Roof comprising sensor module with environmental sensor device

Abstract

The invention relates to a roof comprising a roof skin (18), a carrier element (16) and at least one sensor module (20, 20 '), which has an environmental sensor device, which is arranged on the carrier element (16) and by means of which the sensor module (20, 20') is arranged on the carrier element (16). The vehicle environment can be detected for autonomous and / or semi-autonomous driving modes of the respective vehicle. The sensor module (20, 20 ') is provided with a displacement element (46) by means of which the sensor module can be displaced between at least two detection directions.

Description

Technical Field

[0001] The invention relates to a vehicle roof having the features of the preamble of claim 1 and to a motor vehicle having such a vehicle roof. Background Art

[0002] Such roofs are known in practice, in particular roof modules, which are prefabricated as separate functional modules and can be placed on top of the vehicle body or the vehicle body by the vehicle manufacturer during the vehicle production process. The roof comprises a top skin, which forms the outer visible area of ​​the roof and can be made of a dimensionally stable material, such as sheet metal or plastic material. The known roof also comprises a load-bearing element, which is in particular formed as a top frame and on which a sensor module is arranged, which comprises at least one environmental sensor, which can detect the vehicle environment using electromagnetic radiation. In this way, the environmental sensor device can be used to collect data, which data can be used by the vehicle control system for autonomous driving and / or semi-autonomous driving mode of the relevant vehicle. The environmental sensor is in particular configured as a lidar sensor, a radar sensor, an optical sensor, such as a camera. Based on the environmental data collected by the environmental sensor and corresponding to the corresponding traffic situation, the vehicle control system can influence the driving mode of the corresponding vehicle. Both the sensor module and the top frame are covered by the top skin. The environmental sensor is rigidly mounted on the top frame. This defines the viewing direction or field of view of the environmental sensor. Summary of the invention

[0003] The object of the present invention is to provide a vehicle roof of the above-mentioned type in which the detection options offered by the sensor module are expanded compared to the prior art.

[0004] This object is achieved according to the invention by a vehicle roof having the features of claim 1 .

[0005] According to the invention, a vehicle roof is proposed, which comprises a top skin, which in particular forms an outer viewing area of ​​the vehicle roof, a carrier element, and a sensor module with at least one environment sensor device, which is arranged on the carrier element and by which the vehicle environment for an autonomous and / or semi-autonomous driving mode of the respective vehicle can be detected. The sensor module comprises a displacement element by which the sensor module can be displaced between at least two detection directions.

[0006] The sensor module of the vehicle roof according to the invention thus has extended detection options due to the displacement element, since alignment of different detection directions is possible. Depending on requirements, the environment sensor device or the sensor module can be placed in a position corresponding to the desired field of view that can be used by the control device of the corresponding motor vehicle.

[0007] For example, the detection directions that can be realized by the displacement element of the sensor module can be selected so that one detection direction points to the direction in front of the vehicle, one detection direction points to the direction to the side of the vehicle, one detection direction points to the top, one detection direction points to the direction behind the vehicle and / or one detection direction points to the direction inside the vehicle. In particular, at least two of these detection directions can be realized by the displacement element of the roof according to the present invention.

[0008] For example, a detection direction pointing towards the vehicle's surroundings can be selected to supply data for an autonomous driving mode, a speed control system and / or a lane departure warning system. Another detection direction pointing towards the vehicle's surroundings can be used for a parking function, a reverse driving function and / or for operating the vehicle when the vehicle is connected to a trailer. Additionally, one of the detection directions can be used for measuring the environment, in particular parking spaces and / or self-learning of an autonomous driving system. Furthermore, one of the detection directions can be used for navigation purposes, for detecting the weather and / or for other information purposes for the vehicle occupants. If the detection direction points towards the interior of the vehicle, it is also possible to determine the occupancy of the respective vehicle or to detect drowsiness of the vehicle occupants using a sensor module and thus to connect to an alarm system.

[0009] Since all of the above-mentioned detection options can be realized by the same sensor module in the vehicle roof according to the invention, the installation space requirements are reduced and the vehicle roof design is attractive and less expensive to manufacture compared to the prior art of sensor modules.

