Vehicle and sensor system thereof

Abstract

The invention discloses a vehicle and a sensor system thereof, the sensor system comprises a plurality of first sensors and a plurality of second sensors, the second sensors and the first sensors are first type sensors, and the maximum sensing distance of the second sensors is smaller than the maximum sensing distance of the first sensors. The field angle of view of the second sensors is larger than that of the first sensors, the multiple first sensors face multiple directions around the vehicle, first blind areas exist between the field areas of the multiple first sensors, and the field areas of the multiple second sensors at least cover the first blind areas, so that the sensors of the same type can be adopted; and blind areas around the vehicle are eliminated, so that the running reliability of the vehicle can be ensured.

Description

Technical Field

[0001] The present application relates to the field of driving technology, and in particular to a vehicle and a sensor system thereof. Background Art

[0002] Vehicles are usually equipped with sensor systems to perceive environmental information of the surrounding environment. The sensor system may include cameras and lidar, etc. Since the sensor system's ability to perceive the surrounding environment is crucial for the vehicle to make correct and safe decisions, especially in the field of autonomous driving, the sensor system's perception ability has an important impact on autonomous driving. When there are too many sensors on the vehicle, unnecessary software and hardware costs will be added and the complexity of the vehicle structure will be increased. Therefore, the sensor system on the vehicle needs to be arranged rationally to ensure reliable perception of environmental information in the vehicle's surrounding environment in various driving environments and to ensure the reliability of vehicle driving. Summary of the invention

[0003] The present application provides a vehicle and a sensor system thereof, so as to rationally arrange the sensor system on the vehicle and ensure the reliability of vehicle driving.

[0004] In one aspect of the present application, a sensor system for a vehicle is provided, comprising: a plurality of first sensors; a plurality of second sensors; the second sensors and the first sensors are both first type sensors; the maximum sensing distance of the second sensor is smaller than the maximum sensing distance of the first sensor; the field of view angle of the second sensor is larger than the field of view angle of the first sensor; the plurality of first sensors are respectively facing a plurality of directions around the vehicle; there is a first blind spot between the field of view areas of the plurality of first sensors, and the field of view areas of the plurality of second sensors at least cover the first blind spot.

[0005] Another aspect of the present application provides a vehicle, comprising the sensor system as described in any one of the above items.

[0006] The vehicle and its sensor system provided by the present application can use the same type of sensors to eliminate blind spots around the vehicle, thereby ensuring the reliability of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0008] Figure 1 A schematic diagram of a vehicle is shown in which the various techniques disclosed herein may be implemented.

[0009] Figure 2 A schematic diagram of a vehicle and a field of view area of ​​a plurality of first sensors is shown.

[0010] Figure 3 A schematic diagram of a vehicle and fields of view of a plurality of first sensors and a plurality of second sensors is shown.

[0011] Figure 4 A schematic diagram of a vehicle and fields of view of a plurality of first sensors, a plurality of second sensors, and a plurality of third sensors is shown.

[0012] Figure 5 A schematic diagram of a vehicle and fields of view of a plurality of first sensors, a plurality of second sensors, and a plurality of third sensors is shown.

[0013] Figure 6 A schematic diagram of a vehicle and a field of view area of ​​a plurality of fourth sensors is shown.

[0014] Figure 7 A schematic diagram of a vehicle and fields of view of a plurality of fourth sensors and a plurality of fifth sensors is shown.

[0015] Figure 8 A schematic diagram of a vehicle and field of view areas of a plurality of fourth sensors, a plurality of fifth sensors, and a plurality of sixth sensors is shown.

[0016] Fig. 9 A schematic diagram of a vehicle and field of view areas of a plurality of fourth sensors, a plurality of fifth sensors, and a plurality of sixth sensors is shown.

[0017] Fig.10 A schematic diagram of a vehicle and a field of view area of ​​a plurality of seventh sensors is shown.

[0018] Fig.11 A schematic diagram of the top view of a vehicle and its sensor is shown.

[0019] Fig.12 A structural schematic diagram of an installation box for a vehicle is shown.

[0020] Fig.13 A schematic structural diagram of a first integrated bracket of a vehicle is shown.

[0021] Fig.14 A schematic structural diagram of one side of a second integrated bracket of a vehicle is shown.

[0022] Fig.15 A schematic structural diagram of another side of a second integrated bracket of a vehicle is shown.

[0023] Fig.16 A schematic structural diagram of one side of a camera bracket in a first integrated bracket or a second integrated bracket is shown.

[0024] Fig.17 A schematic structural diagram of the other side of a camera bracket in a first integrated bracket or a second integrated bracket is shown. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Currently in the field of autonomous driving, autonomous driving technology is usually reactive. That is, decisions are made based on the current situation or state. For example, an autonomous driving vehicle can be programmed to make an emergency stop when an object is detected in the middle of the road. However, the current autonomous driving technology has limited perception capabilities and environmental adaptability of the vehicle to objects in the surrounding environment. In order to ensure reliable perception of environmental information in the vehicle's surrounding environment, the sensors on the vehicle need to be arranged rationally to ensure the reliability of vehicle driving. For example, the arrangement of sensors should not have blind spots that threaten driving safety to provide the largest possible perception range so that the autonomous driving control unit can reasonably plan the vehicle's driving path or trajectory to save the number of sensors and meet the limited power supply on the vehicle.

[0027] This application describes a vehicle that can reliably perceive environmental information in the surrounding environment and improve the vehicle's (especially an autonomous driving vehicle's) perception of objects in the surrounding environment and its environmental adaptability. Figure 1 , Figure 1 1 is a schematic diagram of a vehicle 100 in which the various techniques disclosed herein may be implemented. The vehicle 100 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, excavator, snowmobile, aircraft, recreational vehicle, amusement park vehicle, farm equipment, construction equipment, tram, golf cart, train, trolley bus, or other vehicle.

[0028] The vehicle 100 may be operated in full or in part in an autonomous driving mode. The vehicle 100 may control itself in the autonomous driving mode, for example, the vehicle 100 may determine the current state of the vehicle and the current state of the environment in which the vehicle is located, determine the predicted behavior of at least one other vehicle in the environment, determine the confidence level corresponding to the likelihood of the at least one other vehicle to perform the predicted behavior, and control the vehicle 100 itself based on the determined information. When in the autonomous driving mode, the vehicle 100 may operate without human interaction.

[0029] The vehicle 100 may include various vehicle systems, such as a drive system 142, a sensor system 144, a control system 146, a user interface system 148, a computing system 150, and a communication system 152. The vehicle 100 may include more or fewer systems, and each system may include multiple units. Further, each system and unit of the vehicle 100 may be interconnected. For example, the computing system 150 may be able to communicate data with one or more of the drive system 142, the sensor system 144, the control system 146, the user interface system 148, and the communication system 152. Thus, one or more of the described functions of the vehicle 100 may be divided into additional functional components or physical components, or combined into a smaller number of functional components or physical components. In further examples, the additional functional components or physical components may be increased to, for example, Figure 1 In the example shown.

