Sensor assembly structure for a vehicle

Abstract

The present invention relates to a sensor assembly structure for a vehicle. The sensor assembly structure for a vehicle includes: a vehicle; and a long-distance LiDAR provided at a peripheral edge of the roof of the vehicle. The long-distance LiDAR has a detection range that extends obliquely downward when viewed from the roof, and the detection range includes a part of an outer peripheral surface of the vehicle. The long-distance LiDAR is configured to detect an object within the detection range, and a lower limit of a detection distance of the long-distance LiDAR is 10 cm or more and 1 m or less.

Description

Technical Field

[0001] The present invention relates to a sensor assembly structure for a vehicle. Background Art

[0002] As a technical document related to a sensor assembly structure for a vehicle, International Publication No. 18 / 146992 is known. In this publication, a structure in which a LiDAR (Light Detection and Ranging) for horizontal irradiation is embedded in a bumper portion in front of a vehicle is shown.

[0003] However, if the LiDAR is embedded in a bumper portion of a vehicle or the like as in the structure of the above background art, when an object such as a pedestrian or a two-wheeled vehicle approaches the bumper portion of the vehicle, the detection range of the LiDAR will be significantly blocked, which may affect the recognition of objects around the vehicle. Summary of the Invention

[0004] A sensor assembly structure for a vehicle according to a first aspect of the present invention includes: a vehicle; and a long-distance LiDAR provided on a peripheral edge of a roof of the vehicle, the long-distance LiDAR having a detection range that extends obliquely downward when viewed from the roof, the detection range including a part of an outer peripheral surface of the vehicle, the long-distance LiDAR being configured to detect an object within the detection range, and a lower limit of a detection distance of the long-distance LiDAR being 10 cm or more and 1 m or less.

[0005] According to the above first aspect, the sensor assembly structure for a vehicle includes a long-distance LiDAR provided on a peripheral edge of a roof of the vehicle, having a detection range that extends obliquely downward when viewed from the roof, and detecting an object within the detection range. The lower limit of the detection distance of the long-distance LiDAR is 10 cm or more and 1 m or less, and the detection range includes a part of the outer peripheral surface of the vehicle. Compared with the case where the LiDAR is embedded in a bumper portion of the vehicle or the like, even if an object such as a pedestrian approaches the vehicle, the long-distance LiDAR can emit light at a position far from the object, so that the detection range will not be significantly blocked.

[0006] In the above aspect, it may also be that an installation height of the long-distance LiDAR is 1.8 m or more.

[0007] According to this sensor assembly structure for a vehicle, since the installation height of the long-distance LiDAR is 1.8 m or more, even if an object such as a pedestrian approaches the vehicle, it is possible to suppress a significant blockage of the detection range.

[0008] In the above aspect, it may also be that a detection angle of the long-distance LiDAR is less than 180°.

[0009] According to the sensor assembly structure for a vehicle, the long-distance LiDAR is provided at the peripheral edge of the vehicle roof and has a detection range that extends obliquely downward when viewed from the roof. Therefore, even for a long-distance LiDAR with a narrow detection angle of less than 180° that is easily obtainable, the breadth of the detection range suitable for detecting objects on the road surface can be ensured.

[0010] In the above solution, it may also be that the peripheral edge of the roof includes a portion of the roof within a first distance from the outer peripheral end that is the boundary between the roof and the outer peripheral surface.

[0011] In the above solution, it may also be that the peripheral edge of the roof includes a portion of the outer peripheral surface within a second distance from the outer peripheral end that is the boundary between the roof and the outer peripheral surface.

[0012] In the above solution, it may also be that the object includes a pedestrian, a bicycle, or a two-wheeled vehicle approaching the vehicle.

[0013] In the above solution, it may also be that the mounting height is the height from the road surface to the light-receiving portion or the center point of the long-distance LiDAR.

[0014] In the above solution, it may also be that the long-distance LiDAR is mounted on the vehicle via a bracket, and the mounting height, which is the height from the road surface to the light-receiving portion or the center point of the long-distance LiDAR mounted on the vehicle via the bracket, is 1.8 m or more.

