Vehicle sensor assembly structure and sensor control device

Abstract

The present invention relates to a vehicle sensor mounting structure and a sensor control device. A vehicle sensor mounting structure includes a first sensor and a second sensor mounted on a vehicle for detecting objects outside the vehicle through sensor fusion. The first and second sensors are arranged side by side along a single axis along the surface of the vehicle, with each first sensor sandwiched between two second sensors at equal intervals.

Description

Technical Field

[0001] The present invention relates to a sensor mounting structure and a sensor control device for a vehicle. Background Art

[0002] Conventionally, as a technical document related to a sensor mounting structure for a vehicle, Japanese Patent Application Laid-Open No. 2017-214065 is known. This publication shows a vehicle in which a LiDAR is installed on the roof and a front camera is mounted on the inside of the windshield.

[0003] Furthermore, sensor fusion technology is known that uses the detection results of multiple sensors mounted on a vehicle to perform object recognition outside the vehicle, etc. When performing such sensor fusion, it is ideal to determine the positional relationship of each sensor in consideration of the characteristics of sensor fusion. Summary of the Invention

[0004] One embodiment of the present invention is a sensor assembly structure for a vehicle, in which a first sensor and a second sensor for detecting objects outside the vehicle through sensor fusion are assembled on the vehicle, wherein the first sensor and the second sensor are arranged side by side in a single-axis direction along the surface of the vehicle, and one first sensor is arranged to be sandwiched between two second sensors at equal intervals.

[0005] According to one aspect of the vehicle sensor mounting structure of the present invention, the first and second sensors performing sensor fusion are arranged side by side in a single-axis direction along the vehicle's surface. This facilitates sensor fusion computation by simply reflecting the differences in the position of the sensors in the single-axis direction, compared to a situation where the sensors are arranged randomly in directions such as up, down, left, right, or depth. Furthermore, with this vehicle sensor mounting structure, a single first sensor is positioned between two second sensors at equal intervals. This facilitates sensor fusion computation compared to a situation where the distances between the second sensors relative to a single first sensor are uneven, thereby improving the accuracy of object recognition and other aspects.

[0006] In the above-mentioned vehicle sensor mounting structure, the first sensor may be a camera, and the second sensor may be a LiDAR (Light Detection And Ranging).

[0007] According to this vehicle sensor mounting structure, two LiDARs with a long detection distance are arranged with a camera having a wide detection angle as the center so as to sandwich the camera at equal intervals. This arrangement is advantageous for object recognition by sensor fusion.

[0008] In the above-described vehicle sensor mounting structure, the detection ranges of the two second sensors may have an overlapping detection range that overlaps in front of the first sensor.

[0009] According to this vehicle sensor mounting structure, the detection ranges of the two second sensors have overlapping detection ranges that overlap in front of the first sensor, thereby enabling object recognition to be performed more efficiently through sensor fusion.

[0010] Another embodiment of the present invention is a sensor control device that controls the first sensor and the second sensor in the above-mentioned vehicle sensor assembly structure, wherein the sensor control device has a sensor control unit that controls the first sensor and the second sensor, the first sensor is a camera, and the two second sensors are LiDARs, and the sensor control unit can switch the control mode of the second sensor between a high-cycle detection mode and a high-density detection mode, the high-cycle detection mode is a mode in which the two second sensors alternately scan the repeated detection range, and the high-density detection mode is a mode in which the two second sensors simultaneously scan the repeated detection range.

[0011] According to another embodiment of the present invention, the sensor control device can switch the control mode of the second sensor between a high-cycle detection mode and a high-density detection mode, so that object recognition achieved through sensor fusion can be appropriately performed by switching the control mode according to the state of the vehicle, etc., wherein the high-cycle detection mode is a mode in which the two second sensors alternately scan the repeated detection range, and the high-density detection mode is a mode in which the two second sensors simultaneously scan the repeated detection range.

[0012] In the above-mentioned sensor control device, it may also be that when the vehicle speed is above the first threshold, the sensor control unit switches the control mode of the second sensor to the high-period detection mode, and when the vehicle speed is less than the second threshold, the sensor control unit switches the control mode of the second sensor to the high-density detection mode, and the second threshold is a threshold value that is the same as the first threshold value or a value that is smaller than the first threshold value.

[0013] This sensor control device switches the control mode of the second sensor to a high-period detection mode when the vehicle speed is above a first threshold. This allows for rapid object recognition when the vehicle speed is high and conditions outside the vehicle are changing rapidly. Furthermore, when the vehicle speed is below a second threshold, the control mode of the second sensor is switched to a high-density detection mode. This allows for high-precision object recognition when the vehicle speed is low and conditions outside the vehicle are changing slowly.

