Sensor unit

Abstract

The present invention relates to a sensor unit. In a vehicle (2), a sensor unit (1) is provided in which a sensing area (Rs) of an external sensor (40a) for acquiring external information is set forward in a travel direction (X) through an exposed surface (330a) exposed to the outside world. The sensor unit comprises: a cleaning nozzle (51a) formed in front of the exposed surface (330a) in the vehicle (2) to clean the exposed surface (330a), a jet port (510a) for jetting a cleaning fluid from above in a yaw axis direction (Z) toward the exposed surface (330a); and a housing (3) which holds the external sensor (40a) therein and forms a recessed portion (34a) below the exposed surface (330a) in the yaw axis direction (Z) and further to the rear of the exposed surface (330a) toward the travel direction (X).

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Japanese Patent Application No. 2020-171254 filed in Japan on October 9, 2020, and the contents of the basic application are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to a sensor unit. Background Art

[0004] In vehicles, sensor units are widely known, where the sensing area of ​​an external sensor that acquires information about the outside world is located through an exposed surface. Cleaning the exposed surface, where dirt easily accumulates, is crucial for such sensor units. For example, Patent Document 1 describes a vehicle-mounted camera that serves as an external sensor, in which compressed air is sprayed from a nozzle to clean the glass surface that serves as the exposed surface.

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2001-171491

[0006] The disclosed technology of Patent Document 1 mainly assumes that the vehicle's onboard camera uses the rear of the vehicle's travel direction as its sensing area. In contrast, with regard to an external sensor that uses the front of the vehicle's travel direction as its sensing area, the wind generated by the vehicle's movement acts on the exposed surface, and a cleaning fluid such as compressed air is swept away by the wind. In this case, the flow of the cleaning fluid is disturbed by the structure surrounding the exposed surface, and the cleaning performance of the exposed surface may deviate. Especially in recent years, in vehicles in autonomous driving control mode, deviations in cleaning performance may lead to changes in sensing performance, which in turn reduces the accuracy of autonomous driving control, so this is not preferred. Summary of the Invention

[0007] An object of the present disclosure is to provide a sensor unit capable of stabilizing the cleaning performance of a surface of the sensor exposed to the outside world.

[0008] Hereinafter, technical solutions of the present disclosure for solving the problems will be described.

[0009] One embodiment of the present disclosure is a sensor unit in which a sensing area of ​​an external sensor for acquiring external information in a vehicle is set forward in a traveling direction via an exposed surface exposed to the external environment, and includes:

[0010] a washer nozzle having a jet port formed in front of the exposed surface for cleaning the exposed surface, the jet port jetting a washer fluid from above in the yaw axis direction toward the exposed surface in the vehicle; and

[0011] The housing holds the external sensor therein and has a recessed portion formed below the exposed surface in the yaw axis direction and recessed further rearward than the exposed surface in the traveling direction.

[0012] According to one embodiment of the present disclosure, the sensing area of ​​the external sensor in the vehicle is set in front of the exposed surface in the direction of travel. Here, in order to clean the exposed surface, a jet nozzle is formed in front of the exposed surface, and the jet nozzle sprays a cleaning fluid from above in the yaw axis direction toward the exposed surface in the vehicle. Therefore, a recessed portion that is recessed further toward the rear of the exposed surface in the direction of travel is formed below the exposed surface in the yaw axis direction in the housing that holds the external sensor inside. Accordingly, the cleaning fluid sprayed from above and from the front toward the exposed surface that is acted upon by the wind during travel of the vehicle flows toward the rear of the recessed portion as it flows toward the bottom of the exposed surface, so that the flow is less likely to be disturbed. As a result, the cleaning fluid can flow smoothly on the exposed surface, so that the cleaning performance of the exposed surface can be stabilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a transverse cross-sectional view showing a state where the sensor unit according to the first embodiment is mounted on a vehicle.

[0014] Figure 2 It is a cross-sectional view for explaining the characteristics of the sensor unit according to the first embodiment.

[0015] Figure 3 It is a cross-sectional view showing the detailed structure of the sensor unit according to the first embodiment.