[0015] According to the first aspect of the present invention, compared with the case where LiDAR is embedded in the bumper portion of the vehicle, etc., even when an object such as a pedestrian approaches the vehicle, the detection range will not be significantly blocked. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Hereinafter, with reference to the drawings, the features, advantages, and technical and industrial significance of the exemplary embodiments of the present invention will be described, where the same reference numerals denote the same elements, and:

[0017] Figure 1A is a view of the sensor assembly structure for a vehicle according to the first embodiment as viewed from the front of the vehicle.

[0018] Figure 1B is a top view for explaining the detection range of the long-distance LiDAR as viewed from above the vehicle.

[0019] Figure 2A is a view of an example of the sensor assembly structure for a vehicle in the background art as viewed from the front of the vehicle.

[0020] Figure 2B is a top view for explaining the detection range of the short-distance LiDAR as viewed from above the vehicle.

[0021] Figure 3A This is a diagram for explaining an example of the approach of an object in the vehicle sensor mounting structure of the background art.

[0022] Figure 3B This is a diagram for explaining an example of the approach of an object in the vehicle sensor mounting structure of the first embodiment.

[0023] Figure 4A This is a diagram showing the vehicle sensor mounting structure of the second embodiment as viewed from the side of the vehicle.

[0024] Figure 4B This is a top view for explaining the detection range of the long - distance LiDAR as viewed from above the vehicle.

[0025] Figure 5A This is a diagram showing an example of the vehicle sensor mounting structure of the background art as viewed from the side of the vehicle.

[0026] Figure 5B This is a top view for explaining the detection range of the short - distance LiDAR as viewed from above the vehicle.

[0027] Figure 6A This is a diagram for explaining an example of the approach of an object in the vehicle sensor mounting structure of the background art.

[0028] Figure 6B This is a diagram for explaining an example of the approach of an object in the vehicle sensor mounting structure of the second embodiment. Detailed Embodiments

[0029] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each figure, an XYZ orthogonal coordinate system is shown in which the front - rear direction of the vehicle is the X - axis, the vehicle width direction is the Y - axis, and the vehicle height direction is the Z - axis.

[0030] [First Embodiment]

[0031] Figure 1A This is a diagram showing the vehicle sensor mounting structure of one embodiment as viewed from the front of the vehicle. Figure 1A The vehicle 1, the roof 1a of the vehicle 1, the side surface (a part of the outer peripheral surface) 1b of the vehicle 1, the long - distance LiDAR 10, the detection axis Da of the long - distance LiDAR 10, and the detection range Ra of the long - distance LiDAR 10 are shown. The outer peripheral surface includes the front surface, the rear surface, and the side surface of the vehicle 1.

[0032] As an example, Figure 1AThe vehicle 1 shown can be a vehicle in the shape of a minibus or a vehicle in the shape of a van. As an example, the height of the vehicle 1 is 1.8 m or more. Regarding the vehicle type and shape of the vehicle 1, as long as it can adopt the vehicle sensor assembly structure of the first embodiment, there is no particular limitation.

[0033] As Figure 1A shown, a long-distance LiDAR 10 is assembled on the vehicle 1. The long-distance LiDAR 10 is a detection device that uses light to detect objects around the vehicle. LiDAR is a sensor that sends light to the surroundings of the vehicle and receives the light reflected by the object, thereby detecting the objects around the vehicle 1.

[0034] The long-distance LiDAR 10 is provided at the periphery of the roof 1a of the vehicle 1. The roof 1a refers to the ceiling part of the body of the vehicle 1. The periphery of the roof 1a includes the part (range) of the roof 1a within a first distance from the outer peripheral end of the roof 1a. The outer peripheral end of the roof 1a is the end of the roof 1a that forms the boundary between the roof 1a and the outer peripheral surface (front surface, rear surface, and side surface) of the body. The first distance can be 10 cm, 20 cm, or 30 cm.