[0014] Another embodiment of the present invention is a sensor control device that controls the first sensor and the second sensor in the above-mentioned vehicle sensor assembly structure, wherein the sensor control device comprises: a first cleaning device, which is assembled on one first sensor; a second cleaning device, which is assembled on one of the two second sensors; a third cleaning device, which is assembled on the other of the two second sensors; and a cleaning device control unit, which controls the cleaning timing of the first cleaning device, the second cleaning device and the third cleaning device, and the cleaning device control unit controls the cleaning timing in such a way that the cleaning time of the first cleaning device does not overlap with the cleaning time of the second cleaning device and the third cleaning device.

[0015] According to another embodiment of the present invention, the sensor control device controls the cleaning timing so that the cleaning time of the first cleaning device does not overlap with the cleaning time of the second cleaning device and the third cleaning device, thereby avoiding the overlapping of cleaning times and hindering the object recognition achieved by sensor fusion.

[0016] According to each aspect of the present invention, the calculation process of sensor fusion can be facilitated. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0018] Figure 1 This is a diagram showing a vehicle having a vehicle sensor mounting structure according to an embodiment.

[0019] Figure 2 This is an enlarged view showing an example of the assembly structure of the front sensor group.

[0020] Figure 3 FIG. 1 is a diagram showing an example of the detection range of the front sensor group in a plan view.

[0021] Figure 4 This is a diagram for explaining the relationship between the distance between sensors and the parallax of the target object.

[0022] Figure 5 This is a graph showing an example of the relationship between the distance between the sensor and the target object and the parallax.

[0023] Figure 6 This is an enlarged view showing an example of the mounting structure of the left side roof sensor group.

[0024] Figure 7 FIG. 1 is a diagram showing an example of the detection range of the left side roof sensor group.

[0025] Figure 8This is a block diagram showing a sensor control device according to one embodiment.

[0026] Figure 9A This is a graph for explaining an example of the high-cycle detection mode.

[0027] Figure 9B This is a graph for explaining an example of the high-density detection mode.

[0028] Figure 10 This is a graph for explaining an example of cleaning timing.

[0029] Figure 11 This is a flowchart showing an example of sensor control mode switching processing.

[0030] Figure 12 This is a flowchart showing an example of a cleaning equipment control process. DETAILED DESCRIPTION

[0031] Each figure shows an XYZ orthogonal coordinate system with the vehicle front-rear direction as the X axis, the vehicle width direction as the Y axis, and the vehicle height direction as the Z axis.

[0032] [Vehicle sensor assembly structure]

[0033] Figure 1 1 is a diagram showing a vehicle having a vehicle sensor mounting structure according to an embodiment. Figure 1 The illustrated vehicle 1 is equipped with a front sensor group 10 and a left-side roof sensor group 30 as sensors for detecting objects outside the vehicle through sensor fusion. The front sensor group 10 is mounted on the front surface 2 of the vehicle 1 and detects objects in front of the vehicle 1. The left-side roof sensor group 30 is mounted on the left side of the roof 3 of the vehicle 1 and detects objects to the left of the vehicle 1.

[0034] It should be noted that the vehicle 1 may also be equipped with a rear sensor group and / or a roof right side sensor group. The rear sensor group may have the same structure as the front sensor group 10, and the roof right side sensor group may have the same structure as the roof left side sensor group 30.

[0035] Figure 2 1 is an enlarged view showing an example of the assembly structure of the front sensor group 10. Figure 1 and Figure 2 As shown, as an example, the front sensor group 10 is mounted above the front bumper of the vehicle 1. The mounting position of the front sensor group 10 is not particularly limited as long as it is on the front surface 2 of the vehicle 1. The front sensor group 10 may also be mounted above the windshield of the vehicle 1.

[0036] There are no particular limitations on how the front sensor assembly 10 is mounted. The front sensor assembly 10 can be mounted on the vehicle 1 via a bracket or directly fixed to the vehicle body. The individual sensors comprising the front sensor assembly 10 can be mounted on the vehicle 1 as a single unit, or each sensor can be individually fixed to the vehicle 1.

[0037] The front sensor group 10 includes a camera (first sensor) 11, a left LiDAR (second sensor) 12, and a right LiDAR (second sensor) 13. The first sensor is a sensor mounted along the surface of the vehicle 1 in a manner to detect the exterior of the vehicle 1, and is configured to be sandwiched between two second sensors. The second sensor is a sensor mounted along the surface of the vehicle 1 in a manner to detect the exterior of the vehicle 1, and is mounted so as to sandwich the first sensor. The first sensor and the second sensor are different types of sensors. The first sensor and the second sensor are arranged side by side in a single-axis direction along the surface of the vehicle 1. In the following, the camera 11 is described as an example of the first sensor, the left LiDAR 12 is described as an example of one of the second sensors, and the right LiDAR 13 is described as an example of the other of the second sensors.