[0016] Figure 4 It is a front view showing the detailed structure of the sensor unit according to the first embodiment.

[0017] Figure 5 is a longitudinal sectional view showing the detailed structure of the sensor unit according to the first embodiment, and is Figure 3 、 4 V-V line cross-sectional view.

[0018] Figure 6 This is a longitudinal sectional view for explaining the effects of the sensor unit according to the first embodiment.

[0019] Figure 7 It is a cross-sectional view for explaining the effects of the sensor unit according to the first embodiment.

[0020] Figure 8 is a longitudinal sectional view showing a detailed structure of a sensor unit according to a second embodiment, and is similar to Figure 5 The corresponding figure.

[0021] Figure 9is a longitudinal sectional view showing a detailed structure of a sensor unit according to a modified example of the second embodiment, and is similar to Figure 8 The corresponding figure. DETAILED DESCRIPTION

[0022] Hereinafter, multiple embodiments will be described based on the accompanying drawings. In addition, there are cases where duplicate descriptions are omitted by attaching the same reference numerals to corresponding components in each embodiment. Furthermore, when only a portion of a structure is described in each embodiment, the structure of other embodiments previously described can be applied to the remaining portions of the structure. Furthermore, not only the combinations of structures explicitly described in the description of each embodiment, but also structures of multiple embodiments can be partially combined even if not explicitly described, as long as there is no particular hindrance to the combination.

[0023] (First embodiment)

[0024] like Figure 1 As shown, the sensor unit 1 of the first embodiment is mounted on a vehicle 2. Vehicle 2 is capable of stable or temporary autonomous driving in an autonomous driving control mode. Here, the autonomous driving control mode can be implemented through autonomous driving control, such as conditional driving automation, highly automated driving, or fully automated driving, in which the system performs all driving tasks during operation. The autonomous driving control mode can also be implemented through highly assisted driving control, such as driving assistance or partial driving automation, in which a passenger performs some or all of the driving tasks. The autonomous driving control mode can also be implemented by combining or switching between these autonomous driving controls and highly assisted driving controls.

[0025] First, the basic structure of the sensor unit 1 according to the first embodiment will be described. The sensor unit 1 includes a housing 3, a sensor system 4, a cleaning system 5, and a control system 6. The following description of the sensor unit 1's orientation is based on a vehicle 2 on a horizontal plane. Here, the vehicle 2 is defined as having a travel direction X, a pitch direction Y, and a yaw direction Z. With this definition, the forward and rearward directions of the travel direction X can remain fixed regardless of the direction X's switching, or can be reversed depending on the direction X's switching.

[0026] The housing 3 is formed into a hollow, flat rectangular box shape using, for example, resin, metal, or a combination thereof. The housing 3 is mounted on the roof 20 of the vehicle 2. The housing 3 has outer wall portions 31 extending vertically along the four sides of the roof 20, on the front and rear sides in the travel direction X and on the left and right sides in the pitch axis direction Y. Multiple sensor windows 32 are formed in each outer wall portion 31. Each sensor window 32 is covered by a plate-shaped transparent cover 33. The outer surface of each transparent cover 33 forms an exposed surface 330 exposed to the outside world of the vehicle 2.

[0027] The sensor system 4 has a plurality of external sensors 40. Each external sensor 40 independently corresponds to a plurality of groups of sensor windows 32 and transparent covers 33, and is held inside the housing 3. Each external sensor 40 is composed of, for example, a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, etc., which are independent of each other. Here, if the type is distinguished by the difference in structure, at least two of the external sensors 40 can be of the same type, and all of the external sensors 40 can also be of different types. Figure 2 As shown, each of the external sensors 40 is provided with a sensing area Rs for sensing the outside of the vehicle 2 through the exposed surface 330 of the corresponding transparent cover 33. Each external sensor 40 acquires information about objects existing in the sensing area Rs as sensing information. Figure 2 An example of the external sensor 40a in which the sensing area Rs is set forward in the direction X passing through the exposed surface 330a facing forward in the traveling direction X is representatively shown.