[0035] The periphery of the roof 1a is not limited to the roof 1a, and may also include the part (range) of the outer peripheral surface (front surface, rear surface, side surface) of the vehicle close to the roof 1a. The part (range) close to the roof 1a may also be the part (range) of the outer peripheral surface of the vehicle 1 within a second distance from the outer peripheral end of the roof 1a. The second distance can be 10 cm, 20 cm, or 30 cm.

[0036] As an example, the long-distance LiDAR 10 is assembled on the vehicle 1 in such a way that it is at a position 1.8 m or more above the road surface. The reference point for the height is, for example, the light-receiving part of the long-distance LiDAR 10. The reference point for the height may also be the center point of the long-distance LiDAR 10. The long-distance LiDAR 10 can be assembled on the vehicle 1 in such a way that it is at a position 2.5 m or more above the road surface, or it can be assembled on the vehicle 1 in such a way that it is at a position 3 m or more above the road surface. It should be noted that the long-distance LiDAR 10 can also be assembled on the vehicle 1 via a bracket. The long-distance LiDAR 10 can also be assembled on the vehicle 1 in such a way that it is at a position 1.8 m or more above the road surface by adding the height of the bracket to the height of the roof 1a of the vehicle 1 (that is, the vertical length of the bracket when it is assembled on the vehicle 1). The vertical direction is the same as the Z-axis direction.

[0037] The long-distance LiDAR 10 is a LiDAR with a lower detection distance limit of 10 cm or more and 1 m or less. Here, a LiDAR with a lower detection distance limit of 10 cm or more and 1 m or less is defined as a long-distance LiDAR. Within a distance shorter than a specific distance, even when there is no object, the long-distance LiDAR 10 detects a point group corresponding to a distance shorter than the specific distance through internal reflection. The lower detection distance is determined according to this specific distance. It should be noted that the upper detection distance is not particularly limited.

[0038] The detection range Ra of the long-distance LiDAR 10 is a range farther than the lower detection distance. The detection axis Da of the long-distance LiDAR 10 is an axis extending in the detection direction of the long-distance LiDAR 10. Although the angle formed by the detection axis Da and the road surface is not particularly limited, as an example, it can be set to 30°.

[0039] In the first embodiment, the long-distance LiDAR 10 is provided at the outer peripheral end on the side of the roof 1a of the vehicle 1. The long-distance LiDAR 10 has a detection range Ra that expands obliquely downward when viewed from the roof 1a, so as to detect objects around (the side) of the vehicle 1. The detection angle of the long-distance LiDAR 10 can be set to less than 180°. As an example, the detection angle can be 120°.

[0040] As Figure 1A shown, the detection range Ra of the long-distance LiDAR 10 is a range that, when viewed from the front (X-axis direction) of the vehicle 1, departs from the lower detection distance from the long-distance LiDAR 10 and expands fan-shapedly with the detection axis Da as the axis. A part of the side surface (outer peripheral surface) 1b of the vehicle 1 is included in the detection range Ra.

[0041] Figure 1B is a top view for explaining the detection range Ra of the long-distance LiDAR 10 when viewed from above the vehicle. As Figure 1B shown, the detection range Ra of the long-distance LiDAR 10 widely covers the range adjacent to the side of the vehicle 1.

[0042] Next, in order to compare with the vehicle sensor assembly structure of the first embodiment, the vehicle sensor assembly structure of the background art will be described. A short-distance LiDAR is used in the vehicle sensor assembly structure of the background art.

[0043] Figure 2A is a view observed from the front of the vehicle showing an example of the vehicle sensor assembly structure of the background art. Figure 2AVehicle 5, the roof 5a of vehicle 5, the side 5b of vehicle 5, the short-range LiDAR 20, the detection axis Db of the short-range LiDAR 20, and the detection range Rb of the short-range LiDAR 20 are shown.