[0038] The camera 11, the left LiDAR 12, and the right LiDAR 13 of the front sensor group 10 are arranged side by side in a single-axis direction along the front surface 2 of the vehicle 1. Figure 2 1 and 2 show a virtual axis H corresponding to a single axis direction in the camera 11, the left LiDAR 12, and the right LiDAR 13. The axis H is a virtual straight line extending in the Y-axis direction (vehicle width direction).

[0039] A "uniaxial direction" refers to the direction in which an imaginary axis (straight line) extends. This uniaxial direction is not limited to the vehicle width direction. It can also be the vehicle's height direction (Z-axis direction), the vehicle's front-to-back direction (X-axis direction), the direction in which any axis extends within the YZ plane, the direction in which any axis extends within the XZ plane or the XY plane, or the direction in which any axis extends within three-dimensional space. The uniaxial direction can be set differently for each sensor group.

[0040] The "uniaxial direction along the front surface 2" refers to a direction parallel to the front surface 2 or forming a gentle angle with the front surface 2. A gentle angle means an angle less than 90 degrees, and may be less than 45 degrees or less than 30 degrees.

[0041] "Arranged side by side in a uniaxial direction" means, for example, that the center point or detection unit (camera lens, LiDAR light receiving unit) of each sensor, or the portion where the sensor is attached to vehicle 1, is aligned in a uniaxial direction. A certain range of deviation from the center point or detection unit of each sensor is permitted. This range is not particularly limited and can be, for example, 1 cm, 3 cm, 5 cm, or 10 cm. As long as an imaginary axis passes through a portion of each sensor, the sensors are considered to be aligned in a uniaxial direction.

[0042] The camera 11 is positioned between the left LiDAR 12 and the right LiDAR 13, spaced evenly along a single axis. The basis for equal spacing is not particularly limited; for example, the center point or detection portion of each sensor can be used as a reference for distance measurement. Equal spacing does not necessarily require perfectly equal distances. A certain range of deviation is permitted. The certain range can be set to, for example, 0.1 m, 0.3 m, or 0.5 m.

[0043] The camera 11 is a camera for capturing images of the exterior of the vehicle 1. The specifications of the camera 11 are not particularly limited. The camera 11 may be a monocular camera or a stereo camera. The camera 11 is connected to an electronic unit (e.g., an ECU) of the vehicle 1 via wiring (not shown).

[0044] The left LiDAR 12 and right LiDAR 13 are detection devices that use light to detect objects outside the vehicle 1. They detect objects by transmitting light around the vehicle 1 and receiving light reflected by surrounding objects. The left LiDAR 12 and right LiDAR 13 are also connected to the electronic units of the vehicle 1 via wiring (not shown).

[0045] Figure 3 : is a diagram showing an example of the detection range of the front sensor group 10 when viewed from above. Figure 3 1 shows the detection range D11 of the camera 11, the detection range D12 of the left LiDAR 12, and the detection range D13 of the right LiDAR 13. Also shown are an overlapping detection range C1 where the detection ranges D12 of the left LiDAR 12 and D13 of the right LiDAR 13 overlap, and a close-range overlapping detection range C2 where all the detection ranges overlap. The overlapping detection range C1 and the close-range overlapping detection range C2 are formed in front of the camera 11.

[0046] In addition, Figure 3In the figure, with the camera 11 as the reference, the sensing angle of the overlapping detection range C1 is represented as θ1, the sensing angle of the left LiDAR 12 outside the overlapping detection range C1 is represented as θ2, and the sensing angle of the right LiDAR 13 outside the overlapping detection range C1 is represented as θ3. These sensing angles are used in the description of sensor control described later.

[0047] like Figure 3 As shown, the detection range of the front sensor group 10 is formed by the detection range D11 of the camera 11, the detection range D12 of the left LiDAR 12, and the detection range D13 of the right LiDAR 13. The detection range D11 of the camera 11 forms a wide-angle fan-shaped range toward the front of the vehicle 1. The detection range D12 of the left LiDAR 12 and the detection range D13 of the right LiDAR 13 are formed toward the left and right oblique front of the vehicle 1, respectively, forming fan-shaped ranges that extend farther than the detection range D11 of the camera 11.