[0010] The various detection directions can be used over a longer period of time, for example in a driving mode of the respective vehicle, or just for a snapshot, for example to record an image of the sky that can be shown on a display inside the vehicle.

[0011] In principle, the displacement element of the sensor module of the vehicle roof according to the invention can include different mechanisms and kinematic principles, by means of which a change in the field of view of the surroundings sensor device can be achieved.

[0012] In a specific embodiment of the vehicle roof of the present invention, the displacement element comprises a rotating plate. The environment sensor device can be arranged on the rotating plate so that by actuating the rotating plate, the environment sensor device is arranged in another detection direction.

[0013] In order to be able to displace or pivot the environment sensor device in additional spatial directions, the displacement element can include a support element on which the environment sensor device is pivotably mounted. For example, the support element formed by a fork-shaped bracket can be arranged on a rotating disk.

[0014] In another specific embodiment of the vehicle roof according to the invention, the sensor module comprises at least one beam deflecting element, by means of which the electromagnetic radiation used by the environment sensor device can be deflected. The beam deflecting element comprises, for example, a pivotable mirror and / or a fixed mirror and / or an optical prism and is adjusted according to the type of environment sensor used.

[0015] In another specific embodiment of the roof of the invention, the beam deflection element is arranged on a rotating plate. In this case, the environment sensor device can be arranged rigidly or immovably relative to the vehicle body, the rotating plate can be rotated to achieve different detection directions, so that the corresponding beam deflection element is brought in front of the environment sensor, and the rotating plate is annular and is in particular equipped with a beam deflection element. For example, an optical prism is placed in front of the environment sensor device, by means of which the electromagnetic radiation used by the environment sensor is deflected, so that the environment sensor device can monitor the interior of the corresponding vehicle. Additionally or alternatively, the beam deflection element can include such a mirror, by means of which the surrounding area on the side of the corresponding vehicle or the sky above the corresponding vehicle can be detected and evaluated.

[0016] In another preferred embodiment of the roof of the invention, the environment sensor device of the sensor module comprises at least two different types of sensors, which can be used simultaneously or individually. In particular, the environment sensor device implemented in this way comprises two sensors, which can be configured as optical sensors, such as cameras, lidar sensors, radar sensors and / or the like. By means of the environment sensors implemented in this way, the environment and / or the interior of the respective motor vehicle can be detected. The control device of the vehicle can evaluate and use the measurement data collected from these sensors, in particular for the driving mode of the respective vehicle in autonomous driving or semi-autonomous driving mode.

[0017] If the environment sensor device comprises a plurality of sensors, they can be arranged in a shared housing or in separate housings. In addition, it is conceivable that the individual sensors can be displaced together or independently of each other by means of a displacement element to set different detection directions.

[0018] Advantageously, a vehicle equipped with a roof according to the invention has a sensor perspective portion, which allows the environmental sensor device to have a clear or defined view of the vehicle environment and / or the vehicle interior when it is aligned in one of the detection directions. The sensor perspective portion is, for example, arranged on the roof skin or the vehicle roof bar, or is formed by a windshield or a side window or a rear window, which is advantageously transparent for the wavelength used by the environmental sensor device in the corresponding detection direction. In particular, the sensor perspective portion is transparent for wavelengths between 200 nm and 2000 nm. The lidar sensor preferably operates in a wavelength range of approximately 905 nm or approximately 1550 nm. The camera used as an environmental sensor can operate in the wavelength range of visible light and / or in the infrared range.

[0019] In another specific embodiment of the vehicle roof of the invention, the sensor module comprises at least one sensor cover having cover openings or window-like cutouts, each opening being respectively assigned to a detection direction. The sensor cover can be designed as a housing and at least partially encloses the environment sensor device.

[0020] A specific embodiment of the roof of the invention is configured as an end module, which forms a modular unit that can be connected to a vehicle body. The modular unit thus takes the form of a sensor module with an environmental sensor arrangement, having the functions required for autonomous or semi-autonomous driving of the vehicle. The vehicle manufacturer can connect the modular unit to the vehicle body or vehicle body, which can include roof beams, such as roof side beams and roof cross beams, as an interface for the roof module. The roof configured as a roof module by integrating the sensor system provided by the sensor module is a so-called roof sensor module (RSM), which allows the corresponding vehicle to be driven autonomously or semi-autonomously.