[0030] The drive system 142 may include a plurality of operable components (or units) that provide kinetic energy to the vehicle 100. In one embodiment, the drive system 142 may include an engine or motor, wheels, a transmission, an electronic system, and a power source (or power source). The engine or motor may be any combination of an internal combustion engine, an electric motor, a steam engine, a fuel cell engine, a propane engine, or other forms of engines or motors. In some embodiments, the engine may convert a power source into mechanical energy. In some embodiments, the drive system 142 may include a plurality of engines or motors. For example, a hybrid vehicle may include a gasoline engine and an electric motor, and other situations may also be included.

[0031] The wheels of the vehicle 100 may be standard wheels. The wheels of the vehicle 100 may be wheels of various types, including single, double, triple, or quad wheels, such as quad wheels on a car or truck. Other numbers of wheels are also possible, such as six or more wheels. One or more wheels of the vehicle 100 may be operated to rotate in a different direction than the other wheels. The wheel may be at least one wheel fixedly connected to a transmission. The wheel may include a combination of metal and rubber, or a combination of other materials. The transmission may include a unit operable to transmit mechanical power from the engine to the wheels. For this purpose, the transmission may include a gearbox, a clutch, a differential gear, and a drive shaft. The transmission may also include other units. The drive shaft may include one or more axles that match the wheels. The electronic system may include a unit for transmitting or controlling electronic signals of the vehicle 100. These electronic signals may be used to activate multiple lights, multiple servo mechanisms, multiple motors, and other electronic drive or control devices in the vehicle 100. The power source may be an energy source that provides power to the engine or motor in whole or in part. That is, the engine or motor is capable of converting the power source into mechanical energy. Exemplarily, the power source may include gasoline, oil, petroleum-based fuels, propane, other compressed gas fuels, ethanol, fuel cells, solar panels, batteries, and other electrical energy sources. The power source may additionally or alternatively include any combination of a fuel tank, a battery, a capacitor, or a flywheel. The power source may also provide energy for other systems of the vehicle 100.

[0032] The sensor system 144 may include a plurality of sensors for sensing information about the environment and conditions of the vehicle 100. For example, the sensor system 144 may include an inertial measurement unit (IMU), a global navigation satellite system (GNSS) transceiver (e.g., a global positioning system (GPS) transceiver), a radio detection and ranging device (RADAR, referred to as millimeter wave radar), a laser detection and ranging system (LIDAR, referred to as laser radar), an acoustic sensor, an ultrasonic sensor, and an image capture device (e.g., a camera). The sensor system 144 may include a plurality of sensors for monitoring the vehicle 100 (e.g., an oxygen (O2) monitor, a fuel gauge sensor, an engine oil pressure sensor, and temperature, humidity, pressure sensors, etc.). Other sensors may also be configured. One or more sensors included in the sensor system 144 may be driven individually or collectively to update the position, orientation, or both of the one or more sensors.

[0033] The IMU may include a combination of sensors (e.g., an accelerometer and a gyroscope) for sensing position changes and direction changes of the vehicle 100 based on inertial acceleration. The GPS transceiver may be any sensor for estimating the geographic location of the vehicle 100. For this purpose, the GPS transceiver may include a receiver / transmitter to provide position information of the vehicle 100 relative to the earth. It should be noted that GPS is an example of a global navigation satellite system, so in some embodiments, the GPS transceiver may be replaced by a Beidou satellite navigation system transceiver or a Galileo satellite navigation system transceiver. The radar unit may use radio signals to sense objects in the environment where the vehicle 100 is located. In some embodiments, in addition to sensing objects, the radar unit may also be used to sense the speed and direction of objects approaching the vehicle 100. The LIDAR unit may be any sensor that uses lasers to sense objects in the environment where the vehicle 100 is located. In one embodiment, the LIDAR unit may include a laser source, a laser scanner, and a detector. The LIDAR unit is used to operate in a continuous (e.g., using heterodyne detection) or discontinuous detection mode. The image capture device may include a device for capturing multiple images of the environment where the vehicle 100 is located. An example of an image capture device is a camera, which may be a still image camera or a motion video camera.

[0034] The control system 146 is used to control the operation of the vehicle 100 and its components (or units). Accordingly, the control system 146 may include various units, such as a steering unit, a power control unit, a braking unit, and a navigation unit.

[0035] The steering unit can be a combination of machines that adjust the direction of travel of the vehicle 100. A power control unit (e.g., a throttle) can be used, for example, to control the speed of the engine, and thus the speed of the vehicle 100. The braking unit can include a combination of machines for decelerating the vehicle 100. The braking unit can use friction to decelerate the vehicle in a standard manner. In other embodiments, the braking unit can convert the kinetic energy of the wheels into electric current. The braking unit can also take other forms. The navigation unit can be any system that determines a driving path or route for the vehicle 100. The navigation unit can also dynamically update the driving path while the vehicle 100 is moving. The control system 146 can also additionally or optionally include other components (or units) that are not shown or described.

[0036] The user interface system 148 may be used to allow interaction between the vehicle 100 and external sensors, other vehicles, other computer systems, and / or users of the vehicle 100. For example, the user interface system 148 may include a standard visual display device (e.g., a plasma display, a liquid crystal display (LCD), a touch screen display, a head mounted display, or other similar display), a speaker or other audio output device, a microphone or other audio input device. For example, the user interface system 148 may also include a navigation interface and an interface for controlling the interior environment of the vehicle 100 (e.g., temperature, fans, etc.).

[0037] The communication system 152 can provide a way for the vehicle 100 to communicate with one or more devices or other vehicles around. In an exemplary embodiment, the communication system 152 can communicate with one or more devices directly or through a communication network. The communication system 152 can be, for example, a wireless communication system. For example, the communication system can use 3G cellular communication (such as CDMA, EVDO, GSM / GPRS) or 4G cellular communication (such as WiMAX or LTE), and can also use 5G cellular communication. Optionally, the communication system can communicate with a wireless local area network (WLAN) (for example, using WIFI). In some embodiments, the communication system 152 can communicate directly with one or more devices or other vehicles around, for example, using infrared, Bluetooth, or ZIGBEE. Other wireless protocols, such as various vehicle-mounted communication systems, are also within the scope of the present application. For example, the communication system may include one or more dedicated short-range communication (DSRC) devices, V2V devices, or V2X devices, which can communicate data publicly or privately with vehicles and / or roadside stations.