[0048] The overlapping detection range C1 is a range where both the left LiDAR 12 and the right LiDAR 13 can detect objects, and is formed in front of the camera 11. The close-range overlapping detection range C2 is a range where the camera 11 can detect objects in addition to the left and right LiDARs 12 and 13.

[0049] Here, Figure 4 This is a diagram for explaining the relationship between the distance between sensors and the parallax of the target object. Figure 4 , two sensors 50 and 51 and a target object T are shown as an example. The types of sensors 50 and 51 are not particularly limited. Sensors 50 and 51 can be cameras, LiDARs, or millimeter-wave radars. Sensors 50 and 51 can correspond to the left LiDAR 12 and the right LiDAR 13.

[0050] The target object T is an object to be detected. The target object T is arranged within the overlapping detection range of the sensors 50 and 51. Figure 4 As shown, if the distance L between the sensors 50 and 51 and the positional relationship of the target object T relative to the sensors 50 and 51 (including the distance d between the sensors 50 and 51 and the target object T) are determined, the parallax can be calculated.

[0051] Figure 5 This is a graph showing an example of the relationship between the distance between the sensor and the target object and the parallax. Figure 5 The length of the distance L between the sensors 50 and 51 is shown in FIG. Figure 5As shown, as the distance d between sensors 50, 51 and the target object T increases, the difference in parallax caused by the distance L between sensors 50, 51 decreases. However, at close distances, the effect of the parallax caused by the distance L between sensors 50, 51 is significant. If the parallax increases, sensors 50, 51 detect different surfaces of the target object T, potentially affecting the accuracy of sensor fusion. Therefore, as an example, it is possible to configure sensors 50, 51 so that the distance between them decreases. It should be noted that in this embodiment, the distance between the left LiDAR 12 and the right LiDAR 13 is not particularly limited.

[0052] like Figure 1 and Figure 2 As shown, a cleaning device group 20 is provided at the front sensor group 10. The cleaning device group 20 is a device for cleaning each sensor. The cleaning device group 20 includes a first cleaning device 21 provided for the camera 11, a second cleaning device 22 provided for the left LiDAR 12, and a third cleaning device 23 provided for the right LiDAR 13.

[0053] There is no particular limitation on the configuration of the first cleaning device 21, the second cleaning device 22, and the third cleaning device 23. The first cleaning device 21, the second cleaning device 22, and the third cleaning device 23 can clean the sensors by spraying cleaning liquid, blowing air, or physically using a wiper.

[0054] Figure 6 3 is a diagram for explaining the left side sensor group 30 of the roof. As an example, Figure 1 and Figure 6 The roof left side sensor group 30 shown is mounted on the left end of the roof 3 of the vehicle 1. The mounting position of the roof left side sensor group 30 is not limited to Figure 1 The position shown can be changed forwards or backwards, and the height can also be changed.

[0055] There are no specific restrictions on the mounting method of the left-side roof sensor assembly 30. The left-side roof sensor assembly 30 can be mounted on the vehicle 1 via a bracket or directly fixed to the vehicle body. The individual sensors comprising the left-side roof sensor assembly 30 can be mounted on the vehicle 1 as a single unit, or each sensor can be individually fixed to the vehicle 1.

[0056] The left side roof sensor group 30 includes a camera 31, a front LiDAR 32, and a rear LiDAR 33. In the left side roof sensor group 30, the camera 31 is an example of a first sensor, the front LiDAR 32 is an example of one of the second sensors, and the rear LiDAR 33 is an example of the other of the second sensors.

[0057] The camera 31, the front LiDAR 32, and the rear LiDAR 33 of the left side roof sensor group 30 are arranged side by side in a single axis direction along the roof 3 of the vehicle 1. Figure 6 : shows a virtual axis F corresponding to a single axis direction of the camera 31, the front LiDAR 32, and the rear LiDAR 33. The axis F is a virtual straight line extending in the X-axis direction (vehicle front-rear direction).

[0058] For the left-side roof sensor group 30, the uniaxial direction is not limited to the X-axis; it can be set to any axis extending in three-dimensional space, as long as it extends along the roof 3 of the vehicle 1 equipped with the left-side roof sensor group 30. The interpretations of "a uniaxial direction along the roof 3" and "arranged side by side in the uniaxial direction" can be the same as for the front sensor group 10. It should be noted that, similar to the front sensor group 10, a cleaning device group can also be provided for the left-side roof sensor group 30.

[0059] like Figure 6 As shown, the camera 31, front LiDAR 32, and rear LiDAR 33 are installed to face obliquely left and downward to detect objects (other vehicles, etc.) to the left of the vehicle 1. The front LiDAR 32 and rear LiDAR 33 are configured to change their orientations so that their detection ranges in the roll direction of the vehicle 1 differ.