[0021] A vehicle equipped with a roof according to the invention is an autonomous vehicle, which drives independently in autonomous driving mode, at least without significant intervention by the driver. For semi-autonomous driving mode, the roof of the invention can form part of a driver assistance system.

[0022] In particular, the roof of the invention is the roof of a passenger car. However, it can also be the roof of a commercial vehicle, which can be configured as a delivery vehicle, a bus, an autonomous minibus, such as a so-called people mover, or even as a tractor unit.

[0023] The subject matter of the invention is also a motor vehicle comprising a roof of the above-mentioned type, wherein a roof module is placed, in particular, on the vehicle body, said roof module being configured as a so-called roof sensor module.

[0024] Further advantages and advantageous embodiments of the subject matter of the invention can be gathered from the description, the drawings and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] A schematic example of a motor vehicle with a roof according to the invention is shown schematically and in simplified form in the drawing and is described in more detail below.

[0026] Figure 1 A perspective top view of the top area of ​​a vehicle roof according to the invention is shown;

[0027] Figure 2 A schematic side view of the top region is shown;

[0028] Figure 3 A schematic top view of the top region is shown;

[0029] Figure 4 shows a portion of a schematic side view of a top region, wherein a sensor module pair is facing forward;

[0030] Figure 5 Shown with Figure 4 A corresponding view, however, wherein the sensor module pair is facing in an upward direction;

[0031] Figure 6 It also shows that Figure 4 A corresponding view, however, wherein the sensor module pair is facing in the direction of the vehicle interior;

[0032] Figure 7 A portion of a top view of a sensor module pair is shown facing toward the roof of the vehicle in a forward direction of the vehicle;

[0033] Figure 8 Shown with Figure 7 A corresponding view, however, in which the sensor modules are aligned in the vehicle transverse direction;

[0034] Fig. 9 It also shows that Figure 7 A corresponding view, however, wherein the sensor module pair is facing in the direction of the vehicle interior;

[0035] Fig.10 shows a perspective exterior view of a sensor module;

[0036] Fig.11 shows a perspective interior view of the sensor module, wherein its alignment is oriented in a direction toward the front of the vehicle;

[0037] Fig.12 Shown with Fig.11 A corresponding view, however, wherein the sensor module pair is facing in an upward direction;

[0038] Fig.13 It also shows that Fig.11A corresponding view, however, in which the sensor modules are aligned in the vehicle transverse direction;

[0039] Fig.14 It also shows that Fig.11 A corresponding view, however wherein the sensor module pair is facing in the direction of the vehicle interior;

[0040] Fig.15 The sensor module is shown without a sensor cover, and the sensor module pair is facing in a vehicle forward direction;

[0041] Fig.16 Shown with Fig.15 A corresponding view, however, the sensor module pair is facing in an upward direction;

[0042] Fig.17 It also shows that Fig.15 A corresponding view, however, in which the sensor modules are aligned in the vehicle transverse direction;

[0043] Fig.18 It also shows that Fig.15 A corresponding view, however wherein the sensor module pair is facing in the direction of the vehicle interior;

[0044] Fig.19 A perspective view showing an alternative embodiment of a sensor module, the sensor module pair being directed in a direction forward of a vehicle;

[0045] Fig. 20 Shown with Fig.19 In the corresponding view, the sensor module is aligned in the lateral direction of the vehicle;

[0046] Fig.21 It also shows that Fig.19 In the corresponding view, the sensor module pair is facing the vehicle interior;

[0047] Fig. 22 It also shows that Fig.19 a corresponding view in which the sensor module pair is facing in an upward direction;

[0048] Fig.23 Shown according to Fig.19 A top view of a sensor module, the sensor module is facing in a direction forward of the vehicle;

[0049] Fig.24 Shown with Fig.23 A corresponding view, however, in which the sensor modules are aligned in the vehicle transverse direction;

[0050] Fig.25 It also shows that Fig.23a corresponding view, however wherein the sensor module is aligned facing in the direction of the interior of the vehicle; and

[0051] Fig.26 It also shows that Fig.23 A corresponding view, however, in which the sensor module pair is facing in an upward direction. DETAILED DESCRIPTION

[0052] Figures 1 to 9 The upper part of a motor vehicle 10 is shown, which is configured as a passenger car and has a roof 12 configured as a roof module, which is adjacent to roof side rails 14 on both sides of a vertical longitudinal center plane of the roof, and the roof side rails 14 are part of the body representing the vehicle body. The roof 12 is rigidly connected to the roof side rails 14.