[0038] The computing system 150 can control some or all functions of the vehicle 100. The autonomous driving control unit in the computing system 150 can be used to identify, evaluate, and avoid or overcome potential obstacles in the environment of the vehicle 100. Generally, the autonomous driving control unit can be used to control the vehicle 100 without a driver, or to assist the driver in controlling the vehicle. In some embodiments, the autonomous driving control unit is used to combine data from sensors, such as data from a GPS transceiver, radar data, LIDAR data, camera data, and data from other vehicle systems to determine the driving path or trajectory of the vehicle 100. The autonomous driving control unit can be activated to enable the vehicle 100 to be driven in an autonomous driving mode.

[0039] The computing system 150 may include at least one processor (which may include at least one microprocessor) that executes processing instructions (i.e., machine executable instructions) stored in a non-volatile computer-readable medium (e.g., a data storage device or memory). The computing system 150 may be composed of multiple computing devices that control components or systems of the vehicle 100 in a distributed manner. In some embodiments, the memory may contain processing instructions (e.g., program logic) that are executed by the processor to implement various functions of the vehicle 100. In one embodiment, the computing system 150 is capable of data communication with the drive system 142, the sensor system 144, the control system 146, the user interface system 148, and / or the communication system 152. The interface in the computing system is used to facilitate data communication between the computing system 150 and the drive system 142, the sensor system 144, the control system 146, the user interface system 148, and the communication system 152.

[0040] The memory may also include other instructions, including instructions for data transmission, instructions for data reception, instructions for interaction, or instructions for controlling the drive system 142 , the sensor system 144 , or the control system 146 or the user interface system 148 .

[0041] In addition to storing processing instructions, the memory may store a variety of information or data, such as image processing parameters, road maps, and path information, which may be used by the vehicle 100 and the computing system 150 during operation of the vehicle 100 in an autonomous, semi-autonomous, and / or manual mode.

[0042] Although the autonomous driving control unit is shown as being separate from the processor and memory, it should be understood that in some embodiments, some or all of the functions of the autonomous driving control unit may be implemented using program code instructions residing in one or more memories (or data storage devices) and executed by one or more processors, and the autonomous driving control unit may be implemented using the same processor and / or memory (or data storage device) in some cases. In some embodiments, the autonomous driving control unit may be implemented at least in part using various dedicated circuit logic, various processors, various field programmable gate arrays (FPGAs), various application specific integrated circuits (ASICs), various real-time controllers, and hardware.

[0043] The computing system 150 may control functions of the vehicle 100 based on input received from various vehicle systems (e.g., the drive system 142, the sensor system 144, and the control system 146), or input received from the user interface system 148. For example, the computing system 150 may use input from the control system 146 to control a steering unit to avoid an obstacle detected by the sensor system 144. In one embodiment, the computing system 150 may be used to control various aspects of the vehicle 100 and its systems.

[0044] Although Figure 1 1 shows various components (or units) integrated into the vehicle 100, one or more of which may be mounted on the vehicle 100 or separately associated with the vehicle 100. For example, the computing system may exist partially or completely independently of the vehicle 100. Thus, the vehicle 100 may exist in the form of separate or integrated device units. The device units constituting the vehicle 100 may communicate with each other in the form of wired or wireless communications. In some embodiments, additional components or units may be added to each system or one or more components or units may be removed from the system (for example, Figure 1 lidar or radar as shown).

[0045] In some embodiments of the present application, a sensor system 144 is disclosed, and the sensor system 144 includes a plurality of first sensors and a plurality of second sensors. The second sensors and the first sensors are both first type sensors, or in other words, the second sensors and the first sensors are sensors of the same type. The first sensors and the second sensors are configured to reliably sense environmental information in the environment surrounding the vehicle 100 in various driving environments.

[0046] like Figure 2 As shown, Figure 2 A schematic diagram of a vehicle 100 and a field of view area of ​​multiple first sensors C1 is shown, wherein the multiple first sensors C1 are respectively facing multiple directions around the vehicle 100, and the multiple directions around the vehicle 100 include at least two of the front, the front side, the rear side, the side and the rear, wherein the front side includes the left front and the right front, the side includes the left side and the right side, and the rear side includes the left rear and the right rear. Figure 2 In the description, only eight first sensors C1 facing the front, the side front, the side and the side rear are taken as an example.

[0047] It should be noted that the front of the vehicle refers to a direction parallel or almost parallel to the axis of the vehicle or the forward direction (the direction when the vehicle is moving straight forward), the side front of the vehicle refers to a direction forming an acute angle with the axis of the vehicle or the forward direction, the left front of the vehicle refers to a direction located on the left side of the vehicle and forming an acute angle with the axis of the vehicle or the forward direction, and the right front of the vehicle refers to a direction located on the right side of the vehicle and forming an acute angle with the axis of the vehicle or the forward direction. The side of the vehicle refers to a direction perpendicular or almost perpendicular to the axis of the vehicle or the forward direction, the side rear of the vehicle refers to a direction forming an obtuse angle with the axis of the vehicle or the forward direction, and the rear of the vehicle refers to a direction parallel or almost parallel to the axis of the vehicle and opposite to the forward direction of the vehicle.

[0048] It should also be noted that Figure 2 The vehicle 100 is described by taking a tractor (e.g., a tractor of a truck) as an example, wherein at least some sensors are arranged outside the front of the truck (or the cab). However, it is not limited thereto, and those skilled in the art can understand that the present application is not limited to a tractor, and in some embodiments, the tractor can also be connected to a box, a trailer, a semitrailer, or a hanging board.

[0049] like Figure 2 As shown, there is a first blind area between the field of view areas SN1 (light-colored fan-shaped areas in the figure) of multiple first sensors C1, for example, there are first blind areas M1, M2 and M3. The first blind area refers to the area that cannot be covered between the field of view areas SN1 of adjacent first sensors C1, or in other words, the first blind area refers to the gap between the field of view areas SN1 of adjacent first sensors C1. The first blind area includes at least one of the following: an area that cannot be covered between the horizontal field of view areas of multiple first sensors C1, and an area that cannot be covered between the vertical field of view areas of multiple first sensors C1.

[0050] like Figure 3 As shown, Figure 3 A schematic diagram of a vehicle 100 and a plurality of first sensors C1 and a plurality of second sensors C2 is shown, wherein the field of view areas SN2 of the plurality of second sensors C2 (the dark sector area in the figure) at least cover the first blind area, for example, the field of view areas SN2 of the plurality of second sensors C2 at least cover all of the first blind areas M1, M2 and M3. The field of view area SN2 of a second sensor C2 may cover one or more first blind areas, and the field of view areas SN2 of the plurality of second sensors C2 may only cover all of the first blind areas, or may overlap with the field of view areas SN1 of the plurality of first sensors C1 while covering all of the first blind areas. Figure 3 In the description, only eight first sensors C1 facing the front, the side front, the side and the side rear and three second sensors C2 are taken as examples.

