Lidar mounting structure and vehicle

Abstract

The present invention discloses a lidar mounting structure and a vehicle. The lidar mounting structure includes a mounting bracket and a crossbeam assembly. The mounting bracket is used for mounting the lidar. A concave surface is provided on the crossbeam assembly, and the mounting bracket is placed at the concave surface and connected to the crossbeam assembly. The technical solution of the present invention reduces the Z-direction height of the lidar layout position to the lowest by setting a concave surface on the crossbeam assembly. The lidar is assembled as a whole by being mounted on the mounting bracket and then installed at the concave surface of the crossbeam assembly, reducing the windward area of the lidar mounting structure, reducing wind noise, and ensuring the aesthetic appearance.

Description

Technical Field

[0001] The present invention relates to the technical field of lidar installation, and particularly relates to a lidar installation structure and a vehicle. Background Art

[0002] With the continuous development and evolution of automobiles, the functions of automobiles are becoming increasingly diverse, and the driving pleasure is also increasing day by day. Among them, the development of automotive autonomous driving technology in recent years has given automobiles more possibilities. When setting a lidar on a vehicle, there are certain requirements for the layout position, field of view, and heat dissipation of the lidar. If the layout position is unreasonable and the field of view is limited, the data acquisition will be reduced and effective data cannot be obtained; the lidar increases the requirements for the beam structure space and performance. Unreasonable structural space layout will cause the mechanical performance of the lidar installation structure to fail to meet the standards, and then the lidar cannot exert its designed performance, which will have an adverse impact on the realization of the intelligent driving function. Summary of the Invention

[0003] The main purpose of the present invention is to provide a lidar installation structure, aiming to optimize the structural space for lidar layout on a vehicle, reduce the windward area of the lidar installation structure, reduce wind noise, and ensure the aesthetic appearance.

[0004] To achieve the above object, the lidar installation structure proposed by the present invention includes:

[0005] An installation bracket for installing the lidar; and

[0006] A beam assembly provided with a concave table surface, and the installation bracket is placed at the concave table surface and connected to the beam assembly.

[0007] Optionally, the beam assembly includes a beam upper plate, a beam lower plate, and a reinforcing plate disposed between the beam upper plate and the beam lower plate in sequence, and the concave table surface is provided on the beam upper plate.

[0008] Optionally, the reinforcing plate is M-shaped, the connection between the beam upper plate and the installation bracket fits with the upper part of the reinforcing plate, and the lower part of the reinforcing plate is welded to the beam lower plate.

[0009] Optionally, nuts are projection welded on the installation bracket, the concave table surface is provided with installation bosses for supporting the installation bracket, and through holes are provided in the installation bosses, the beam lower plate, and the upper part of the reinforcing plate corresponding to the nuts of the installation bracket for a bolt to pass through from below and connect with the nuts.

[0010] Optionally, a first groove is provided on the surface of the installation bracket facing the lidar, and the bottom of the lidar covers the first groove and abuts against the periphery of the first groove.

[0011] Optionally, the mounting bracket is provided with a convex hull protruding away from the bottom of the lidar, so as to form the first groove on the bottom surface facing the lidar. The cross beam assembly is provided with a second groove corresponding to the convex hull, and the convex hull is embedded in the second groove.

[0012] Optionally, one of the lidar and the mounting bracket is provided with a positioning convex part, and the other of the two is provided with a positioning groove, and the positioning convex part is matched with the positioning groove.

[0013] Optionally, at least two positioning convex parts are oppositely arranged at the bottom of the lidar, and the mounting bracket is provided with a positioning groove corresponding to each positioning convex part.

[0014] Optionally, the lidar mounting structure further includes a radar cover plate, the radar cover plate is connected to the mounting bracket, and the lidar is located between the radar cover plate and the mounting bracket.

[0015] Optionally, the bottom of the mounting bracket is provided with a first mounting hole, and the mounting lug is bent upward on the emission side of the mounting bracket away from the lidar. The mounting lug is provided with a second mounting hole, and the first mounting hole and the second mounting hole are connected to the radar cover plate through fasteners.

[0016] Optionally, the radar cover plate is provided with a clamping part for clamping the lidar wire harness. The clamping part is arranged on the emission side of the radar cover plate away from the lidar. The cross beam assembly is provided with a wire harness through hole for the lidar wire harness to pass through. The clamping part corresponds to the wire harness through hole, and the clamping part can pass through the wire harness through hole.