[0044] As Figure 2A shown, in the mounting structure of the short-range LiDAR in the background art, the short-range LiDAR 20 is mounted on the side 5b of the vehicle 5. Here, a LiDAR with a detection distance lower limit of less than 10 cm is defined as a short-range LiDAR. The short-range LiDAR 20 is mounted, for example, at a position at the same height as the bumper portion of the vehicle 5. As an example, the short-range LiDAR 20 has a detection range Rb in the shape of a substantially semi-circle extending laterally of the vehicle 5. The side 5b of the vehicle 5 is not included in the detection range Rb of the short-range LiDAR 20.

[0045] Figure 2B is a top view for explaining the detection range Rb of the short-range LiDAR 20 as viewed from above the vehicle. As Figure 2B shown, as an example, the detection range Rb of the short-range LiDAR 20 forms a semi-circular range as viewed from above the vehicle.

[0046] According to the vehicle sensor mounting structure of the first embodiment described above, the long-range LiDAR 10 is provided at the periphery of the roof 1a of the vehicle 1. Moreover, the long-range LiDAR 10 has a detection range Ra that extends obliquely downward as viewed from the roof 1a, and detects objects around the vehicle 1. The lower limit of the detection distance of the long-range LiDAR 10 is 10 cm or more and 1 m or less, and the detection range Ra includes a part of the side 1b of the vehicle 1. For example, compared with the case where the short-range LiDAR is provided at a position at the same height as the bumper portion of the vehicle 5 ( Figure 2A , Figure 2B ), even if an object such as a pedestrian 50 approaches the vehicle, the long-range LiDAR 10 can emit light at a position far from the object 50, so that the detection range will not be significantly blocked.

[0047] Specifically, Figure 3A and Figure 3B are used to explain the effect of the vehicle sensor mounting structure of the first embodiment. First, Figure 3A is a diagram for explaining an example of the case where an object approaches in the vehicle sensor mounting structure of the background art. Figure 3AAn object 50 and a shielding range Sb are shown, where the shielding range Sb is the range within the detection range Rb of the short-range LiDAR 20 that is blocked by the object 50. The object 50 is an object such as a pedestrian, a bicycle, or a two-wheeled vehicle near the vehicle 5. The object 50 can also be other structures such as a construction pole or a utility pole.

[0048] As Figure 3A shown, in the vehicle sensor assembly structure of the background art, the entire detection range Rb of the short-range LiDAR 20 is blocked by the object 50 near the vehicle 5.

[0049] Figure 3B is a diagram for explaining an example of the case where the object 50 approaches in the vehicle sensor assembly structure of the first embodiment. Figure 3B An object 50 and a shielding range Sa are shown, where the shielding range Sa is the range within the detection range Ra of the long-range LiDAR 10 that is blocked by the object 50.

[0050] As Figure 3A and Figure 3B shown, according to the vehicle sensor assembly structure of the first embodiment, even when an object 50 such as a pedestrian approaches the long-range LiDAR 10 side of the vehicle 1, the entire detection range Ra of the long-range LiDAR 10 is not blocked, so that the area on the distal side of the object 50 as observed from the vehicle 1 can be detected. Therefore, for example, when there is a bicycle or the like approaching the vehicle 1 rapidly on the distal side of the object 50, the long-range LiDAR 10 can detect the bicycle or the like.

[0051] In addition, according to this vehicle sensor assembly structure, the mounting height of the long-range LiDAR 10 from the road surface is 1.8 m or more, so that even when an object 50 such as a pedestrian approaches the vehicle 1, the detection range Ra can be suppressed from being significantly blocked. Moreover, according to this vehicle sensor assembly structure, the long-range LiDAR 10 is provided on the periphery of the roof 1a of the vehicle 1 and has a detection range Ra that extends obliquely downward as observed from the roof 1a. Therefore, even for a long-range LiDAR 10 with an easily obtainable narrow detection angle of less than 180°, the breadth of the detection range Ra suitable for detecting objects on the road surface can be ensured.