[0060] Figure 7 : is a diagram showing an example of the detection range of the left side roof sensor group 30. Figure 7 , which is a view viewed from the rear of the vehicle 1. Figure 7 31, the detection range D31 of the camera 31, the detection range D32 of the front LiDAR 32, and the detection range D33 of the rear LiDAR 33 are shown. Furthermore, an overlapping detection range C10, where the detection ranges D32 and D33 of the front LiDAR 32 and rear LiDAR 33 overlap, and a close-range overlapping detection range C20, where all the detection ranges overlap, are shown. The overlapping detection range C10 and the close-range overlapping detection range C20 are formed in front of the camera 31 (in the sensor detection direction of the camera 31).

[0061] like Figure 7 As shown, the detection range of the left side roof sensor group 30 is formed by the detection range D31 of the camera 31, the detection range D32 of the front LiDAR 32, and the detection range D33 of the rear LiDAR 33. The detection range D31 of the camera 31 forms a wide-angle fan-shaped range from the left end of the roof 3 of the vehicle 1 toward the lower left.

[0062] The detection range D32 of the front LiDAR 32 and the detection range D33 of the rear LiDAR 33 are each formed from the left end of the roof 3 of the vehicle 1 toward the lower left, forming a fan-shaped range extending farther than the detection range D31 of the camera 31 .

[0063] The configurations of the camera 31, front LiDAR 32, and rear LiDAR 33 can be identical to those of the camera 11, left LiDAR 12, and right LiDAR 13 of the front sensor group 10. It should be noted that the configurations of the front sensor group 10 and the left roof sensor group 30 do not need to be completely identical; sensors with appropriate specifications depending on the mounting locations can be used.

[0064] According to the vehicle sensor mounting structure of the present embodiment described above, the first and second sensors performing sensor fusion are arranged side by side in a uniaxial direction along the vehicle's surface. This facilitates sensor fusion computation by simply reflecting the differences in the position of the sensors in the uniaxial direction, compared to a situation where they are arranged in a scattered manner vertically, horizontally, and horizontally. Furthermore, according to this vehicle sensor mounting structure, a single first sensor is arranged between two second sensors at equal intervals. This facilitates sensor fusion computation compared to a situation where the distances between the second sensors relative to a single first sensor are uneven, thereby improving the accuracy of object recognition and other aspects.

[0065] In addition, according to the vehicle sensor mounting structure, the left LiDAR 12 and the right LiDAR 13 with a long detection distance are arranged with the camera 11 having a wide detection angle as the center and sandwiched between the camera 11 at equal intervals, thereby achieving a configuration that is advantageous for object recognition achieved through sensor fusion.

[0066] Furthermore, according to this vehicle sensor mounting structure, the detection ranges of the left LiDAR 12 and the right LiDAR 13 have overlapping detection ranges C1 in front of the camera 11 , thereby enabling more efficient object recognition through sensor fusion.

[0067] [Sensor control device]

[0068] Next, a sensor control device that controls various sensors in the above-mentioned vehicle sensor mounting structure will be described. Figure 8 This is a block diagram showing a sensor control device according to one embodiment.

[0069] Figure 8 The sensor control device 100 shown is a device mounted on the vehicle 1 to control various sensors of the vehicle 1. Here, as an example, a sensor control device that controls the front sensor group 10 and the washer equipment group 20 will be described.

[0070] like Figure 8 As shown, sensor control device 100 includes an ECU (Electronic Control Unit) 40, which manages the overall device. ECU 40 is an electronic control unit that includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other components. ECU 40 implements various functions by, for example, executing programs stored in ROM or RAM using the CPU. ECU 40 may be composed of multiple electronic units.

[0071] The ECU 40 is connected to the front sensor group 10, the washer group 20, and the vehicle speed sensor 60. The vehicle speed sensor 60 is a sensor for detecting the speed of the vehicle 1. It should be noted that the ECU 40 may also be connected to the roof left sensor group 30 and other washer groups.

[0072] Next, the functional structure of ECU 40 will be described. Figure 8 As shown, the ECU 40 includes a sensor fusion unit 41 , a sensor control unit 42 , and a cleaning equipment control unit 43 .

[0073] The sensor fusion unit 41 uses the detection results of the front sensor group 10 to perform object recognition through sensor fusion. Figure 3 For objects such as a preceding vehicle within the overlapping detection range C1, the sensor fusion unit 41 recognizes the shape of the object by integrating the detection point cluster detected by the left LiDAR 12 and the detection point cluster detected by the right LiDAR 13. The sensor fusion unit 41 can also perform object recognition through sensor fusion between the camera 11 and the left LiDAR 12 or the right LiDAR 13.