[0017] The present invention also provides a vehicle, including the lidar mounting structure as described above.

[0018] The technical solution of the present invention adopts a mounting bracket and a cross beam assembly; the mounting bracket is used to connect the lidar and the cross beam assembly. The middle area of the cross beam assembly is provided with a concave table surface. The mounting bracket is placed at the concave table surface and connected to the cross beam assembly. Through the mounting bracket, the lidar is fixed on the cross beam assembly. By setting the concave table surface on the cross beam assembly, the lidar is assembled into an integral body by being mounted on the mounting bracket, and then installed at the concave table surface of the cross beam assembly, so that the Z-direction height of the lidar layout position is reduced to the lowest, the windward area of the lidar mounting structure is reduced, the wind noise is reduced, and the aesthetic appearance is ensured. Description of the Drawings

[0019] To more clearly illustrate the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on the structures shown in these drawings.

[0020] Figure 1 It is a schematic structural diagram of an embodiment in the lidar installation structure of the present invention;

[0021] Figure 2 For Figure 1 It is a schematic structural diagram of the middle crossbeam assembly;

[0022] Figure 3 For Figure 2 It is a schematic structural diagram of the cross-section at Y of the middle crossbeam assembly;

[0023] Figure 4 For Figure 2 It is a schematic structural diagram of the cross-section at X of the middle crossbeam assembly;

[0024] Figure 5 For Figure 1 It is a schematic structural diagram of the middle mounting bracket;

[0025] Figure 6 It is a schematic structural diagram of another embodiment in the lidar installation structure of the present invention.

[0026] Explanation of the reference numerals in the drawings:

[0027] Reference numeral Name Reference numeral Name 100 Lidar installation structure 321 Mounting boss 10 Lidar 322 Mounting hole 20 Mounting bracket 323 Second groove 21 Nut 33 Lower beam plate 22 First groove 34 Reinforcing plate 23 Positioning groove 341 Upper part 24 First mounting hole 342 Lower part 25 Mounting lug 35 Wire harness through hole 26 Second mounting hole 40 Mounting bolt 30 Cross beam assembly 50 Fixing bolt 31 Concave surface 60 Radar cover 32 Upper beam plate 61 Clamping part

[0028] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] With the continuous development and evolution of automobiles, the functions of automobiles are becoming increasingly diverse, and the driving pleasure is also increasing day by day. Among them, the development of automobile autonomous driving technology in recent years has given automobiles more possibilities. When setting lidar on a vehicle, there are certain requirements for the layout position, field of view, and heat dissipation of the lidar. If the layout position is unreasonable and the field of view is limited, the data acquisition will be reduced and effective data cannot be obtained; the lidar increases the requirements for the beam structure space and performance. Unreasonable layout of the structure space will cause the mechanical performance of the lidar installation structure to fail to meet the standards, and then the lidar cannot exert its designed performance, which will have an adverse impact on the realization of the functions of intelligent driving.

[0033] For this reason, the present invention proposes a lidar installation structure. By reducing the layout position of the lidar to the lowest in the Z - direction height and optimizing the structure space for the lidar layout on the vehicle, the frontal area can be reduced, the wind noise can be reduced, and the aesthetic appearance can be ensured.

[0034] Refer to Figure 1 and Figure 2 , in an embodiment of the present invention, the lidar installation structure 100 includes a mounting bracket 20 and a cross - beam assembly 30; the mounting bracket 20 is used to mount the lidar 10, and a mounting position for mounting the lidar 10 can be provided on the mounting bracket 20. In one embodiment, the mounting position can be a groove; in other embodiments, the mounting position can be a screw hole, etc.; a concave table surface 31 is provided on the cross - beam assembly 30, and the mounting bracket 20 is placed at the concave table surface 31 and connected to the cross - beam assembly 30.