[0053] The roof 12 includes a load-bearing element 16 configured as a top frame and forming an interface with the vehicle body, and a top skin 18 forming an external viewing area and substantially covering the entire surface of the roof 12. The top skin 18 may be formed in one piece, or may be assembled from a plurality of cover elements.

[0054] The roof 12 is configured as a roof sensor module (RSM) having a device that allows the motor vehicle 10 to drive autonomously. For this purpose, the roof 12 has a sensor system that includes a sensor module 20, in particular one sensor module in each front corner region, which is arranged on a support element 16 representing the roof substructure. Each sensor module 20 is arranged at the front left in the longitudinal direction of the vehicle, which is Figures 10 to 18 2, wherein each sensor module comprises two environmental sensors 24 and 26, which are housed in a shared housing 22, which are sensors of different types and can be configured in particular as optical sensors, such as cameras, lidar sensors, radar sensors, etc. The environmental sensors 24 and 26 both operate with electromagnetic radiation, and they can communicate with the environment through a sensor lens 28 representing a housing opening. The measurement signals collected by the environmental sensors 24 and 26 can be processed by a control unit (not shown) of the motor vehicle 10 so that, among other things, corresponding traffic conditions can be determined, and the motor vehicle 10 can autonomously or independently adapt to the determined traffic conditions and take corresponding actions.

[0055] The two sensor modules 20 are formed mirror-symmetrically to one another, each comprising a sensor cover device 30, which comprises a first housing-shaped cover element 32, which surrounds the environment sensors 24 and 26 and is provided with three windows 34, 36 and 38, which represent cover openings, via which the environment sensors 24 and 26 can detect the environment by means of correspondingly aligned sensor lenses 28. Furthermore, the sensor cover device 30 comprises an angled cover plate 40, which is provided with windows 42, which represent cover openings, via which the environment sensors 24 and 26 can detect the interior 44 of the motor vehicle 10.

[0056] Furthermore, each sensor module 20 comprises a displacement element 46, by means of which the sensor lens 28 can be oriented as required in the direction of one of the windows 34, 36, 38 and 42 of the sensor cover device 30. The displacement element 46 comprises a rotating plate 48, which is mounted on a top-mounted plate support and can be rotated by an actuator 50, which can be configured as an electric motor. The rotating plate 48 or its plate support and the actuator 50 are fixed to the carrier element 16 of the vehicle roof 12. The driving of the rotating plate 48 by the actuator 50 takes place via a spur gear stage 52.

[0057] A bracket-like support element 54 is arranged on the rotating disk 48. The housing 22 of the environmental sensors 24 and 26 is mounted on the free legs of the support element 54 so as to be pivotable. The pivoting of the housing 22 on the support element 54 can be achieved by means of a motor 55 mounted on the support element 54, but the motor can also be accommodated by the housing 22 of the environmental sensors 24 and 26.

[0058] By means of the displacement element 46, Figure 4 , 7 , 11 and 15 align the sensor lens 28 with the cover window 34. In this case, the environmental sensors 24 and 26 can detect the vehicle environment through the window 34 of the cover element 32 and the windshield 56 of the motor vehicle 10, which serves as a sensor perspective portion. Alternatively, the sensor module 20 can also be configured so that it detects the vehicle environment in the vehicle front direction through the sensor perspective portion formed on the top skin. The alignment of the sensor module or the sensor lens in the direction toward the vehicle front shows a first detection direction of the sensor module 20.

[0059] The first detection direction of the sensor module 20 pointing in the vehicle forward direction is basically used for the autonomous driving mode of the motor vehicle 10 , for example for recording and determining traffic conditions or vehicle surroundings, for speed control, for emitting light signals, etc.