[0074] The sensor control unit 42 controls various sensors. The sensor control unit 42 controls the detection performed by the camera 11, the left LiDAR 12, and the right LiDAR 13 in the front sensor group 10. Specifically, the sensor control unit 42 switches the control mode of the left LiDAR 12 and the right LiDAR 13 between a high-cycle detection mode and a high-density detection mode. The high-cycle detection mode is a mode in which detection is performed at a high cycle. Figure 3 The high-density detection mode is a mode in which the repeated detection range C1 is detected at a high density.

[0075] Here, Figure 9A This is a graph for explaining an example of the high-cycle detection mode. Figure 9AThe vertical axis is time, and the horizontal axis is the sensing angle. Figure 9A In FIG, the solid line represents the change of the sensing angle of the left LiDAR 12 with time, and the dotted line represents the change of the sensing angle of the right LiDAR 13 with time. Figure 3 The sensing angle θ2 corresponds to the sensing angle of the left LiDAR 12 excluding the overlapping detection range C1 , and the sensing angle θ3 corresponds to the sensing angle of the right LiDAR 13 excluding the overlapping detection range C1 .

[0076] like Figure 9A As shown, the sensor control unit 42 controls the left LiDAR 12 and the right LiDAR 13 in the high-cycle detection mode so that the left LiDAR 12 and the right LiDAR 13 alternately scan the overlapping detection range C1 .

[0077] For example, the sensor control unit 42 switches to high-cycle detection mode by adjusting the scanning cycle so that, while the left LiDAR 12 is scanning the range of detection angle θ1 (repeated detection range C1), the right LiDAR 13 scans the range of detection angle θ3. In high-cycle detection mode, repeated scanning within detection range C1 at a high cycle enables rapid detection of changes in an object.

[0078] Figure 9B This is a graph used to illustrate an example of high-density detection mode. The vertical and horizontal axes are similar to Figure 9A In the high-density detection mode, the sensor control unit 42 controls the left LiDAR 12 and the right LiDAR 13 so that the left LiDAR 12 and the right LiDAR 13 simultaneously scan the overlapping detection range C1.

[0079] The sensor control unit 42 adjusts the scanning cycle so that the timing of the left LiDAR 12 scanning the range of the sensing angle θ1 is consistent with the timing of the right LiDAR 13 scanning the range of the sensing angle θ1, thereby switching to the high-density detection mode. In the high-density detection mode, more detection points can be obtained for each object by scanning at a high density, thereby improving the recognition accuracy of the object. It should be noted that the high-cycle detection mode and the high-density detection mode are not limited to Figure 9A and Figure 9B The scheme shown.

[0080] The sensor control unit 42 switches the control mode of the left LiDAR 12 and the right LiDAR 13 based on the speed of the vehicle 1 detected by the vehicle speed sensor 60, for example. When the speed of the vehicle 1 is greater than or equal to a first threshold, the sensor control unit 42 switches the control mode of the left LiDAR 12 and the right LiDAR 13 to the high-cycle detection mode. The first threshold is a preset threshold value. The first threshold value is not particularly limited and can be 60 km / h or 50 km / h.

[0081] When the vehicle 1's speed is less than a second threshold, the sensor control unit 42 switches the control mode of the left LiDAR 12 and the right LiDAR 13 to a high-density detection mode. The second threshold is equal to or less than the first threshold. The second threshold is not particularly limited and can be 20 km / h or 30 km / h. When the vehicle 1's speed is less than the first threshold and greater than the second threshold, the sensor control unit 42 maintains the current control mode.

[0082] The cleaning device control unit 43 controls the cleaning device group 20. The cleaning device control unit 43 controls the cleaning timing of the first cleaning device 21, the second cleaning device 22, and the third cleaning device 23 in the cleaning device group 20.

[0083] Figure 10 This is a graph for explaining an example of cleaning timing. Figure 10 The vertical axis is the on / off status of the cleaning, and the horizontal axis is time. Figure 10 , cleaning timing T21 of the first cleaning device 21 , cleaning timing T22 of the second cleaning device 22 , and cleaning timing T23 of the third cleaning device 23 are shown.

[0084] like Figure 10 As shown, the cleaning device control unit 43 controls the cleaning timing in a manner that the cleaning times (cleaning on time) of the first cleaning device 21, the second cleaning device 22, and the third cleaning device 23 do not overlap. The cleaning device control unit 43 can regularly and repeatedly clean the first cleaning device 21, the second cleaning device 22, and the third cleaning device 23 in a manner that the cleaning times of the first cleaning device 21, the second cleaning device 22, and the third cleaning device 23 do not overlap.