[0035] The technical solution of the present invention adopts a mounting bracket 20 and a crossbeam assembly 30; the mounting bracket 20 is used to connect the lidar 10 and the crossbeam assembly 30. A concave table surface 31 is provided in the middle area of the crossbeam assembly 30, and the mounting bracket 20 is placed at the concave table surface 31 and connected to the crossbeam assembly 30. The lidar 10 is fixed on the crossbeam assembly 30 through the mounting bracket 20. By providing the concave table surface 31 on the crossbeam assembly 30, the lidar 10 is assembled as a whole by being mounted on the mounting bracket 20 and then installed at the concave table surface 31 of the crossbeam assembly 30, so that the arrangement position of the lidar 10 is reduced to the lowest in the Z - direction height, reducing the windward area of the lidar mounting structure 100, reducing wind noise and ensuring the aesthetic appearance.

[0036] Specifically, referring to Figure 3 and Figure 4 , in order to strengthen the crossbeam assembly 30 and improve the local mode of the crossbeam assembly 30. The crossbeam assembly 30 includes a crossbeam upper plate 32, a crossbeam lower plate 33 arranged in sequence, and a reinforcing plate 34 located between the crossbeam upper plate 32 and the crossbeam lower plate 33. The concave table surface 31 is provided on the crossbeam upper plate 32.

[0037] Please continue to refer to Figures 3 to 4 , in this embodiment, in order to make the Z - direction space meet the requirements of the crossbeam mode and dynamic stiffness and be minimized. The reinforcing plate 34 is in an M shape. The connection part between the crossbeam upper plate 32 and the mounting bracket 20 fits with the upper part 341 of the reinforcing plate 34, and the lower part 342 of the reinforcing plate 34 is welded to the crossbeam lower plate 33.

[0038] Referring to Figure 1 and Figure 2 , for the convenience and reliability of fixing the mounting bracket 20 to the crossbeam assembly 30. Nuts 21 are projection - welded on the mounting bracket 20. The concave table surface 31 is provided with a mounting boss 321 for supporting the mounting bracket 20. The mounting boss 321 is provided with a mounting hole 322 corresponding to the nuts 21 of the mounting bracket. Bolting holes are opened in the crossbeam lower plate 33, the reinforcing plate 34, and the crossbeam upper plate 32 for bolts to pass through from below through the mounting hole 322 and connect with the nuts 21.

[0039] Combined with Figure 2 and referring to Figure 3 and Figure 4, specifically, the crossbeam assembly 30 includes a crossbeam upper plate 32, a crossbeam lower plate 33, and an intermediate reinforcement plate 34. In order to reduce the Z-direction height of the installation position of the lidar 10 to the lowest level to ensure the aesthetic appearance, a smaller windward area, and lower wind noise, a concave table surface 31 is provided at the position where the lidar 10 is arranged on the crossbeam upper plate 32, and four independently installed mounting bosses 321 for making the lidar mounting brackets are provided to ensure the rationality of assembly. The size of the mounting bosses 321 can meet the installation requirements of the mounting brackets 20, and corresponding mounting holes 322 for fixing the mounting brackets 20 are provided in the independently installed mounting bosses 321 of the concave table surface 31. The upper part 341 of the reinforcement plate 34 is attached to the mounting bosses 321 of the mounting brackets 20 on the crossbeam upper plate 32, and corresponding through holes are provided at the corresponding mounting holes 322 of the crossbeam upper plate 32, the crossbeam lower plate 33, and the reinforcement plate 34. The lower part 342 of the reinforcement plate 34 is attached and welded to the crossbeam lower plate 33 to ensure the connection strength. The mounting brackets 20 and the crossbeam upper plate 32 are fixed by four bolts and nuts 21. The nuts 21 are projection welded on the mounting brackets 20, and the bolts are tightened from bottom to top through the through holes in the crossbeam lower plate 33 with tools.

[0040] In other embodiments, the reinforcement plate 34 can also be of other shapes. When connecting the reinforcement plate 34 and the crossbeam lower plate 33, other fixing methods can also be adopted according to different materials, such as SPR connection, etc. The number and arrangement positions of the surfaces of the independently installed mounting bosses 321 can also be changed according to actual needs.

[0041] Refer to Figure 2 and Figure 5 , further, a first groove 22 is provided on the surface of the mounting bracket 20 facing the lidar 10, and the bottom of the lidar 10 covers the first groove 22 and abuts against the periphery of the first groove 22.

[0042] Refer to Figure 2 , in order to prevent the area of contact between the bottom of the lidar and the mounting bracket 20 from being too large, which may affect the assembly and cause abnormal noises. A boss is made downward on the surface of the mounting bracket 20 facing the lidar 10, and it is separated locally except at the installation points to form the first groove 22.