[0028] like Figure 1 As shown, the cleaning system 5 includes a plurality of cleaning modules 50. Each cleaning module 50 independently corresponds to a plurality of sets of sensor windows 32 and transparent covers 33, and is held across the inside and outside of the housing 3. Thus, each cleaning module 50 also corresponds to an independent external sensor 40. Each cleaning module 50 uses the exposed surface 330 located in the sensing area Rs of the corresponding external sensor 40 as the cleaning object. Figures 3-5 As shown, each cleaning module 50 has at least one cleaning nozzle 51 that sprays a cleaning fluid toward the exposed surface 330 of the cleaning object. Here, the cleaning fluid sprayed from the cleaning nozzle 51 in each cleaning module 50 can be, for example, a cleaning gas such as air, or a cleaning liquid. In addition, each cleaning module 50 can also have at least one cleaning blade that wipes the exposed surface 330 of the cleaning object in addition to the cleaning nozzle 51. Figures 3-5 As described above, an example of the cleaning module 50a corresponding to the front environment sensor 40a is representatively shown.

[0029] like Figure 1As shown, the control system 6 is held inside the housing 3. The control system 6 is mainly composed of at least one dedicated computer. The control system 6 is connected to the sensor system 4 of the sensor unit 1, the washing system 5, and the control system inside the vehicle 2 via at least one of a LAN (Local Area Network), covered wiring, a wiring harness, and an internal bus. The control system 6 controls the operation of at least the washing nozzle 51 in the washing system 5 based on the sensing information of at least the external sensor 40 in the sensor system 4. The control system 6 realizes a control mode including an automatic driving control mode together with the control system inside the vehicle 2 based on the sensing information of at least the external sensor 40 in the sensor system 4.

[0030] (Detailed structure)

[0031] Next, based on Figures 3-5 The detailed structure of the housing 3 and the washer nozzle 51 according to the first embodiment will be described. In the detailed structure description, the front and rear directions of the traveling direction X are fixed regardless of the switching of the direction X.

[0032] like Figure 3 、 5 As shown, the housing 3 accommodates a plurality of external sensors 40a that set a sensing area Rs in front of the direction X through an exposed surface 330a facing the front of the driving direction X. Figures 3-5 As shown, each exposed surface 330a corresponding to each of these front-facing external sensors 40a is exposed from the front outer wall portion 31a of the housing 3 toward the outside world in the travel direction X. The front outer wall portion 31a of the housing 3 forms longitudinal wall surfaces 310a adjacent to both sides of each exposed surface 330a in the pitch direction Y and the top in the yaw direction Z. These exposed surfaces 330a and longitudinal wall surfaces 310a are formed into a common plane substantially perpendicular to the travel direction X, forming a planar shape extending along the pitch direction Y and the yaw direction Z.

[0033] like Figure 4 、 5 As shown, the front outer wall portion 31a of the housing 3 is continuous with the lower portion of each exposed surface 330a in the yaw axis direction Z, forming a recessed portion 34a. The recessed portion 34a is also continuous with the lower portion of the longitudinal wall surface 310a in the yaw axis direction Z, and is provided across the lower portion of each exposed surface 330a and the lower portion of the longitudinal wall surface 310a in the pitch axis direction Y. The recessed portion 34a is formed into a concave surface 340a in the shape of an inclined plane that inclines toward the rear of the travel direction X as it moves from each exposed surface 330a toward the lower portion in the yaw axis direction Z. Figure 5As shown, the angle θ formed by the concave surface 340a with respect to the yaw axis direction Z in the rearward direction of the travel direction X is set to a range of acute angles greater than 0 degrees. By forming such a concave surface 340a, the recessed portion 34a is recessed further toward the rear in the travel direction X than each exposed surface 330a. Furthermore, by forming the concave surface 340a as an inclined plane, the recessed portion 34a opens forward in the travel direction X while being covered from below by the roof 20 of the vehicle 2 in the yaw axis direction Z.