[0085] Washing device control unit 43 can, for example, identify the timing for washing first washing device 21 based on a washing request from camera 11. The washing request from camera 11 can be controlled by ECU 40. The washing timing can be set when a certain amount of time has passed since the last washing operation while vehicle 1 is traveling, or can be predetermined based on the travel distance of vehicle 1. The washing timing is not particularly limited.

[0086] When the cleaning device control unit 43 recognizes that it is time to clean the first cleaning device 21, it checks whether the second cleaning device 22 and the third cleaning device 23 are not being cleaned. If the second cleaning device 22 and the third cleaning device 23 are not being cleaned, the cleaning device control unit 43 starts cleaning the camera 11 by the first cleaning device 21.

[0087] [Processing of the sensor control device]

[0088] Next, the processing of the sensor control device 100 according to the present embodiment will be described with reference to the drawings. Figure 11 1 is a flowchart showing an example of a sensor control mode switching process. The sensor control mode switching process is executed, for example, while the vehicle 1 is traveling.

[0089] like Figure 11 As shown, as S10, the ECU 40 of the sensor control device 100 determines, via the sensor control unit 42, whether the vehicle speed of the vehicle 1 is greater than or equal to a first threshold. The sensor control unit 42 determines whether the vehicle speed is greater than or equal to the first threshold based on the detection result of the vehicle speed sensor 60. If the sensor control unit 42 determines that the vehicle speed is greater than or equal to the first threshold (S10: Yes), the process proceeds to S12. If the sensor control unit 42 does not determine that the vehicle speed is greater than or equal to the first threshold (S10: No), the process proceeds to S14.

[0090] In S12, the sensor control unit 42 switches the control mode of the left LiDAR 12 and the right LiDAR 13 to a high-cycle detection mode. For example, the sensor control unit 42 adjusts the scanning cycle so that, while the left LiDAR 12 is scanning the range of the detection angle θ1 (repeated detection range C1), the right LiDAR 13 is scanning the range of the detection angle θ3. The sensor control unit 42 then terminates this processing.

[0091] In S14, the sensor control unit 42 determines whether the vehicle speed of the vehicle 1 is less than the second threshold. The sensor control unit 42 determines whether the vehicle speed is less than the second threshold based on the detection result of the vehicle speed sensor 60. If the sensor control unit 42 determines that the vehicle speed is less than the second threshold (S14: Yes), the process proceeds to S16. If the sensor control unit 42 does not determine that the vehicle speed is less than the second threshold (S14: No), the control mode is not switched and the current process ends.

[0092] In S16, the sensor control unit 42 switches the control mode of the left LiDAR 12 and the right LiDAR 13 to the high-density detection mode. For example, the sensor control unit 42 adjusts the scanning cycle so that the timing of the left LiDAR 12 scanning the range of the detection angle θ1 (overlapping detection range C1) matches the timing of the right LiDAR 13 scanning the range of the detection angle θ1. The sensor control unit 42 then ends this processing.

[0093] Figure 12 This is a flowchart showing an example of a cleaning equipment control process. Figure 12 The washing equipment control process shown is executed, for example, while the vehicle 1 is traveling. Here, the process of the first washing equipment 21 is described as an example, but the same process can also be applied to the second washing equipment 22 and the third washing equipment 23.

[0094] like Figure 12 As shown, as S20, the ECU 40 of the sensor control device 100 determines, via the cleaning device control unit 43, whether it is time to clean the first cleaning device 21. The cleaning device control unit 43 determines the time to clean the first cleaning device 21 based on a cleaning request from the camera 11 or the passage of a predetermined time. If the cleaning device control unit 43 determines that it is time to clean the first cleaning device 21 (S20: Yes), the process proceeds to S22. If the cleaning device control unit 43 does not determine that it is time to clean the first cleaning device 21 (S20: No), the process ends.

[0095] In S22, the cleaning device control unit 43 determines whether the second cleaning device 22 and the third cleaning device 23 are not being cleaned. If the cleaning device control unit 43 determines that the second cleaning device 22 and the third cleaning device 23 are not being cleaned (S22: Yes), the process proceeds to S24. If the cleaning device control unit 43 does not determine that the second cleaning device 22 and the third cleaning device 23 are not being cleaned (S22: No), the process ends.

[0096] In S24, the cleaning device control unit 43 starts cleaning of the camera 11 by the first cleaning device 21. The first cleaning device 21 performs predetermined cleaning of the camera 11 using a cleaning liquid or the like.