[0043] Refer to Figure 2 and Figure 5, in this embodiment, the mounting bracket 20 is provided with a convex hull protruding away from the bottom of the lidar 10, so as to form the first groove 22 on the bottom surface facing the lidar 10. The lower crossbeam plate 33 is provided with a second groove 323 corresponding to the convex hull, and the convex hull is embedded in the second groove 323. On the one hand, it avoids the excessive contact area between the bottom of the lidar and the mounting bracket 20, affecting the assembly and avoiding abnormal noise. In summary, in order to maximize the performance of the lidar 10, the lidar 10 is arranged in the middle area of the front crossbeam. The mounting bracket 20 is used to connect the lidar 10 and the crossbeam assembly 30. The lidar 10 and the mounting bracket 20 are fixedly connected by four mounting bolts 40, and bolt holes are opened on the radar body. The mounting bracket 20 forms a first groove 22 downward, and is partially separated except for the mounting points. The upper crossbeam plate 32 makes a synchronous avoidance of the second groove 323, and the size of the second groove 323 can meet the installation requirements of the mounting bracket 20. The mounting bracket 20 and the upper crossbeam plate 32 are fixed by four bolts and nuts 21. The nut 21 is projection welded on the bracket, and the bolt is tightened from bottom to top through the tool through hole of the lower crossbeam plate 33.

[0044] To facilitate the installation of the lidar 10 and the mounting bracket 20 and make the screw holes accurately aligned. One of the lidar 10 and the mounting bracket 20 is provided with a positioning convex part, and the other is provided with a positioning groove 23, and the positioning convex part is matched with the positioning groove 23.

[0045] Refer to Figures 2 to 5 , in this embodiment, at least two positioning convex parts are oppositely arranged at the bottom of the lidar 10, and the mounting bracket 20 is provided with a positioning groove 23 corresponding to each positioning convex part.

[0046] Specifically, the lidar 10 is provided with two positioning pins, and the mounting bracket 20 is provided with two corresponding positioning holes. During the installation process, just insert the positioning pins into the positioning holes. Even if the lidar 10 and the mounting bracket 20 are aligned, which is convenient for subsequent fixation.

[0047] To facilitate the installation and disassembly of the lidar 10 and the mounting bracket 20 and make the maintenance and replacement convenient. The lidar 10 is provided with bolt holes, and the mounting bracket 20 and the lidar 10 are connected by bolts. In this embodiment, the lidar 10 and the mounting bracket 20 are fixedly connected by four mounting bolts 40, and bolt holes are opened on the body of the lidar 10. The positioning convex part of the lidar 10 is two positioning pins, and the mounting bracket 20 is provided with corresponding positioning holes. During installation, align the two positioning pins with the two positioning holes, insert the positioning pins of the lidar 10 into the positioning holes, and accurately align the bolt holes of the lidar 10 with the bolt holes of the mounting bracket 20 to ensure the installation efficiency.

[0048] In other embodiments, the lidar 10 and the mounting bracket 20 can also be connected in other ways, such as riveting, snap connection, etc.

[0049] In other embodiments, multiple positioning protrusions can also be provided. For example, three positioning protrusions are arranged in a triangular pattern, etc.

[0050] In another embodiment, the positioning protrusion can also be provided on the mounting bracket 20. For example, it is manufactured integrally with the mounting bracket 20, and a corresponding positioning groove 23 is opened on the body of the lidar 10.

[0051] In yet another embodiment, the positioning groove 23 may not be provided in one-to-one correspondence with the positioning protrusion. For example, multiple positioning protrusions may correspond to one positioning groove 23.

[0052] Refer to Figure 6 , in order to ensure the overall aesthetic appearance and a smaller windward area, and at the same time play a role in preventing dust and rain from the lidar 10. The lidar mounting structure 100 further includes a radar cover plate 60. The radar cover plate 60 is connected to the mounting bracket 20, and the lidar 10 is located between the radar cover plate 60 and the mounting bracket 20. In this embodiment, the lidar 10 is installed on the mounting bracket 20 and forms an integral body with the radar cover plate 60, and then is connected to the crossbeam assembly 30, so that the Z-direction height of the lidar arrangement position is reduced to the lowest, reducing the windward area of the lidar mounting structure, reducing wind noise and ensuring the aesthetic appearance.