[0034] like Figures 3-5 As shown, the front outer wall portion 31a of the housing 3 holds a plurality of cleaning nozzles 51a corresponding to each exposed surface 330a exposed in front of the travel direction X. Each cleaning nozzle 51a forms at least one injection port 510a that sprays cleaning fluid from above the yaw axis direction Z toward the corresponding exposed surface 330a to clean the corresponding exposed surface 330a. In each cleaning nozzle 51a, the injection port 510a is arranged in front of the travel direction X relative to the corresponding exposed surface 330a of the cleaning object. The central axis direction of each cylindrical cleaning nozzle 51a is defined as the injection axis direction An. Here, for example, in a structure in which each cleaning nozzle 51a is provided with a single injection port 510a, the central axis direction of the port 510a may also be substantially consistent with the injection axis direction An.

[0035] like Figure 5 As shown, the spray axis direction An of each washing nozzle 51a is inclined further rearward in the travel direction X as it approaches the corresponding exposed surface 330a of the washing target located below in the yaw axis direction Z. Here, the spray axis direction An is adjusted, for example, based on the mounting angle of each washing nozzle 51a relative to the front outer wall portion 31a. For example, in the first embodiment, the angle ω formed by the spray axis direction An with respect to the yaw axis direction Z in the rear direction of the travel direction X is set to a range smaller than the angle formed by the inclined planar concave surface 340a with respect to the yaw axis direction Z in the rear direction of the travel direction X, which is an equiacute angle.

[0036] (Effect)

[0037] Hereinafter, the effects of the first embodiment described above will be described.

[0038] According to the first embodiment, the sensing area Rs of the external sensor 40a in the vehicle 2 is set in front of the travel direction X passing through the exposed surface 330a. Here, in order to clean the exposed surface 330a, the cleaning nozzle 51a forms an injection port 510a in the vehicle 2 in front of the exposed surface 330a in the travel direction X, which sprays the cleaning fluid from above the yaw axis direction Z toward the exposed surface 330a. Therefore, the housing 3 that holds the external sensor 40a therein forms a recessed portion 34a that is recessed further toward the rear of the exposed surface 330a in the travel direction X than the exposed surface 330a below the exposed surface 330a in the yaw axis direction Z. Accordingly, when the cleaning fluid sprayed from above and from the front toward the exposed surface 330a that is acted upon by the traveling wind during the travel of the vehicle 2 flows toward the bottom of the exposed surface 330a, as shown in FIG. Figure 6 As shown by the dotted arrow in FIG. 3 , the cleaning fluid flows into the recessed portion 34a toward the rear, thereby being difficult to disturb the flow. As a result, since the cleaning fluid can flow smoothly in the exposed surface 330a, the cleaning performance of the exposed surface 330a can be stabilized.

[0039] According to the first embodiment, the recessed portion 34a, which has a concave surface 340a that is inclined downward in the yaw axis direction Z from the exposed surface 330a and further rearward in the travel direction X, can guide the cleaning fluid flowing from the exposed surface 330a downward and rearward along the concave surface 340a, thereby reducing the generation of eddy currents in the cleaning fluid. This facilitates smooth flow of the cleaning fluid through the exposed surface 330a, thereby improving the stability of the cleaning performance.

[0040] According to the first embodiment, when the cleaning fluid is cleaning gas, it can flow smoothly on the exposed surface 330a based on the above-mentioned principle, so liquid dirt such as rain that easily adheres to the exposed surface 330a can be blown into the recessed portion 34a. Therefore, the stable cleaning performance itself can be improved.

[0041] According to the first embodiment, the sensing area Rs of the external sensor 40a of the vehicle 2 in the automatic driving control mode is set in front of the exposed surface 330a. Here, in the first embodiment, the cleaning performance of the exposed surface 330a is stabilized based on the above-mentioned principle, thereby stabilizing the sensing performance of the external sensor 40a and improving the accuracy of the automatic driving control.

[0042] According to the housing 3 of the first embodiment, the vertical wall surface 310a is formed on the side of the exposed surface 330a in the pitch axis direction Y of the vehicle 2 and is exposed in the front in the traveling direction X, and the exposed surface 330a is formed in a shape extending along the pitch axis direction Y. Figure 7The traveling wind that collides with the exposed surface 330a and partially moves to the side, as shown by the hollow arrow, is disturbed by the vertical wall surface 310a. Therefore, the flow of the washing fluid on the exposed surface 330a is less likely to be hindered, and the washing performance can be stabilized.