[0051] Based on this, by arranging multiple first sensors C1 on the vehicle 100, the multiple first sensors C1 can sense environmental information in all directions around the vehicle 100, and by arranging multiple second sensors C2 on the vehicle 100, the multiple second sensors C2 can at least sense environmental information within the first blind spot between the field of view areas of the multiple first sensors C1, thereby eliminating the blind spots around the vehicle 100. In other words, the same type of sensors can be used to minimize the blind spots around the vehicle 100, thereby ensuring the reliability of the driving of the vehicle 100.

[0052] Furthermore, the field of view of the second sensor C2 is greater than that of the first sensor C1, so that the first blind spots between the field of view areas of the plurality of first sensors C1 can be more comprehensively covered by the second sensor C2, and the blind spots around the vehicle 100 can be minimized by using fewer second sensors C2, thereby meeting the limited power supply of the vehicle 100. According to some embodiments, the horizontal field of view of the second sensor is 200°, and the vertical field of view is 169°; the horizontal field of view of the first sensor is 70°, and the vertical field of view is 39.2°, but the present invention is not limited thereto.

[0053] The maximum sensing distance of the second sensor C2 is smaller than the maximum sensing distance of the first sensor C1, so that while the second sensor C2 covers the first blind spot, the second sensor C2 and the first sensor C1 can sense environmental information at different distances around the vehicle 100, thereby ensuring the reliability of the vehicle 100's environmental perception. According to some embodiments, the maximum sensing distance of the first sensor is 250m, and the maximum sensing distance of the second sensor is 20m.

[0054] Understandably, Figure 2 and Figure 3 Only the horizontal field of view areas of the multiple first sensors C1 and the multiple second sensors C2 are shown in the figure, but the present application is not limited thereto, that is, the field of view areas of the multiple second sensors C2 not only cover the first blind area between the horizontal field of view areas of the multiple first sensors C1, but also cover all or part of the first blind area between the vertical field of view areas of the multiple first sensors C1. For example, the horizontal field of view areas of the multiple second sensors C2 cover the first blind area between the horizontal field of view areas of the multiple first sensors C1, and the vertical field of view areas of the multiple second sensors C2 cover all or part of the first blind area between the vertical field of view areas of the multiple first sensors C1.

[0055] In some embodiments, the sensor system 144 further includes a plurality of third sensors. The third sensor is a first type sensor, that is, the third sensor is the same type of sensor as the second sensor C2 and the first sensor C1. The third sensor is configured to reliably sense environmental information at a longer distance in the environment surrounding the vehicle 100 under various driving environments.

[0056] like Figure 4 As shown, Figure 4 A schematic diagram of a vehicle 100 and a field of view of a plurality of first sensors C1, a plurality of second sensors C2, and a plurality of third sensors C3 is shown, wherein the plurality of third sensors C3 face the front of the vehicle 100, and the maximum sensing distance of the third sensors C3 is greater than the maximum sensing distance of the first sensors C1, so that the third sensors C3 can sense environmental information at a farther distance around the vehicle 100, further ensuring the reliability of the vehicle 100's environmental perception. According to some embodiments, the maximum sensing distance of the third sensor is 1000m.

[0057] In some embodiments, at least two identical sensors, such as the first sensor C1, face the same direction of the vehicle 100. Figure 5 As shown, Figure 5 A schematic diagram of a vehicle 100 and a field of view of a plurality of first sensors C1, a plurality of second sensors C2, and a plurality of third sensors C3 is shown, and there are at least two first sensors C1 facing the front, side front, side, and rear of the vehicle 100. Based on this, even if one of the first sensors C1 fails, there is another first sensor C1 to sense the environmental information in the same direction of the vehicle 100, so that the vehicle 100 will not lose the sense of the environmental information in a certain direction, and will not affect the reliability of the sense and driving of the vehicle 100.

[0058] Of course, in other embodiments, at least two second sensors C2 may be arranged facing the same direction of the vehicle 100. In other embodiments, at least two third sensors C3 may be arranged facing the same direction of the vehicle 100, which will not be elaborated here.

[0059] It is understandable that the direction in which the sensor faces the surroundings of the vehicle 100 in this application refers to the direction in which the image acquisition module such as the lens of the sensor faces, and is not the installation direction or installation position of the sensor. The sensor can collect environmental information in which direction the image acquisition module such as the lens of the sensor faces the vehicle 100. For example, the first sensor C1 installed at the rear side of the vehicle 100 can also collect environmental information in the front side of the vehicle 100, as long as the image acquisition module such as the lens of the first sensor C1 faces the front side of the vehicle 100.

[0060] In some embodiments, the first type of sensor may include a camera, which is used to collect environmental images and may be configured to detect objects, road conditions, traffic signs, traffic signals, weather conditions, and other information related to the trajectory of the vehicle. In some embodiments, the first sensor C1 may include a first camera, the second sensor C2 may include a second camera (such as a fisheye camera), and the third sensor C3 may include a third camera, the focal length of the third camera is greater than that of the first camera, that is, the first camera may be a short-focus camera, and the third camera may be a long-focus camera.

[0061] Among them, two cameras facing the same direction of the vehicle 100 can constitute a binocular camera to improve the ranging capability of the camera. For example, two short-focus cameras facing the front of the vehicle 100 can constitute a short-focus binocular camera, and two long-focus cameras facing the front of the vehicle 100 can constitute a long-focus binocular camera. The maximum perception distance of the long-focus binocular camera in front of the vehicle 100 is about 1000m, and the maximum perception distance of the short-focus binocular cameras in front, side, and rear of the vehicle 100 is about 250m.

[0062] Of course, the present application is not limited to this. In other embodiments, the first type of sensor may also include a laser radar, which is used to collect point cloud information of the vehicle's environment and can be configured to detect objects, road conditions, traffic signs, traffic signals, weather conditions, and other information related to the vehicle's trajectory. In some embodiments, the first sensor C1 may include a first laser radar, the second sensor C2 may include a second laser radar, and the third sensor C3 may include a third laser radar. The maximum perception distance of the third laser radar is greater than that of the first laser radar, and the maximum perception distance of the first laser radar is greater than that of the second laser radar. In other words, the first laser radar may be a medium-range laser radar, the second laser radar may be a short-range laser radar (also called a blind laser radar), and the third laser radar may be a long-range laser radar. Among them, the maximum perception distance of the first laser radar is about 200m, and the maximum perception distance of the second laser radar is about 500m.