[0052] In addition, detection at extremely close range generates noise, making it difficult to detect or identify object 50 using LiDAR 20 at close range. On the other hand, according to the vehicle sensor mounting structure of the first embodiment, the long-range LiDAR 10 can accurately detect or identify object 50 by maintaining a distance from object 50 and detecting object 50 from the periphery of the roof 1a of vehicle 1. Moreover, according to the vehicle sensor mounting structure of the first embodiment, it is not necessary to mount the short-range LiDAR 20. Since the mounting of the short-range LiDAR 20 and the development of the short-range LiDAR 20 are not required, costs can also be reduced.

[0053] In addition, according to the vehicle sensor mounting structure of the first embodiment, the intensity of each beam of the long-range LiDAR 10 is stronger than that of the short-range LiDAR 20, so it can also detect low-reflectivity objects. Moreover, the long-range LiDAR 10 has high resolution, so it can also easily detect small dropped objects. In addition, by arranging the long-range LiDAR 10 at the periphery of the roof 1a, the generation of blind spots due to the body shape of vehicle 1 can be suppressed.

[0054] [Second Embodiment]

[0055] Next, the vehicle sensor mounting structure of the second embodiment will be described with reference to the drawings. The vehicle sensor mounting structure of the second embodiment is different from that of the first embodiment in that a long-range LiDAR 11 is mounted on the front side of vehicle 1.

[0056] Figure 4A It is a view of the vehicle sensor mounting structure of the second embodiment as viewed from the side of the vehicle. As Figure 4A shown, in the vehicle sensor mounting structure of the second embodiment, the long-range LiDAR 11 is provided at the outer peripheral end in front of the roof 1a of vehicle 1. The long-range LiDAR 11 has a detection range Rc that extends obliquely downward when viewed from the roof 1a to detect objects around (in front of) vehicle 1. It should be noted that the configuration of the long-range LiDAR 11 can be set to be the same as that of the long-range LiDAR 10, for example, so the description is omitted. The definition of the long-range LiDAR is the same as that of the first embodiment.

[0057] The detection range Rc of the long-range LiDAR 11 becomes a range that extends fan-shapedly with the detection axis Dc as the axis and leaves the detection distance lower limit when viewed from the side (Y-axis direction) of vehicle 1. A part of the front surface (a part of the outer peripheral surface) 1c of vehicle 1 is included in the detection range Rc.

[0058] Figure 4BThis is a top view for explaining the detection range Rc of the long-distance LiDAR 11 as viewed from above the vehicle. As Figure 4B shown, the detection range Rc of the long-distance LiDAR 11 widely covers the range adjacent to the front of the vehicle 1.

[0059] Next, in order to compare with the vehicle sensor assembly structure of the second embodiment, the vehicle sensor assembly structure of the background art will be described. In the vehicle sensor assembly structure of the background art, a short-distance LiDAR is used.

[0060] Figure 5A This is a view from the side of the vehicle showing an example of the vehicle sensor assembly structure of the background art. Figure 5A The front surface 5c of the vehicle 5, the short-distance LiDAR 21, the detection axis Dd of the short-distance LiDAR 21, and the detection range Rd of the short-distance LiDAR 21 are shown.

[0061] As Figure 5A shown, in the assembly structure of the short-distance LiDAR in the background art, the short-distance LiDAR 21 is assembled on the front surface 5c of the vehicle 5. The short-distance LiDAR 21 is, for example, the same short-distance LiDAR as the Figure 2A LiDAR 20 in the first embodiment. The short-distance LiDAR 21 is, for example, assembled on the bumper portion of the vehicle 5. As an example, the short-distance LiDAR 21 has a detection range Rd in a substantially semi-circular shape that extends in front of the vehicle 5. The front surface 5c of the vehicle 5 is not included in the detection range Rd of the short-distance LiDAR 21.

[0062] Figure 5B This is a top view for explaining the detection range Rd of the short-distance LiDAR 21 as viewed from above the vehicle. As Figure 5B shown, as an example, the detection range Rd of the short-distance LiDAR 21 is a semi-circular range as viewed from above the vehicle.