[0043] (Second embodiment)

[0044] like Figure 8 As shown, the second embodiment is a modification of the first embodiment.

[0045] In the second embodiment, the exposed surfaces 2330a corresponding to the respective front external sensors 40a are inclined more rearward in the travel direction X as they move downward in the yaw direction Z. Similarly, in the second embodiment, the longitudinal wall surfaces 2310a adjacent to the exposed surfaces 2330a on both sides in the pitch direction Y and above in the yaw direction Z also are inclined more rearward in the travel direction X as they move downward in the yaw direction Z. These exposed surfaces 2330a and longitudinal wall surfaces 2310a are formed on the same horizontal plane that forms a predetermined angle with respect to the travel direction X and the yaw direction Z, thereby forming inclined planes extending substantially parallel to the pitch direction Y.

[0046] In this second embodiment, the angle θ formed by the inclined planar concave surface 340a with respect to the yaw axis direction Z in the rearward direction of the travel direction X is set to a range of acute angles greater than the angle ψ formed by each inclined planar exposed surface 2330a and the vertical wall surface 2310a with respect to the yaw axis direction Z in the rearward direction of the travel direction X. Furthermore, in the second embodiment, the angle ψ formed by each inclined planar exposed surface 2330a and the vertical wall surface 2310a with respect to the yaw axis direction Z in the rearward direction of the travel direction X and the angle ω formed by the spray axis direction An of each washing nozzle 51a with respect to the yaw axis direction Z in the rearward direction of the travel direction X are set to be substantially the same. Thus, the angle θ formed by the inclined planar concave surface 340a with respect to the yaw axis direction Z in the rearward direction of the travel direction X is set to a range of acute angles greater than the angle ω formed by the spray axis direction An of the spray outlet 510a of each washing nozzle 51a with respect to the yaw axis direction Z in the rearward direction of the travel direction X.

[0047] (Effect)

[0048] Hereinafter, the unique effects of the second embodiment described above will be described.

[0049] According to the second embodiment, the exposed surface 2330a, which is inclined downward in the yaw axis direction Z and further rearward in the travel direction X, can smoothly guide the washing fluid downward and rearward toward the recessed portion 34a together with the traveling wind.

[0050] According to the second embodiment, the angle θ formed by the inclined planar concave surface 340a with respect to the yaw axis direction Z is greater than the angle ψ formed by the inclined planar exposed surface 2330a with respect to the yaw axis direction Z. Consequently, when the washing fluid, which is guided downward and rearward by the inclined planar exposed surface 2330a along with the traveling airflow, flows into the recessed portion 34a, it is guided along the inclined planar concave surface 340a, which is inclined further rearward than the exposed surface 2330a. This prevents the formation of eddies. Consequently, the stability of the washing performance can be improved.

[0051] According to the second embodiment, the washing fluid ejected from the washer nozzle 51a, which is inclined downward in the yaw axis direction Z and further rearward in the travel direction X, is similarly less likely to disrupt the flow toward the recess 34a on the inclined exposed surface 2330a. In particular, on the exposed surface 2330a, where the angle ψ with respect to the yaw axis direction Z is substantially the same as the angle ω with respect to the injection axis direction An, the washing fluid is more easily prevented from forming eddies. This improves the stability of the washing performance.

