the heat generated by the external information acquisition device to the bracket and other devices, the heat dissipation of the external information acquisition device can be promoted, and the external information acquisition device can be appropriately cooled. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an overall structural diagram of an automatic driving vehicle according to one embodiment of the present invention.

[0019] Figure 2 This is an external view showing the front structure of an autonomous vehicle.

[0020] Figure 3 This is a perspective view of the sensor unit as seen from the upper left.

[0021] Figure 4 This is a perspective view of the sensor unit as seen from the lower left.

[0022] Figure 5 This is a stereoscopic view showing the laser radar and rearview mirror fixed to the bracket with the cover parts removed.

[0023] Figure 6 This is a cross-sectional view showing the path through which heat from the laser radar is transferred to the moving body via the bracket.

[0024] Figure 7 It is a perspective view showing a gap formed between the cover member and the front window.

[0025] Figure 8 yes Figure 7 Section XIII-XIII.

[0026] Description of reference numerals:

[0027] 11A Camera (other external information acquisition device)

[0028] 15. Laser radar (device for acquiring external information)

[0029] 16 front window

[0030] 17 Air conditioning unit outlet

[0031] 55 Bracket

[0032] 60 Rearview mirror (other devices)

[0033] M Autonomous vehicle (mobile object)

[0034] S forms a space between the bracket and the front window. DETAILED DESCRIPTION

[0035] Hereinafter, an embodiment of a mobile body capable of automatic movement of the present invention (hereinafter also referred to as an autonomous driving vehicle) is described based on the accompanying drawings. In the following description, the left and right directions, the front and rear directions, and the up and down directions are defined based on the front direction of the autonomous driving vehicle. In the accompanying drawings, the front is represented as Fr, the rear is represented as Rr, the right side is represented as R, the left side is represented as L, the top is represented as U, and the bottom is represented as D.

[0036] First, refer to Figure 1 and Figure 2 The automatic driving vehicle of the present invention is described. Figure 1 As shown, the autonomous driving vehicle M of this embodiment is, for example, a two-wheel, three-wheel, or four-wheel vehicle. The autonomous driving vehicle M includes a vehicle powered by an internal combustion engine such as a diesel engine or a gasoline engine, an electric vehicle powered by an electric motor, and a hybrid vehicle powered by both an internal combustion engine and an electric motor. Among them, the electric vehicle is driven by, for example, electricity discharged from a storage battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell.

[0037] like Figure 1 As shown, in the autonomous driving vehicle M, multiple external cameras 11B, radars 13 and laser radars 15 (LIDAR: Light Detection and Ranging) are installed around the body of the autonomous driving vehicle M, and external information related to object targets including objects and signs existing around the autonomous driving vehicle M is detected to perform autonomous driving.

[0038] In addition, the vehicle cabin is equipped with a sensor unit 50 (the sensor unit 50 will be described in detail later) which is composed of a plurality of external information acquisition devices and display devices, a navigation device 20 which has functions such as mapping the current position of the autonomous driving vehicle M onto a map and providing route guidance to the destination, and a vehicle control device 100 which has functions such as performing autonomous driving control of the autonomous driving vehicle M including steering / acceleration and deceleration of the autonomous driving vehicle M.

[0039] These devices and apparatuses are connected to each other so as to be able to communicate data via a communication medium such as a CAN (Controller Area Network). In addition, the vehicle control device 100 may include various sensors, a human machine interface (HMI), and the like in addition to various control devices related to autonomous driving.

[0040] The vehicle exterior camera 11B installed at the front of the left and right doors periodically and repeatedly captures the right rear side and the left rear side of the autonomous driving vehicle M, and transmits the image information to the vehicle control device 100 via a communication medium.

[0041] The radar 13 has the following functions: irradiating radar waves to object targets including the preceding vehicle that is the target of the automatic driving vehicle M, and receiving radar waves reflected by the object targets to obtain distribution information of the object targets including the distance to the object targets and the direction of the object targets. As radar waves, lasers, microwaves, millimeter waves, ultrasonic waves, etc. can be used as appropriate. In this embodiment, as Figure 1 As shown, three radars 13 are provided on the front side, and two radars 13 are provided on the rear side, for a total of five radars 13. The distribution information of the object target obtained by the radar 13 is transmitted to the vehicle control device 100 via the communication medium.