[0063] According to the vehicle sensor assembly structure of the second embodiment described above, the same effects as those of the first embodiment can be achieved. Specifically, Figure 6A and Figure 6B are used to explain the effects of the vehicle sensor assembly structure of the second embodiment. First, Figure 6A This is a view for explaining an example of the approach of an object in the vehicle sensor assembly structure of the background art. Figure 6AAn object 60 and a shielding range Sd are shown, where the shielding range Sd is the range within the detection range Rd of the short-range LiDAR 21 that is blocked by the object 60. The object 60 is the same as the object 50 in the first embodiment.

[0064] As Figure 6A shown, in the vehicle sensor mounting structure of the background art, most of the detection range Rd of the short-range LiDAR 21 is blocked by the object 60 near the vehicle 5, so that the distal side of the object 60 cannot be detected.

[0065] Figure 6B is a diagram for explaining an example of the case where the object 60 approaches in the vehicle sensor mounting structure of the second embodiment. Figure 6B An object 60 and a shielding range Sc are shown, where the shielding range Sc is the range within the detection range Rc of the long-range LiDAR 11 that is blocked by the object 60.

[0066] As Figure 6A and Figure 6B shown, according to the vehicle sensor mounting structure of the second embodiment, even when an object 60 such as a pedestrian approaches the long-range LiDAR 11 side of the vehicle 1, most of the detection range Rc of the long-range LiDAR 11 is not blocked, so that the area on the distal side of the object 60 as observed from the vehicle 1 can be detected. Therefore, for example, when there is a bicycle or the like approaching the vehicle 1 rapidly on the distal side of the object 60, the long-range LiDAR 11 can detect the bicycle.

[0067] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments. The present invention can be represented by the above embodiments and can be implemented in various ways with various changes and improvements based on the knowledge of those skilled in the art.

[0068] In the first embodiment, the case where the long-range LiDAR 10 is mounted on the left side of the vehicle 1 has been described, but the same effect can be obtained when the long-range LiDAR 10 is mounted on the right side of the vehicle 1. Similarly, in the second embodiment, the case where the long-range LiDAR 11 is mounted on the front side of the vehicle 1 has been described, but the same effect can be obtained when the long-range LiDAR 11 is mounted on the rear side of the vehicle 1.

[0069] The mounting positions of the long-range LiDAR 10 and the long-range LiDAR 11 are not limited to the positions shown in the figure, and may be any position on the periphery of the roof 1a of the vehicle 1. The detection angles of the long-range LiDAR 10 and the long-range LiDAR 11 are not limited to less than 180°, and may also be detection angles of 180° or more.

Claims

1. A sensor assembly structure for a vehicle, characterized in that, Comprising: A vehicle; And A long-distance LiDAR, provided at the peripheral edge of the roof of the vehicle, The peripheral edge of the roof includes a portion of the roof within a first distance from the outer peripheral end that is the boundary between the roof and the side surface of the vehicle body, and a portion of the side surface of the vehicle body within a second distance from the outer peripheral end that is the boundary between the roof and the side surface of the vehicle body, The long-distance LiDAR has a detection range that extends obliquely downward when viewed from the roof, and the detection range includes the side surface of the vehicle, The long-distance LiDAR is configured to detect an object within the detection range, The lower limit of the detection distance of the long-distance LiDAR is 10 cm or more and 1 m or less.

2. The vehicle sensor assembly structure according to claim 1, characterized in that The mounting height of the long-distance LiDAR is 1.8 m or more.

3. The vehicle sensor assembly structure according to claim 1 or 2, characterized in that The detection angle of the long-distance LiDAR is less than 180°.

4. The vehicle sensor assembly structure according to claim 1, characterized in that The object includes a pedestrian, a bicycle, and a two-wheeler approaching the vehicle.

5. The vehicle sensor assembly structure according to claim 2, characterized in that The mounting height is the height from the road surface to the light-receiving portion or the center point of the long-distance LiDAR.

6. The vehicle sensor assembly structure according to claim 2, characterized in that The long-distance LiDAR is mounted on the vehicle via a bracket, The mounting height, which is the height from the road surface to the light-receiving portion or the center point of the long-distance LiDAR mounted on the vehicle via the bracket, is 1.8 m or more.

Images