[0053] Refer to Figure 1 , Figure 2 and Figure 5 , Figure 6 , in this embodiment, in order to solve the surface difference problem and the sealing problem between the lidar 10 and the radar cover plate 60, the bottom of the mounting bracket 20 is provided with a first mounting hole 24, and the mounting bracket 20 is provided with an upwardly bent mounting lug 25 on the emission side away from the lidar 10. The mounting lug 25 is provided with a second mounting hole 26, and the first mounting hole 24 and the second mounting hole 26 are connected to the radar cover plate 60 through a fixing bolt 50.

[0054] Refer to Figure 1 and Figure 6, the mounting bracket 20 and the radar cover plate 60 are tightly connected in the Z direction by two bolts passing through the first mounting holes 24. To solve the sealing problem between the lidar 10 and the radar cover plate 60, the mounting bracket 20 is turned up to form a mounting lug 25, and a second mounting hole 26 is opened on the surface of the mounting lug 25. The mounting bracket 20 and the radar cover plate 60 are tightly connected in the X direction by two fixing bolts 50 to control the X-direction dimension, ensuring the X-direction pressing force between the lidar 10 and the radar cover plate 60, that is, the sealing performance and the surface difference problem between the two. The mounting bracket 20 and the radar cover plate 60 are tightly connected by four fixing bolts 50, and the spring washers of the four fixing bolts 50 are snapped onto the mounting points of the radar cover plate 60.

[0055] In other embodiments, other connection methods may also be adopted between the mounting bracket 20 and the radar cover plate 60.

[0056] Refer to Figure 1 , Figure 2 and Figure 6 , to facilitate the fixing and installation of the harness of the lidar 10. The radar cover plate 60 is provided with a clamping portion 61 for clamping the harness of the lidar 10. The clamping portion 61 is arranged on the side far from the emission side of the lidar 10. The cross beam assembly 30 is provided with a harness through hole 35 for the harness of the lidar 10 to pass through. The clamping portion 61 corresponds to the harness through hole 35, and the clamping portion 61 can pass through the harness through hole 35.

[0057] In this embodiment, one end of the radar harness is fixed on the harness clamping portion 61 of the radar cover plate 60. The upper cross beam plate 32 and the lower cross beam plate 33 are provided with harness through holes 35 for the harness of the lidar 10 to pass through. The position of the harness through hole 35 is at the rear side of the lidar 10, and the size meets the requirements of the installation operation space of the harness. In this way, the radar harness can move along with the radar body and the radar cover plate 60 in the direction of assembly movement. During this period, there is no need to fix the harness manually or with a tooling additionally, ensuring that the radar harness will not shake randomly during the assembly process, affecting the feasibility and efficiency of the assembly operation. And the end of the radar harness can pass through the harness through holes 35 of the upper and lower cross beam plates smoothly. In this way, the radar harness can move along with the radar body and the radar cover plate 60 in the direction of assembly movement. During this period, there is no need to fix the harness manually or with a tooling additionally, ensuring the connection with the vehicle body harness in the next step. Ensure that the radar harness will not shake randomly during the assembly process, affecting the feasibility and assembly.

[0058] In summary, in addition to solving the installation and fixation problem of the lidar 10, the present invention can also meet better styling requirements, have a smaller frontal area of the vehicle and lower wind noise, and solve the sealing problem between the mirror surface of the lidar 10 and the radar cover 60. In addition, it can better solve the problem of the assembly operation of the radar wiring harness. The radar installation concave surface 31 on the upper beam plate 32 can effectively reduce the problem of excessive external protrusion caused by the arrangement of the lidar 10, which not only affects the aesthetics but also increases the frontal area of the vehicle, resulting in an increase in the vehicle's resistance and an increase in wind noise when the vehicle is traveling at high speed. Therefore, the radar installation concave surface 31 on the upper beam plate 32 has the above advantages compared to the case without the radar installation concave surface 31. The mounting bracket 20 in the present invention can pre-fix the lidar 10 and the radar cover 60 together to form a whole, which can preferably ensure the surface difference problem between the lidar 10 and the radar cover 60. At the same time, the mounting bracket 20 can apply an X-direction pressing force to the lidar 10, so that the sealing strip around the mirror surface of the lidar 10 is in a state of reasonable compression, thus ensuring the sealing between the lidar 10 and the radar cover 60. The wire harness end of the lidar 10 is fixed on the wire harness clamping portion 61 of the radar cover 60. In this way, the radar wire harness, the lidar 10 and the radar cover 60 form a stable whole, which can prevent the relatively soft radar wire harness from shaking randomly during the process of assembling the lidar 10 and the radar cover 60 into a whole and then assembling them into the crossbeam assembly 30, thus affecting the assembly operation. At the same time, there is no need for additional actions or the help of other tooling to pass the wire harness through the wire harness through holes 35 in the upper and lower crossbeam plates, ensuring the connection between the subsequent radar wire harness and the vehicle body wire harness.