[0042] The laser radar 15 has a function of detecting the presence or absence of an object target and the distance to the object target by measuring the time required for detecting scattered light with respect to the irradiated light, for example. Figure 1 As shown, a total of six laser radars 15 are arranged around the autonomous driving vehicle M, two of which are arranged on the front side, one is arranged inside the sensor unit 50, and three are arranged on the rear side. The distribution information of the object target obtained by the laser radar 15 is sent to the vehicle control device 100 via the communication medium.

[0043] The navigation device 20 is configured to include a global navigation satellite system (GNSS: Global Navigation Satellite System) receiver, map information (navigation map), a touch panel type internal display device that functions as a human-machine interface, a speaker, a microphone, etc. The role of the navigation device 20 is to calculate the current position of the automatic driving vehicle M through the GNSS receiver and derive a route from the current position to the destination specified by the user.

[0044] The route derived by the navigation device 20 is provided to the target lane determination unit of the vehicle control device 100. When the vehicle control device 100 is set to the manual driving mode, the navigation device 20 provides guidance on the route to the destination by voice or map display.

[0045] like Figure 2As shown, the autonomous driving vehicle M is provided with an external display device 83 for displaying various information to traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the autonomous driving vehicle M. The external display device 83 includes a right front light section 91A and a left front light section 91B provided separately in the vehicle width direction in the front grille 90 of the autonomous driving vehicle M, and a front display section 93 provided between the left and right front light sections 91A and 91B.

[0046] In addition to the various devices described above, the autonomous driving vehicle M is equipped with a communication device, a vehicle sensor, a human machine interface (HMI), a driving force output device, a steering device, and a brake device, all of which are not shown in the figure, and performs data communication with the vehicle control device 100 via a communication medium. In addition, when the autonomous driving vehicle M is set to the autonomous driving mode, the external information related to the autonomous movement is obtained through the vehicle exterior camera 11B, the radar 13, the laser radar 15, and the sensor unit 50 described later, and the autonomous driving is performed.

[0047] Next, refer to Figures 3 to 8 The sensor unit 50 mounted in the vehicle interior is described in detail. In the autonomous driving vehicle M, in addition to the above-mentioned vehicle exterior camera 11B, radar 13, and laser radar 15 mounted around the vehicle body of the autonomous driving vehicle M, a sensor unit 50 is also mounted near the upper part of the front window 16 which is a transparent portion.

[0048] like Figure 3 and Figures 5 to 7 As shown, the sensor unit 50 includes: a laser radar 15 as an external information acquisition device, which is arranged near the approximate center in the vehicle width direction including the center of the autonomous driving vehicle M in the vehicle width direction; a camera 11A as another external information acquisition device, which is arranged above the laser radar 15 in a space S between a bracket 55 described later and the front window 16; a display device 52 including LEDs, etc., which is extended from the laser radar 15 to the left and right along the inner surface of the front window 16; and a rearview mirror 60 as another device. The rearview mirror 60 may be a rearview monitor that projects an image of a rearview camera that projects the rear of the autonomous driving vehicle M, or a rearview reflector. The laser radar 15 is arranged in front of the rearview mirror 60.

[0049] The sensor unit 50 is arranged in addition to Figure 2 The deployment area E of the side airbag shown by the mid-point chain line and the sun visor 19 (see Figure 5 ) outside the operating area. Thus, the sensor unit 50 does not become an obstacle to the operation of the side airbag and the sun visor 19.

[0050] like Figures 6 to 8As shown, the laser radar 15 and the rearview mirror 60 are mounted on a bracket 55 fixed to the roof body 21 of the autonomous vehicle M. The bracket 55 includes: a pair of front arms 56f and a pair of rear arms 56r fixed directly or indirectly to the roof body 21; an inclined portion 57 extending obliquely downward and forward from the pair of rear arms 56r toward the front window 16; and a mounting plane 58 formed by bending approximately horizontally from the front lower top end of the inclined portion 57 and having a pair of front arms 56f on both sides. The bracket 55 is formed of a metal plate with high thermal conductivity, etc., so as to be in contact with the air outlet 17 (see FIG. 1 ) of the air conditioner to be described later. Figure 1 ) is fixed to the roof body 21 at an angle intersecting the flow direction of the air discharged. In other words, the bracket 55 has a function of receiving the air from the air outlet 17 (refer to Figure 1 )The surface of the exhausted air.

[0051] The laser radar 15 is fixed to the lower surface of the mounting plane 58 of the bracket 55 at the upstream side in the air flow direction, that is, at the front end. In addition, the support 61 of the rearview mirror 60 as another device is fixed to the mounting plane 58 obliquely downward and rearward. The rearview mirror 60 is arranged at a position downstream of the bracket 55 in the air flow direction. Figure 1 It is explained in , so it is omitted.