[0063] In some embodiments, the sensor system 144 further includes a plurality of fourth sensors and a plurality of fifth sensors. The fifth sensor and the fourth sensor are both second type sensors, and the second type sensor is different from the first type sensor, or in other words, the fifth sensor and the fourth sensor are sensors of the same type, but the fifth sensor and the fourth sensor are different from the first sensor and the second sensor. The fourth sensor and the fifth sensor are configured to reliably sense environmental information in the environment surrounding the vehicle 100 in various driving environments.

[0064] like Figure 6 As shown, Figure 6A schematic diagram of a vehicle 100 and a field of view of a plurality of fourth sensors L1 is shown. The plurality of fourth sensors L1 may be respectively oriented toward a plurality of directions around the vehicle 100. The plurality of directions around the vehicle 100 include at least two of the front, the rear, the side front, the side rear, and the side. Figure 6 Only the front and the side front are used as examples for explanation. There are second blind areas between the field of view areas of the plurality of fourth sensors L2, such as the second blind areas M4 and M5.

[0065] like Figure 7 As shown, Figure 7 A schematic diagram of a vehicle 100 and a plurality of fourth sensors L1 and a plurality of fifth sensors L2 is shown, wherein the field of view S5 of the plurality of fifth sensors L2 at least covers all the second blind spots, for example, covers the second blind spots M4 and M5. Among them, the field of view of a fifth sensor L2 may cover one or more second blind spots. The field of view of the plurality of fifth sensors L2 may only cover all the second blind spots, or may overlap with the field of view of the plurality of fourth sensors L1 while covering all the second blind spots.

[0066] Based on this, not only can the blind spots around the vehicle 100 be eliminated through one type of multiple first sensors C1 and multiple second sensors C2, but also the blind spots around the vehicle 100 can be eliminated through another type of multiple fourth sensors L1 and multiple fifth sensors L2. Therefore, the environmental information around the vehicle 100 can be perceived through the fusion of multiple types of sensors, thereby further ensuring the reliability of the vehicle 100's environmental perception and driving reliability.

[0067] The field of view of the fifth sensor L2 is greater than that of the fourth sensor L1, so that not only can the second blind spot between the field of view areas of the plurality of fourth sensors L1 be more fully covered by the fifth sensor L2, but also a smaller number of fifth sensors L2 can be used to minimize the blind spots around the vehicle 100, thereby meeting the limited power supply on the vehicle 100. According to some embodiments, the horizontal field of view of the fifth sensor is 360°, and the vertical field of view is 105°; the horizontal field of view of the fourth sensor is 120°, and the vertical field of view is 25°, but it is certainly not limited thereto.

[0068] The maximum sensing distance of the fifth sensor L2 is less than the maximum sensing distance of the fourth sensor L1, so that while the second blind spot is covered by the fifth sensor L2, the fifth sensor L2 and the fourth sensor L1 can sense environmental information at different distances around the vehicle 100, thereby ensuring the reliability of the vehicle 100's environmental perception. According to some embodiments, the maximum sensing distance of the fifth sensor is 50m, and the maximum sensing distance of the fourth sensor is 200m.

[0069] same, Figure 6 and Figure 7 Only the horizontal field of view areas of multiple fourth sensors L1 and multiple fifth sensors L2 are shown, but the present application is not limited to this. That is, the field of view area of ​​the fifth sensor L2 not only covers the second blind area between the horizontal field of view areas of the multiple fourth sensors L1, but also covers the second blind area between the vertical field of view areas of the multiple fourth sensors L1.

[0070] In addition, the vehicle 100 is provided with a plurality of first sensors C1 and a plurality of second sensors C2, or a plurality of first sensors C1, a plurality of second sensors C2, and a plurality of third sensors C3, while the fourth sensor L1 and the fifth sensor L2 are provided. For example, the field of view of the plurality of fourth sensors L1 and the plurality of fifth sensors L2 is clearly shown. Figure 6 and Figure 7 Other sensors and their field of view areas are also shown in the figure, and the same applies to subsequent figures.

[0071] In some embodiments, the sensor system 144 further includes a plurality of sixth sensors. The sixth sensor is a second type sensor, that is, the sixth sensor is the same type of sensor as the fourth sensor L1 and the fifth sensor L2. The sixth sensor is configured to reliably sense environmental information at a longer distance in the environment surrounding the vehicle 100 under various driving environments.

[0072] like Figure 8 As shown, Figure 8 A schematic diagram of a vehicle 100 and a field of view of a plurality of fourth sensors L1, a plurality of fifth sensors L2, and a plurality of sixth sensors L3 is shown, wherein the plurality of sixth sensors L3 face at least one of the front, side, and rear of the vehicle 100, Figure 8 In the example, the sixth sensor L3 is directed to the front and rear of the vehicle 100, and the maximum sensing distance of the sixth sensor L3 is greater than the maximum sensing distance of the fourth sensor L1, so that the sixth sensor L3 can sense environmental information at a farther distance around the vehicle 100, further ensuring the reliability of the vehicle 100's environmental perception. According to some embodiments, the maximum sensing distance of the sixth sensor is 500m.

[0073] In some embodiments, at least two identical sensors, such as the fourth sensor L1, face the same direction of the vehicle 100. Fig. 9 As shown, Fig. 9A schematic diagram of a vehicle 100 and a plurality of fourth sensors L1, a plurality of fifth sensors L2, and a plurality of sixth sensors L3 is shown, and there are at least two fourth sensors L1 facing the front, side front, side, and rear of the vehicle 100. Based on this, even if one of the fourth sensors L1 fails, there is another fourth sensor L1 to sense the environmental information in the same direction of the vehicle 100, so that the vehicle 100 will not lose the perception of environmental information in a certain direction, nor will it affect the reliability of perception and driving of the vehicle 100.

[0074] Of course, in other embodiments, at least two fifth sensors L2 may be arranged facing the same direction of the vehicle 100. In other embodiments, at least two sixth sensors L3 may be arranged facing the same direction of the vehicle 100, which will not be elaborated here.

[0075] In some embodiments, the first type sensor may include a camera, the first sensor C1 may include a short-focus camera, the second sensor C2 may include a fisheye camera, the third sensor C3 may include a telephoto camera, the second type sensor includes a lidar, the fourth sensor L1 may include a medium-range lidar, the fifth sensor L2 may include a blind spot lidar or a short-range lidar, and the sixth sensor L3 may include a long-range lidar.

[0076] Of course, the present application is not limited to this. In other embodiments, the first type of sensor may also include a lidar, the first sensor C1 may include a medium-range lidar, the second sensor C2 may include a blind spot lidar, the third sensor C3 may include a long-range lidar, the second type of sensor includes a camera, the fourth sensor L1 may include a short-focus camera, the fifth sensor L2 may include a fisheye camera, and the sixth sensor L3 may include a telephoto camera.