[0059] The present invention also provides a vehicle, which includes a lidar installation structure 100. The specific structure of the lidar installation structure 100 refers to the above-mentioned embodiments. Since this vehicle adopts all the technical solutions of the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here one by one.

[0060] The above are only optional embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A lidar installation structure, characterized in that, Comprising: a mounting bracket for mounting a lidar; and a crossbeam assembly, on which a concave surface is provided, the mounting bracket is placed at the concave surface and connected to the crossbeam assembly, the depression direction of the concave surface intersects with the axis of the lidar transmitting end, so that the arrangement position of the lidar is reduced in the Z-direction height, a first groove recessed away from the bottom of the lidar is provided on the surface of the mounting bracket facing the lidar, the lidar is mounted on the surface, and the bottom of the lidar covers the first groove, and the mounting point of the lidar on the surface of the mounting bracket is provided outside the first groove.

2. The lidar installation structure according to claim 1, wherein, The crossbeam assembly includes a crossbeam upper plate, a crossbeam lower plate arranged in sequence, and a reinforcing plate located between the crossbeam upper plate and the crossbeam lower plate, and the concave surface is provided on the crossbeam upper plate.

3. The lidar installation structure according to claim 2, characterized in that, The reinforcing plate is M-shaped, the connection part between the crossbeam upper plate and the mounting bracket fits with the upper part of the reinforcing plate, and the lower part of the reinforcing plate is welded to the crossbeam lower plate in a fitting manner.

4. The lidar mounting structure according to claim 3, wherein Nuts are projection welded on the mounting bracket, mounting bosses for supporting the mounting bracket are provided on the concave surface, and through holes are provided in the mounting bosses, the crossbeam lower plate and the upper part of the reinforcing plate corresponding to the nuts of the mounting bracket for a bolt to pass through from below and connect with the nuts.

5. The lidar installation structure according to claim 1, characterized in that, The mounting bracket is provided with a convex boss protruding in a direction away from the bottom of the lidar to form the first groove on the bottom surface facing the lidar, and a second groove is provided on the crossbeam assembly corresponding to the convex boss, and the convex boss is embedded in the second groove.

6. The lidar mounting structure according to claim 1, wherein One of the lidar and the mounting bracket is provided with a positioning convex part, and the other is provided with a positioning groove, and the positioning convex part is matched with the positioning groove.

7. The lidar mounting structure according to claim 6, wherein, At least two positioning convex parts are oppositely arranged at the bottom of the lidar, and a positioning groove is provided on the mounting bracket corresponding to each positioning convex part.

8. The lidar installation structure according to claim 1, characterized in that, The lidar mounting structure further includes a radar cover plate, the radar cover plate is connected to the mounting bracket, and the lidar is located between the radar cover plate and the mounting bracket.

9. The lidar mounting structure according to claim 8, wherein, The bottom of the mounting bracket is provided with a first mounting hole, and a mounting lug bent upward is provided on the emission side of the mounting bracket away from the lidar, and the mounting lug is provided with a second mounting hole, and the first mounting hole and the second mounting hole are connected to the radar cover plate through fasteners.

10. The lidar mounting structure according to claim 8, wherein, The radar cover plate is provided with a clamping part for clamping the lidar wire harness, the clamping part is arranged on the emission side of the radar cover plate away from the lidar, the crossbeam assembly is provided with a wire harness through hole for the lidar wire harness to pass through, the clamping part corresponds to the wire harness through hole, and the clamping part can pass through the wire harness through hole.

11. A vehicle, characterized in that, Including the lidar mounting structure according to any one of claims 1 to 10.

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