[0052] A camera module including the camera 11A and a lamp module including the display device 52 are provided in a space S between the bracket 55 and the front window 16 .

[0053] The camera 11A of this embodiment is a trinocular camera formed by arranging three single-lens cameras. The trinocular camera has an optical axis inclined obliquely downward in front of the vehicle and has a function of capturing an image of the traveling direction of the autonomous driving vehicle M. As the camera 11A, for example, a complementary metal oxide semiconductor (CMOS: Complementary Metal Oxide Semiconductor) camera, a charge coupled device (CCD: Charge Coupled Device) camera, etc. can be appropriately used.

[0054] The camera 11A, for example, periodically and repeatedly captures the situation ahead of the traveling direction of the autonomous driving vehicle M. Image information ahead of the traveling direction of the autonomous driving vehicle M captured by the camera 11A is transmitted to the vehicle control device 100 via a communication medium.

[0055] like Figure 7As shown, a pair of display devices 52 are arranged on the left and right sides of the bracket 55 so as to extend along the front window 16 in the vehicle width direction (left-right direction). The display device 52 is located at a position behind the laser radar 15, and is arranged so that at least a part of it is offset from the laser radar 15 in the vehicle width direction. By arranging the laser radar 15 further forward (closer to the front window 16), the detection accuracy of the laser radar 15 is improved. The display device 52 makes the display portion 16a of the front window 16 (see Figure 3 ) Notifies the surroundings of the working status of the autonomous driving vehicle M, for example, when the autonomous driving vehicle M is in autonomous driving mode, it lights up and indicates that it is in autonomous driving.

[0056] like Figure 3 as well as Figure 5 As shown, the front and bottom of the laser radar 15, the camera 11A, and the display device 52 are covered by a cover member 70. The cover member 70 includes: a front cover 71 covering the front surface of the laser radar 15; a lower cover 72 covering the lower part of the laser radar 15 and the display device 52; a cover 73 covering the rear part of the support 61; and a roof cover 74 covering the rear arm 56r and the inclined part 57 of the bracket 55.

[0057] like Figure 3 As shown, the front mask 71 includes an opening 71 a for exposing the laser radar 15 , and covers the front surface of the laser radar 15 .

[0058] like Figure 4 As shown, the lower cover 72 includes: a laser radar cover portion 72a of a roughly rectangular shape having a U-shaped groove 72d for the support column 61 of the rearview mirror 60 to pass through, and covering the two side surfaces, the lower surface and a portion of the rear surface of the laser radar 15; and a display device cover portion 72b which is integrally formed with the laser radar cover portion 72a and extends from the laser radar cover portion 72a to both sides in the vehicle width direction and mainly covers the lower portion of the display device 52.

[0059] The cover 73 has a U-shaped groove 73a through which the pillar 61 of the rearview mirror 60 passes, and covers the periphery of the pillar 61 not covered by the laser radar cover 72a. In addition, the roof cover 74 is arranged behind the laser radar cover 72a, and covers the rear arm 56r and the inclined portion 57 of the bracket 55. A slit 74a serving as an air outlet is formed on the roof cover 74, and the slit 74a is adjacent to the joint between the roof cover 74 and the laser radar cover 72a. The slit 74a is provided corresponding to the opening 59 formed in the inclined portion 57 of the bracket 55.

[0060] The height of the cover member 70 gradually decreases as it moves away from the front window 16 toward the rear in the front-rear direction. That is, the cover member 70 has a shape in which the internal space gradually narrows as it moves toward the rear of the autonomous driving vehicle M. This can guide the air in a direction away from the front window 16 and promote exhaust from the slit 74a. In addition, as Figure 2 As shown, the slit 74a is arranged at a position overlapping with the laser radar 15 including the center of the autonomous driving vehicle M in the vehicle width direction, and is arranged between the plurality of seats 18A and 18B arranged in the vehicle width direction. Thus, the air discharged into the vehicle interior through the slit 74a is not directly directed to the passengers sitting in the seats 18A and 18B, and there is no risk of impairing comfort.

[0061] like Figure 7 and Figure 8 As shown, a blow-out port 17 (see FIG. 1 ) for taking in air from an air conditioner (not shown) is provided between the front end of the cover member 70 and the front window 16. Figure 1 ) is exhausted and flows upward along the inner surface of the front window 16 ( Figure 6 The first introduction port 75 and the second introduction port 76 are shown in the arrow A).