[0052] (Other embodiments)

[0053] Although a plurality of embodiments have been described above, the present disclosure is not limited to these embodiments and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0054] In variations of the first and second embodiments, the recess 34a may be formed by multiple planar recesses, rather than the inclined planar recess 340a. For example, the recess 34a may be formed by a first recessed surface that forms a substantially right angle or an acute angle with respect to the yaw axis Z and rearward in the travel direction X, and a second recessed surface that is substantially parallel to the yaw axis Z or forms an acute angle with respect to the yaw axis Z and rearward in the travel direction X. In the variations of the first and second embodiments, while the exposed surfaces 330a, 2330a and the vertical wall surfaces 310a, 2310a extend at least along the pitch axis Y, they may be connected in a stepped manner by being staggered in the travel direction X. In the variations of the first and second embodiments, as long as the recess 34a is provided below the exposed surfaces 330a, 2330a in the yaw axis Z to suppress the generation of eddy currents, the vertical wall surfaces 310a, 2310a may be provided between the exposed surfaces 330a, 2330a and the recess 34a.

[0055] like Figure 9As shown, in a modified example of the second embodiment, the angle θ formed by the concave surface 340a with respect to the yaw axis direction Z in the rear of the travel direction X can also be set to be substantially the same as the angle ψ formed by the exposed surface 2330a with respect to the yaw axis direction Z in the rear of the travel direction X, or to be within a range of an acute angle smaller than the angle ψ. Figure 9 As shown, in a modified example of the second embodiment, the angle θ formed by the concave surface 340a with respect to the yaw axis direction Z in the rearward direction of the travel direction X may be set to a range of acute angles substantially equal to or smaller than the angle ω formed by the spray axis direction An of each washing nozzle 51a in the rearward direction of the travel direction X with respect to the yaw axis direction Z. In a modified example of the second embodiment, the angle θ formed by the concave surface 340a with respect to the yaw axis direction Z in the rearward direction of the travel direction X may be set to a range of acute angles greater than or smaller than the angle ω formed by the spray axis direction An of each washing nozzle 51a in the rearward direction of the travel direction X with respect to the yaw axis direction Z.

[0056] In the modified examples of the first and second embodiments, the concave surface 340a may be formed so as to tilt more rearward in the traveling direction X as it moves downward in the yaw axis direction Z, and the rate of change in the traveling direction X increases or decreases as it moves downward. In the modified example of the second embodiment, the exposed surface 2330a may be formed so as to tilt more rearward in the traveling direction X as it moves downward in the yaw axis direction Z, and the rate of change in the traveling direction X increases or decreases as it moves downward.

[0057] In the modified examples of the first and second embodiments, the transparent cover 33 forming the exposed surface 330, 330a, 2330a may be provided on the optical sensor 40, 40a itself. In the modified examples of the first and second embodiments, the exposed surface 330, 330a, 2330a may be formed by an optical component such as a lens in the optical sensor 40, 40a.

Claims

1. A sensor unit, wherein a sensing area of ​​an external sensor for acquiring external information in a vehicle is set forward in a traveling direction via an exposed surface exposed to the external environment, and comprises: a washer nozzle having a jet port formed in front of the exposed surface in the travel direction for cleaning the exposed surface, the jet port jetting a washer fluid toward the exposed surface from above in the yaw axis direction in the vehicle; and The housing holds the external sensor therein and forms a recessed portion below the exposed surface in the yaw axis direction and further to the rear of the exposed surface toward the travel direction. The recessed portion forms a concave surface that is inclined toward the rear in the traveling direction as it moves downward from the exposed surface in the yaw axis direction. The exposed surface is inclined more toward the rear in the traveling direction as it moves downward in the yaw axis direction. An angle formed by the inclined plane-shaped concave surface with respect to the yaw axis direction is larger than an angle formed by the inclined plane-shaped exposed surface with respect to the yaw axis direction.

2. The sensor unit according to claim 1, wherein The spray axis direction of the washing nozzle is inclined toward the rear as it moves downward in the yaw axis direction.

3. The sensor unit according to claim 1, wherein The cleaning fluid is a cleaning gas.

4. The sensor unit according to any one of claims 1 to 3, wherein: The sensing area in the vehicle in the automatic driving control mode is set in front of the exposed surface in the traveling direction.

5. The sensor unit according to any one of claims 1 to 3, wherein: The housing forms a vertical wall surface on the side of the exposed surface in the pitch axis direction of the vehicle, and the vertical wall surface is exposed in the front in the traveling direction. The exposed surface and the vertical wall surface have a shape extending along the pitch axis direction.

Images