[0077] In some embodiments, the sensor system 144 further includes a plurality of seventh sensors. The seventh sensor is a third type sensor, which is different from the second type sensor and the first type sensor, that is, the seventh sensor is different from the fourth sensor and the first sensor. The seventh sensor is configured to reliably sense environmental information at a longer distance in the environment surrounding the vehicle 100 under various driving environments.

[0078] like Fig.10 As shown, Fig.10 A schematic diagram of a vehicle 100 and a field of view of a plurality of seventh sensors L4 is shown, wherein the plurality of seventh sensors L4 are respectively oriented toward a plurality of directions of the vehicle 100, and the plurality of directions around the vehicle 100 include at least two of the front, the rear, the side front, the side rear, and the side. Fig. 9The seventh sensor L4 can be installed in the front of the vehicle, such as below the vehicle license plate, and can also be installed above the C-pillars on the left and right sides of the vehicle, but is certainly not limited thereto.

[0079] In some embodiments, the third type of sensor includes a millimeter wave radar, which can be configured to detect objects, road conditions, traffic signs, traffic signals, weather conditions, and other information related to the trajectory of the vehicle. In some embodiments, the seventh sensor L4 includes a 4D millimeter wave radar, which can provide not only information such as speed, azimuth, and distance, but also height information of obstacles, etc., compared to ordinary millimeter wave radars, thereby further improving the environmental information perception capability of the vehicle 100. According to some embodiments, the maximum perception distance of the seventh sensor is 350m.

[0080] According to the camera layout scheme of the present application, the images of the first sensors C1 overlap with each other, and the overlapping area is as uniform as possible. The images of the first sensors C1 on the left front and the right front do not overlap, so that different types of cameras complement each other and eliminate blind spots.

[0081] The LiDAR layout plan comprehensively considers long-range LiDAR, medium-range LiDAR, and blind spot LiDAR to ensure that there are at least two LiDAR point cloud coverage in any direction around the vehicle, and only long-range LiDAR coverage in the far rear and side areas. However, 4D millimeter-wave radar (4DRadar) can be used for supplementation. That is, there is point cloud data coverage from two sensors, and at the same time, different types of LiDARs complement each other to eliminate blind spots.

[0082] In addition, the present application can first determine the layout of the second sensor C2, and then determine the horizontal blind spot and / or vertical blind spot of the first sensor C1 according to at least one of the field of view angle, installation position, pitch angle and yaw angle of the first sensor C1, and determine the layout of the second sensor C2 and the third sensor C3 according to the calculated horizontal blind spots and vertical blind spots. For example, the vertical blind spot of the first sensor C1 is determined according to its vertical field of view angle VFOA, installation height h and pitch angle. For example, the height h of the forward-facing short-focus camera is about 3.8m, the pitch angle is 10°, and the VFOA is 39.3°, then the forward vertical blind spot = h / tan(VFOA / 2+pitch angle)°=6.7m, and it can be considered that the horizontal blind spot is outside the horizontal field of view area, so it is necessary to ensure that the field of view of the second sensor C2 and the third sensor C3 covers both the vertical blind spot and the horizontal blind spot.

[0083] Of course, in other embodiments, the sensor system 144 may also include ultrasonic radars, antennas, integrated navigation units, inertial measurement units and other types of sensors, which will not be described in detail here.

[0084] In some embodiments, the sensors in the sensor system 144 can be coupled or secured to the vehicle by nails, screws, tape, adhesive, welding, soldering, bolts, or similar materials. In other embodiments, the sensors can be coupled or secured to a luggage rack or bracket along the top or bottom of the vehicle. The sensors can be coupled or secured to the top, side, front, or rear of the vehicle. The sensors can be attached or secured to the front grille, fender, or reflector of the vehicle. The sensors can be coupled or secured to any exterior portion of the vehicle.

[0085] In some embodiments, the sensor system 144 further includes a bracket and / or a mounting box for mounting each sensor, and the bracket or mounting box can be used to mount sensors of the same type or sensors of different types. The bracket can include a first integrated bracket and a second integrated bracket.

[0086] like Fig.11 and Fig.12 As shown, Fig.11 FIG. 1 shows a schematic diagram of a vehicle 100 and its sensor system viewed from above. Fig.12 A schematic diagram of the structure of a mounting box of a sensor system 144 is shown, wherein the mounting box 1001 is used to be installed at the front side, side or rear side of a vehicle, for example, above the doors on both sides of the vehicle, and further can be installed above the doors on both sides of the front of the vehicle. A vehicle can be provided with two mounting boxes, which are respectively installed above the doors on the left and right sides, and are symmetrically distributed. The mounting box 1001 is used to install a plurality of first-type sensors, and to ensure that there is no blind spot between the field of view areas of the plurality of first-type sensors. For example, it is used to install at least three first-type sensors, and the first-type sensors can be cameras, and further, the first-type sensors can be short-focus cameras. Among them, the three first-type sensors can be respectively facing the front side, side and rear side of the vehicle, which not only facilitates the installation of a plurality of first-type sensors, but also saves installation space and reduces installation costs.

[0087] refer to Figure 5 At least three first-type sensors that are adjacently arranged and respectively face the left front, left side, and left rear of the vehicle 100 can be installed in one installation box 1001, and at least three first-type sensors that are adjacently arranged and respectively face the right front, right side, and right rear of the vehicle 100 can be installed in another installation box 1001.

[0088] like Fig.12As shown, the installation box 1001 includes a base 1001a and a mounting shell 1001b. The installation box 1001 is installed on the vehicle through the base 1001a and screws, etc. The mounting shell 1001b is fixedly connected to the base. The mounting shell 100b and the base 1001a can be two independent structures or can be integrally formed, and this application does not limit this. The interior of the mounting shell 1001b is provided with a plurality of mounting grooves (not shown in the figure), each of which is used to fix and install a first type sensor, and the first type sensor can be fixed on the mounting groove through a bottom plate. The mounting shell 1001b is an arc-shaped structure or an approximately fan-shaped structure, or in other words, the mounting surface 1001c (also referred to as a light-transmitting surface or an exposed surface of the sensor) of the mounting shell 1001b is an arc-shaped surface, and the arc-shaped surface or the mounting surface 1001c has an opening corresponding to each first type sensor to expose each first type sensor, and to make the plurality of first type sensors face different directions of the vehicle respectively to collect environmental information in different directions around the vehicle.

[0089] In addition, each opening may be provided with a rain eyebrow 1001d to prevent rain, snow or other dirty objects from entering the opening and contaminating the camera, thus affecting signal acquisition. Moreover, the mounting shell 1001b may also be provided with one or more nozzle openings, which are used to pass the nozzle 1006, and the nozzle 1006 is used to provide a cleaning function for the first type of sensor. It should be understood that a nozzle 1006 may be provided for each first type of sensor, such as providing a nozzle 1006 below the first type of sensor. However, in order to save equipment costs and reduce structural complexity, considering that the first type of sensor facing the front of the vehicle is most susceptible to contamination during the movement of the vehicle, the nozzle 1006 may be provided only for the first type of sensor facing the front of the vehicle.