[0062] The first introduction port 75 is formed by a gap C1 between the front cover 71 and the front window 16 overlapping the laser radar 15 in the vehicle width direction, and the second introduction port 76 is formed by a gap C2 between the display device cover portion 72b and the front window 16 overlapping the display device 52 in the vehicle width direction. The gap C1 of the first introduction port 75 is larger than the gap C2 of the second introduction port 76. Thus, more air is introduced into the laser radar 15 that generates more heat than the display device 52, so that the laser radar 15 can be effectively cooled.

[0063] Next, the cooling action of the sensor unit 50 will be described.

[0064] The laser radar 15, camera 11A and display device 52, which are components of the sensor unit 50, generate heat during operation and therefore need to be cooled. The laser radar 15 generates more heat than the display device 52 and rearview mirror 60, and in particular, the area covered by the laser radar cover 72a that accommodates the laser radar 15 is prone to temperature rise and therefore needs to be cooled.

[0065] like Figure 6 As shown in the figure, as indicated by arrow B1, the heat of the laser radar 15 is transferred to the roof body 21 of the autonomous driving vehicle M via the bracket 55 with high thermal conductivity and cooled. In addition, the rearview mirror 60 fixed to the bracket 55 and having less heat generation than the laser radar 15 is used as a heat capacity component, and the heat of the laser radar 15 is transferred to the rearview mirror 60 in the direction of arrow B2, thereby further promoting the cooling of the laser radar 15.

[0066] In addition, since the bracket 55 is disposed in the air flow discharged from the air outlet 17, heat dissipation from the bracket 55 itself is also promoted. As a result, the laser radar 15 can be appropriately cooled to more stably continue the automatic movement of the automatic driving vehicle M. In addition, if a radiator is disposed in the rearview mirror 60, heat dissipation is further promoted.

[0067] More specifically, Figure 6 As shown by the arrow A in the middle, the air discharged from the blower port 17 flows upward along the inner surface of the front window 16. Figure 4 As shown by arrow A1, part of the air discharged from the outlet 17 flows into the cover member 70 from the gap C1 between the front mask 71 and the front window 16 as the first inlet 75. Then, after mainly cooling the laser radar 15 and the bracket 55, as shown in FIG. Figure 4 As shown by the middle arrow F, exhaust is conducted into the vehicle interior from the slit 74a of the roof cover 74. Since the slit 74a is provided at a portion overlapping with the laser radar 15 in the vehicle width direction, the laser radar 15 is disposed between the first inlet 75 and the slit 74a, and cooling of the laser radar 15 can be further promoted.

[0068] In addition, since the laser radar 15 is arranged at a position upstream of the bracket 55 in the air flow direction, the laser radar 15 itself can be cooled first, and the heat transferred from the laser radar 15 to the bracket 55 can be reduced. In addition, since the rearview mirror 60 is arranged at a position downstream of the bracket 55 in the air flow direction, the heat transferred to the rearview mirror 60 via the bracket 55 can be reduced.

[0069] In addition, if Figure 4 As shown by arrow A2, part of the air discharged from the blower outlet 17 and flowing upward along the inner surface of the front window 16 flows into the cover member 70 from the gap C2 between the display device cover portion 72b and the front window 16 as the second inlet 76. Then, after mainly cooling the display device 52, the air is exhausted into the vehicle interior from the slit 74a of the roof cover 74.

[0070] At this time, since the gap C1 of the first inlet 75 is set to be larger than the gap C2 of the second inlet 76, more air can flow in from the first inlet 75, and the laser radar 15 with a large heat generation can be effectively cooled. As a result, the automatic driving of the automatic driving vehicle M can be continued more stably. In addition, since the camera 11A is arranged above the bracket 55, the air flowing into the cover part 70 from the gap C1 of the first inlet 75 can also cool the camera 11A. In addition, the camera 11A is located above the laser radar 15 and on the downstream side of the air flowing upward along the inner surface of the front window 16, so the influence of the laser radar 15 caused by the heat of the camera 11A can be suppressed.

[0071] Above, various embodiments have been described with reference to the accompanying drawings, but the present invention is certainly not limited to this example. It will be appreciated by those skilled in the art that various variations or modifications can be conceived within the scope of the technical solution, and these certainly also belong to the technical scope of the present invention. In addition, the various constituent elements in the above-mentioned embodiments may also be arbitrarily combined within the scope of the gist of the invention.

[0072] For example, a slit may be provided in the front cover 71 of the laser radar 15 , and the laser radar 15 may be cooled by air taken in from the slit in addition to the air flow from the first inlet 75 .