[0060] By actuating the displacement element 46, the housing 22 of the environmental sensors 24 and 26 can be pivoted in the direction of the upper window 36, so that the environmental sensors 24 and 36 can detect the vehicle environment above the motor vehicle 10 through the window 36 and the top skin 18. This sensor alignment is used, for example, to capture the sky above the motor vehicle 10 and to reproduce it on a display integrated in the interior of the roof 12. During parking operations, for example when parking in a vertical parking garage or when transporting the motor vehicle 10, it is also necessary to monitor the vehicle environment above the motor vehicle 10. The alignment of the sensor lens 28 on the upper window 36 of the sensor cover device 30 shows a second detection direction of the sensor module 20, as shown in FIG. Figure 5 , 12 and 16.

[0061] In order to achieve the third detection direction, such as Figure 8 , 13 17, wherein the sensor lens 28 is directed toward the side window 38 of the sensor cover device 30, the housing 22 of the environmental sensors 24 and 30 is brought to a corresponding pivot position on the support element 54, and the rotating plate 48 is moved relative to the actuator 50 Fig.15 and 16 The position shown is rotated by 90°. Thus, the environment sensors 24 and 26 can detect the vehicle environment next to the motor vehicle through the side windows 38 or through the side sections 58 of the top skin 18 (representing the see-through section of the sensors).

[0062] The third detection direction, in which the sensor lens 28 is directed toward the side window 38 , may be used, for example, for parking maneuvers, off-road driving, certain driving situations in autonomous driving mode, driving mode with a trailer, and the like.

[0063] In order to realize the sensor module 20 Figure 6 , 9 , 14 and 18, the rotating plate 48 is rotated by the actuator, and the housing 22 of the environmental sensors 24 and 26 is pivoted on the supporting element 54 so that the sensor lens 28 points to the window 42 of the cover plate 40. In this way, the environmental sensors 24 and 30 can detect the interior 44 of the motor vehicle 10 through the window 42 and other sensor perspective portions that may be formed on the inner side of the roof 12, for example, to determine the occupancy of the vehicle interior, to detect fatigue of the vehicle occupants, to detect objects that may be forgotten in the vehicle interior, to determine the air concentration in the vehicle interior and / or to use the environmental sensors 24 and 30 for infotainment purposes or other purposes.

[0064] Figures 19 to 26A sensor module 20 ′ is shown, which is part of a roof of the type described above and which is also arranged in the front corner region of the roof frame below the roof skin and which, according to the above-described embodiment, is provided with a displacement element 46 which allows the field of view of the environmental sensors 24 and 26 arranged in the housing 22 to be shifted to different detection directions. The housing 22 is provided with a sensor lens 28 which represents a housing opening through which the environmental sensors 24 and 26 can communicate with the environment. The housing 22 is arranged on a support plate 60 which is rigidly connected to the load-bearing element 16 of the roof 12 or to the roof frame. The environmental sensors 24 and 26 and their sensor lenses 28 are therefore also arranged rigidly relative to the load-bearing element 16 of the roof 12.

[0065] The displacement element 46 of the sensor module 20' comprises an annular rotating plate 62, which can be driven by an actuator 50 configured as an electric motor via a spur gear stage 52. The annular rotating plate 62 is provided with a mirror 64 that is immovable relative to the rotating plate 62, a mirror 66 that is rotatable relative to the rotating plate 62 about a horizontal axis, and an optical prism 68, which is provided on a tubular member 70 corresponding to a hole 72 formed in the annular rotating plate 62.

[0066] exist Fig.19 and Fig.23 In the illustrated first detection direction of the sensor module 20 ′, the swivel plate 62 adopts a swivel position in which the sensor lens 28 points in the vehicle forward direction and can freely view and detect the vehicle environment in front of the motor vehicle for the vehicle's autonomous driving mode.

[0067] In order to realize the second detection direction in which the surrounding area beside the corresponding vehicle is detected, the rotating plate 62 is rotated by the actuator 50 so that the fixed mirror 64 is located in front of the sensor lens 28, and the environmental sensors 24 and 26 can detect the vehicle side environment mirrored on the mirror 64.

[0068] In order to realize the sensor module 20' Fig.21 and Fig.25 In the third detection direction shown, the rotating plate 62 is rotated by the actuator 50 so that the optical prism 68 is arranged in front of the sensor lens 28. Therefore, the environmental sensors 24 and 26 can detect the interior of the corresponding motor vehicle under the roof 12 through the optical prism 68, the tubular member 70 and the hole 72, for example, to determine the occupancy of the interior.