[0090] In some embodiments, Fig.11 and Fig.13 As shown, Fig.13 A structural schematic diagram of a first integrated bracket of a sensor system 144 is shown, wherein the first integrated bracket 1002 is used to install a first type of sensor and a second type of sensor, wherein the first type of sensor and the second type of sensor are a camera sensor and a lidar sensor, respectively. For example, the first integrated bracket 1002 is used to install a second sensor C2 such as a fisheye camera and a fifth sensor L2 such as a blind spot lidar. The first integrated bracket 1002 is used to be installed in front of a vehicle, so that two different types of sensors can be integrated on the same bracket, which can further save installation space and reduce installation costs.

[0091] like Fig.11 and Fig.13As shown, the first integrated bracket 1002 can be installed in front of the vehicle by means of a support plate and screws, for example, it can be installed on the front grille or fender in front of the vehicle, so that the second sensor C2 such as a fisheye camera and the fifth sensor L2 such as a blind spot laser radar can fill the blind spot in front of the vehicle. Of course, the present invention is not limited to this, and in other embodiments, it can also be installed in other positions of the vehicle, which will not be repeated here.

[0092] The first integrated bracket 1002 includes a base 1002a, a bending piece 1002b, a first fixing frame 1002c and a second fixing frame 1002d. The base 1002a is used to be installed on the vehicle body, the bending piece 1002b is used to be installed on the base 1002a, two planes of the bending piece 1002b form an obtuse angle, the first plane of the two planes is fixed on the base 1002a, and the second plane is used to fix the first fixing frame 1002c. The base 1002a and the bending piece 1002b can be two independent components or can be integrally formed, which is not limited in the present application. The first fixing frame 1002c is used to be installed on the bending piece 1002b to fix the second type of sensor. The second fixing frame 1002d is used to be installed on the bending piece 1002c to fix the first type of sensor. The first type of sensor can be installed on the top surface of the second fixing bracket 1002d.

[0093] In some embodiments, Fig.11 , Fig.14 and Fig.15 As shown, Fig.14 A schematic diagram of the structure of one side of a second integrated bracket of a sensor system 144 is shown. Fig.15 A schematic diagram of the structure of the other side of a second integrated bracket of a vehicle is shown, and the second integrated bracket 1003 is used to install a first type of sensor, a second type of sensor, and a third type of sensor. The first type of sensor, the second type of sensor, and the third type of sensor are camera sensors, laser radar sensors, and millimeter wave radar sensors, respectively. For example, the second integrated bracket 1003 is used to install a first sensor C1 such as a short-focus camera, a sixth sensor L3 such as a long-range laser radar, a fifth sensor L2 such as a blind laser radar, and a seventh sensor L4 such as a 4D millimeter wave radar. The second integrated bracket 1003 can be installed on the rear side of the vehicle, so that three different types of sensors can be integrated on the same bracket, which can further save installation space and reduce installation costs. According to some embodiments, the second integrated bracket 1003 can be installed above the C-pillars on both sides of the front of the vehicle, and can further be installed near the junction of the roof surface and the side of the vehicle and above the C-pillar.

[0094] The second integrated bracket 1003 includes a fixing seat 1003a for fixing on the vehicle body, a first support frame 1003b for fixing the first type sensor, a second support frame 1003c for fixing the second type sensor, and a third support frame 1003d for fixing the third type sensor.

[0095] The fixing seat 1003a includes a first fixing plate 1003a1, a second fixing plate 1003a2 and a third fixing plate 1003a3, wherein the second fixing plate 1003a2 is arranged perpendicularly to the first fixing plate 1003a1, and the third fixing plate 1003a3 is arranged perpendicularly to the second fixing plate 1003a2 and the first fixing plate 1003a1, so that the fixing seat 1003a is an approximately "T"-shaped structure, or an approximately "T"-shaped structure assembled from two L-shaped structures. The fixing seat 1003a matches the curvature change of the vehicle body so as to be installed on the vehicle body in a shape-dependent manner. Optionally, the bottom area of ​​the fixing seat 1003a is fixed to the side of the vehicle through a bottom plate 1003e.

[0096] The first fixing plate 1003a1 is fixed on the vehicle body, and the first fixing plate 1003a1 is used to install the second type of sensor. Specifically, the first end of the first fixing plate 1003a1 is fixed to the roof through the mounting hole provided on the vehicle body, and the second end has a mounting hole for installing the second type of sensor (such as the sixth sensor L3). The second type of sensor can be packaged as a sensor assembly, and the assembly includes a bottom plate, and the second type of sensor is fixed to the horizontal platform through the bottom plate.

[0097] The third fixing plate 1003a3 is used to install the third type of sensor (such as the seventh sensor L4). The third type of sensor can also be fixed on the third fixing plate 1003a3 through the third support frame 1003d. The third support frame 1003d can be a bottom plate, and the third type of sensor is fixed on the bottom plate, and the bottom plate is fixed on the third fixing plate 1003a3. The third fixing plate 1003a3 can be a hollow structure, that is, the middle area not used for installing the structural member is a hollow structure, so as to reduce the weight of the second integrated bracket 1003.

[0098] The first type of sensor is clamped and fixed between the first fixing plate 1003a1 and the second fixing plate 1003a2. The first type of sensor can be clamped and fixed to the first fixing plate 1003a1 and the second fixing plate 1003a2 by the first support frame 1003b. The first support frame 1003b is a fan-shaped structure. The first support frame 1003b includes a plurality of mounting slots for first type sensors (such as the first sensor C1), and each mounting slot is used to install a first type of sensor. The first support frame 1003b also includes a camera bracket for a single camera, which is used to fix the camera and provide a cleaning function for the camera. Its specific structure will be described in detail later.

[0099] The second fixing plate 1003a2 is used to mount another second-type sensor (such as the fifth sensor L2). The second fixing plate 1003a2 has a rectangular frame structure, that is, it only has an outer contour frame and a hollow structure in the middle part to reduce the weight of the second integrated bracket 1003. The second-type sensor can be mounted on the second fixing plate 1003a2 through a second support bracket 1003c, and the second support bracket 1003c has an approximate "Ji" (Chinese character for "several") shape structure, and the mounting surface for fixing the second-type sensor is an inclined surface.