[0073] In the above embodiment, the rearview mirror 60 is exemplified as another device fixed to the bracket 55 , but the other device is not limited to the rearview mirror 60 , and may be another vehicle-mounted device such as a drive recorder.

[0074] In addition, at least the following matters are described in this specification. It should be noted that, in brackets, corresponding components and the like in the above-mentioned embodiment are shown, but the present invention is not limited thereto.

[0075] (1) A mobile object (automatic driving vehicle M) capable of moving automatically, wherein:

[0076] The mobile body comprises:

[0077] An external information acquisition device (laser radar 15) that acquires external information related to the automatic movement; and

[0078] a bracket (bracket 55) which holds the external information acquisition device and is fixed to the moving body,

[0079] A device (rearview mirror 60 ) other than the outside information acquisition device is fixed to the bracket.

[0080] According to (1), by transferring the heat generated by the external information acquisition device to the bracket or other devices, the heat dissipation of the external information acquisition device can be promoted, and the external information acquisition device can be appropriately cooled.

[0081] Furthermore, since the bracket is fixed to the moving body, the moving body can also be used to promote heat dissipation, and the external information acquisition device can be cooled more appropriately.

[0082] (2) The moving object according to (1), wherein:

[0083] The bracket is disposed in the room of the moving body and is fixed at an angle intersecting with the flow direction of air discharged from the air outlet (the air outlet 117) of the air conditioner.

[0084] According to (2), since the bracket to which the external information acquisition device is fixed is arranged at an angle intersecting the flow direction of the air exhausted from the air outlet of the air conditioner, the heat dissipation of the bracket can be promoted by the air exhausted from the air conditioner.

[0085] (3) The moving object according to (2), wherein:

[0086] The outside information acquisition device is arranged upstream of the bracket in the flow direction of the air.

[0087] According to (3), since the external information acquisition device is arranged upstream of the bracket in the air flow direction, the external information acquisition device itself can be cooled first, thereby reducing the amount of heat transferred from the external information acquisition device to the bracket.

[0088] (4) The moving object according to (3), wherein:

[0089] The other device is arranged downstream of the bracket in the flow direction of the air.

[0090] According to (4), since the other devices are arranged downstream of the bracket in the air flow direction, the amount of heat transferred to the other devices can be reduced.

[0091] (5) The moving object according to any one of (1) to (4), wherein:

[0092] The other device generates less heat than the external information acquisition device.

[0093] According to (5), since the heat generated by the other devices is smaller than that of the external information acquisition device, heat dissipation of the external information acquisition device can be promoted.

[0094] (6) The moving object according to any one of (1) to (5), wherein:

[0095] The external information acquisition device is fixed below the bracket.

[0096] Another external information acquisition device (camera 11A) is arranged above the bracket.

[0097] According to (6), since the other external information acquisition device is arranged above the bracket, it is possible to suppress the influence of the heat of the other external information acquisition device on the external information acquisition device.

[0098] (7) The moving object according to (6), wherein:

[0099] The bracket is arranged in the interior of the moving body.

[0100] The other external information acquisition device is disposed in a space (space S) formed between the bracket and the front window (front window 16 ).

[0101] According to (7), since the other external information acquisition device is arranged in the space formed between the bracket and the front window by utilizing the curvature of the front window, the layout property is good.

[0102] (8) The moving object according to (7), wherein:

[0103] The outside world information acquisition device is arranged in front of the other devices.

[0104] According to (8), by arranging the outside world information acquisition device at a position forward of other devices, it is possible to acquire outside world information with high accuracy.

Claims

1. A mobile body capable of moving automatically, wherein: The mobile body comprises: an external information acquisition device for acquiring external information related to the automatic movement; and a bracket, which holds the external information acquisition device and is fixed to the moving body, A device other than the external information acquisition device is fixed on the bracket. The bracket is arranged in the room of the moving body and is fixed at an angle intersecting with the flow direction of the air discharged from the air outlet of the air conditioner and flowing upward along the inner surface of the front window. The outside information acquisition device is fixed below the bracket and is arranged upstream of the bracket in the flow direction of the air.

2. The moving object according to claim 1, wherein: The other device is arranged downstream of the bracket in the flow direction of the air.

3. The moving object according to claim 1 or 2, wherein: The other device generates less heat than the external information acquisition device.

4. The moving object according to claim 1 or 2, wherein: Other external information acquisition devices are arranged above the bracket.

5. The moving object according to claim 4, wherein: The other external information acquisition device is arranged in a space formed between the bracket and the front window.

6. The moving object according to claim 5, wherein: The outside world information acquisition device is arranged in front of the other devices.

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