[0069] For the fourth detection direction of the sensor module 20', the rotating plate 62 is rotated so that the pivotable mirror 66 is located in front of the sensor lens 28 (see Fig. 22 and Fig.26). Thus, the environment sensors 24 and 26 can detect the vehicle environment above the motor vehicle 10 which is mirrored on the mirror 66. For example, the image of the sky can be recorded in this way by a camera which is implemented by one of the environment sensors 24 and 26. The pivot position of the mirror 66 can be adjusted using the electric drive 67.

[0070] Reference numerals list

[0071] 10 Motor Vehicles

[0072] 12 Roof

[0073] 14 Top side beam

[0074] 16 load-bearing elements

[0075] 18 Top Skin

[0076] 20, 20' sensor module

[0077] 22 Shell

[0078] 24 Environmental Sensors

[0079] 26 Environmental Sensors

[0080] 28 sensor lens

[0081] 30 sensor cover device

[0082] 32 cover element

[0083] 34 windows

[0084] 36 windows

[0085] 38 windows

[0086] 40 Cover

[0087] 42 windows

[0088] 44 Internal

[0089] 46 displacement elements

[0090] 48 rotating plate

[0091] 50 Actuator

[0092] 52 spur gear stages

[0093] 54 Support element

[0094] 55 Motor

[0095] 56 Windshield

[0096] 58 side part

[0097] 60 Support Plate

[0098] 62 turntable

[0099] 64 Mirror

[0100] 66 Mirror

[0101] 67 Electric drive

[0102] 68 optical prism

[0103] 70 Tubular Parts

[0104] 72 holes

Claims

1. A vehicle roof, comprising a roof skin (18), a carrier element (16) and at least one sensor module (20, 20'), the sensor module having an environment sensor device, the environment sensor device being arranged on the carrier element (16), by means of which the vehicle environment can be detected for autonomous and / or semi-autonomous driving modes of the respective vehicle, It is characterized in that The sensor module (20, 20') is provided with a displacement element (46), by means of which the sensor module can be displaced between at least two detection directions.

2. The vehicle roof according to claim 1, It is characterized in that The detection directions into which the sensor module (20, 20') can be displaced include a detection direction toward the front of the vehicle and / or a detection direction toward the side of the vehicle and / or a detection direction toward the rear of the vehicle and / or a direction toward the top and / or a detection direction toward the inside of the vehicle.

3. The vehicle roof according to claim 1 or 2, It is characterized in that The displacement element (46) includes a rotating plate (48, 62).

4. The vehicle roof according to any one of claims 1 to 3, It is characterized in that The displacement element (46) comprises a support element (54) on which the environmental sensor device is pivotably mounted.

5. A vehicle roof according to claim 4 when referring to claim 3, It is characterized in that The support element (54) is arranged on the rotating plate (48).

6. The vehicle roof according to any one of claims 1 to 5, It is characterized in that The sensor module (20') comprises at least one beam deflecting element, by means of which the electromagnetic radiation used by the environment sensor device is deflectable.

7. The vehicle roof according to claim 6, It is characterized in that The beam deflecting element comprises a pivotable mirror (66) and / or a fixed mirror (64) and / or an optical prism (68).

8. A vehicle roof according to claim 6 or 7 when dependent on claim 3 or 5, It is characterized in that The beam deflecting element is arranged on a rotating plate (62).

9. The vehicle roof according to any one of claims 1 to 8, It is characterized in that The sensor module (20) is provided with at least one sensor cover having a cover opening (34, 36, 38, 42), each of which is assigned to a detection direction.

10. The vehicle roof according to any one of claims 1 to 9, It is characterized in that The environment sensor device comprises at least two different types of sensors which can be used simultaneously or independently and in particular comprise an optical sensor such as a camera, a lidar sensor, a radar sensor and / or a sonar.

11. The vehicle roof according to any one of claims 1 to 10, It is characterized in that The vehicle roof is a roof module formed as a modular unit that can be connected to the vehicle body.

12. A motor vehicle comprising a roof according to any one of the features of claims 1 to 11.

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