[0097] According to the sensor control device 100 of the present embodiment described above, the aforementioned vehicle sensor mounting structure facilitates sensor fusion computational processing. Furthermore, the sensor control device 100 can switch the control mode of the left LiDAR 12 and right LiDAR 13 between a high-cycle detection mode (in which the left LiDAR 12 and right LiDAR 13 alternately scan the overlapping detection range C1) and a high-density detection mode (in which the left LiDAR 12 and right LiDAR 13 simultaneously scan the overlapping detection range C1). Therefore, by switching the control mode according to the state of the vehicle 1, etc., object recognition through sensor fusion can be appropriately performed.

[0098] Furthermore, the sensor control device 100 switches the control mode of the left LiDAR 12 and the right LiDAR 13 to a high-cycle detection mode when the vehicle 1's speed is above a first threshold. This allows for rapid object recognition when the vehicle speed is high and conditions outside the vehicle are changing rapidly. Furthermore, when the vehicle 1's speed is below a second threshold that is lower than the first threshold, the control mode of the left LiDAR 12 and the right LiDAR 13 is switched to a high-density detection mode. This allows for high-precision object recognition when the vehicle speed is low and conditions outside the vehicle are changing slowly.

[0099] Furthermore, according to the sensor control device 100 , the cleaning timing is controlled so that the cleaning time of the first cleaning device 21 does not overlap with the cleaning time of the second cleaning device 22 and the third cleaning device 23 , thereby preventing the overlapping of cleaning times from hindering object recognition by sensor fusion.

[0100] While the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be implemented in various forms by adding various changes and improvements based on the knowledge of those skilled in the art, including the above-described embodiments.

[0101] For example, the first sensor could be LiDAR and the second sensor could be a camera. Millimeter-wave radar could also be used instead of LiDAR. The detection ranges of the two second sensors don't necessarily need to overlap. Sensor fusion using the first and second sensors is also possible.

[0102] The sensor control unit 42 may also switch the control modes of the two second sensors based on the acceleration detected by the acceleration sensor of the vehicle 1. For example, the sensor control unit 42 may switch to the high-cycle detection mode when the vehicle 1 is accelerating. Similarly, the sensor control unit 42 may switch the control modes of the two second sensors based on the yaw rate detected by the yaw rate sensor of the vehicle 1. For example, the sensor control unit 42 may switch to the high-cycle detection mode when the yaw rate of the vehicle 1 is greater than a predetermined threshold. The steering angle may also be used instead of the yaw rate.

[0103] The front sensor group 10 and the roof left sensor group 30 do not necessarily need to be connected to the sensor control device 100. Furthermore, the sensor control device 100 does not necessarily need to switch the control modes of the two second sensors.

[0104] The vehicle sensor mounting structure does not necessarily need to include the cleaning equipment group 20 . The sensor control device 100 does not necessarily need to include the cleaning equipment control unit 43 that controls the cleaning equipment group 20 .

Claims

1. A sensor control device for controlling a first sensor and a second sensor in a sensor assembly structure for a vehicle, wherein: In the vehicle sensor mounting structure, the first sensor and the second sensor for detecting an object outside the vehicle by sensor fusion are mounted on the vehicle. The first sensor and the second sensor are arranged side by side in a uniaxial direction along the surface of the vehicle, and one first sensor is arranged to be sandwiched between two second sensors at equal intervals. The first sensor is a camera, and the second sensors are lidars. The detection ranges of the two second sensors have overlapping detection ranges that overlap in front of the first sensor. The sensor control device includes a sensor control unit that controls the first sensor and the second sensor. The sensor control unit is capable of switching the control mode of the second sensor between a high-cycle detection mode and a high-density detection mode, wherein the high-cycle detection mode is a mode in which the two second sensors alternately scan the repeated detection range, and the high-density detection mode is a mode in which the two second sensors simultaneously scan the repeated detection range. When the vehicle speed is greater than a first threshold, the sensor control unit switches the control mode of the second sensor to the high-period detection mode. When the vehicle speed is less than a second threshold, the sensor control unit switches the control mode of the second sensor to the high-density detection mode. The second threshold is a threshold having a value that is the same as the first threshold or a value that is smaller than the first threshold.

2. The sensor control device according to claim 1, wherein: The sensor control device further comprises: a first cleaning device, mounted on one of the first sensors; a second cleaning device, mounted on one of the two second sensors; a third cleaning device, mounted on the other of the two second sensors; as well as A cleaning device control unit controls the cleaning timing of the first cleaning device, the second cleaning device, and the third cleaning device. The cleaning device control unit controls the cleaning timing so that the cleaning time of the first cleaning device does not overlap with the cleaning time of the second cleaning device and the third cleaning device.

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