[0100] In some embodiments, such as Fig.16 and Fig.17 shown, Fig.16 shows a schematic diagram of one side structure of the camera bracket in the first integrated bracket or the second integrated bracket, Fig.17 shows a schematic diagram of the other side structure of the camera bracket in the first integrated bracket or the second integrated bracket. The sensor system 144 may include a camera bracket 1004. At least one of the first integrated bracket 1002 and the second integrated bracket 1003 includes a camera bracket 1004. The first-type sensor includes a camera-type sensor, and the camera-type sensor can be mounted on the camera bracket 1004, and the camera bracket 1004 can drive the camera-type sensor to rotate.

[0101] In some embodiments, such as Fig.16 shown, the camera bracket 1004 includes a support base 1004a and a rotating frame 1004b rotatably fixed to the support base 1004a. The support base 1004a has an approximate "U" shape structure. The support base 1004a includes a bottom plate, two first side plates located on the first side (such as the upper side) of the bottom plate and perpendicular to the bottom plate, and two second side plates located on the second side (such as the lower side) of the bottom plate and perpendicular to the bottom plate. The two first side plates are used to mount the rotating frame 1004b, and the two second side plates are used to clamp on the base frame. The base frame includes a structural beam on the vehicle body.

[0102] The rotating frame 1004b also has an approximate inverted "U" structure, which has a top plate and two side walls (which can be called the third side plates). The top plate has mounting holes for facilitating the installation of sensors. The rotating frame 1004b is inversely mounted on the top of the support base 1004a through a first shaft body 1004c, so that the rotating frame 1004b can rotate around the first shaft body 1004c. Moreover, the camera is fixed on the rotating frame 1004b, and when the rotating frame 1004b rotates around the first shaft body 1004c on the support base 1004a, it can drive the camera to rotate.

[0103] In some embodiments, the side wall of the support base 1004a has a first screw hole, and the first shaft 1004c includes a bolt shaft passing through the first screw hole. The side wall of the rotating frame 1004b has a second screw hole, and the second shaft 1004d includes a bolt shaft passing through the second screw hole. Optionally, the first shaft is a shaft that passes through the two first side plates of the support base 1004a; or each of the two first side plates of the support base 1004a is provided with a first shaft.

[0104] In some embodiments, Fig.17 As shown, the camera bracket 1004 has a nozzle bracket 1005, and the nozzle bracket 1005 is installed on the rotating frame 1004b through the second shaft 1004d. The nozzle bracket 1005 is used to install the nozzle 1006 and drive the nozzle 1006 to rotate around the second shaft 1004d. The nozzle 1006 is used to clean the camera, specifically, to spray a cleaning medium onto the lens of the camera. Fig.12 The inverted cone portion 1007 above the middle nozzle is only used to indicate the flow path of the cleaning medium and is not an actual structure. The cleaning medium may include but is not limited to water, windshield washer fluid, gas, etc. The orientation of the nozzle 1006 is designed to enable the cleaning medium to be sprayed obliquely upward toward the camera lens. It should be noted that since the camera lens is easily covered by dirt such as mud and water on the road, the nozzle 1006 is provided on the camera bracket 1004 to clean the camera lens to ensure that the camera can clearly and accurately perceive environmental information.

[0105] In addition, a nut corresponding to the first screw hole is welded on the side wall of the rotating frame 1004b, and a thread corresponding to the second screw hole is arranged inside the nozzle bracket. Optionally, the second shaft 1004d is an shaft that runs through the two side walls of the rotating frame 1004b; or a second shaft 1004d is arranged on each side wall of the rotating frame 1004b.

[0106] In addition, the rotating frame 1004b can rotate around the first axis 1004c, and the nozzle support 1005 can rotate around the second axis 1004d, and the second axis 1004d is arranged in parallel with the first axis 1004c, so that the dual rotation adjustment of the nozzle 1006 and the camera is realized, so that the angle of the camera can be adjusted as needed, and the angle of the nozzle 1006 can be adjusted according to the camera angle to ensure the cleaning effect of the camera. The nozzle support 1005 includes a first stopper 1005a and a second stopper, and the first end of the first stopper 1005a has a first opening, and the first opening is used to expose the first end (and the liquid outlet end) of the nozzle. The second stopper 1005b is fixedly connected to the second end of the first stopper 1005a, and is used to fix the first stopper 1005a and the nozzle 1006, and the second stopper 1005b has a second opening, and the second opening is used to expose the second end of the nozzle 1006, and the shape of the second opening matches the shape of the second end of the nozzle 1006. In this way, the liquid outlet end of the nozzle 1006 extends from the first opening, and the other end extends from the second opening.

[0107] Optionally, the first stopper 1005a is, for example, a shell covering the first end of the nozzle 1006, and the second stopper 1005b is, for example, a bottom plate. The nozzle 1006 has a protrusion, and the first stopper 1005a and the second stopper 1005b clamp the protrusion from both sides. The first stopper 1005a and the second stopper 1005b are also fixedly connected by fixing members such as bolts, so that a fixed connection relationship between the nozzle and the nozzle bracket can be achieved.

[0108] It is understandable that the camera bracket 1004 can be used in combination with other components, such as Fig.12 As shown, the camera bracket 1004 can be used in combination with the mounting box 1001, such as Fig.15 As shown, the camera bracket 1004 can also be used in combination with the second integrated bracket 1003, which will not be described in detail here.

[0109] In some embodiments, Fig.11 As shown, two first sensors C1 (such as short-focus cameras) are installed on the roof bracket 101 on the top of the vehicle and are respectively located on both sides of the central axis of the vehicle. The two first sensors C1 face the front of the vehicle. A second sensor C2 (such as a fisheye camera) is installed in front of the vehicle through a first integrated bracket 1002. The first integrated bracket 1002 is located on or near the central axis of the vehicle. The second sensor C2 is used to supplement the first blind spot between the two first sensors C1.

[0110] Two installation boxes 1001 are installed at the front left side and the front right side of the vehicle. Three first sensors C1 are installed in each installation box 1001. The three first sensors C1 face the front side, the side and the rear side of the vehicle respectively. Two second sensors C2 are installed at the front left side and the front right side of the vehicle respectively, and each installation box 1001 is arranged adjacent to a second sensor C2 so that the second sensor C2 complements the first blind spot between the first sensor C1 in the installation box 1001 and the first sensor C1 on the roof bracket 101.

[0111] Two second integrated brackets 1003 are installed at the rear left and right sides of the vehicle, and each second integrated bracket 1003 is installed with three first sensors C1, which are respectively facing the front side, side and rear side of the vehicle. Two third sensors C3 are installed on the roof bracket 101 and are respectively located on the left and right sides of the vehicle, and the two third sensors C3 are both facing the front of the vehicle.

[0112] Three fourth sensors L1 (such as medium-range laser radars) are installed on the roof bracket 101, of which two fourth sensors L1 are respectively located on the left and right sides of the vehicle, and the two fourth sensors L1 are respectively facing the left front and right front of the vehicle, and another fourth sensor L1 is located near the central axis of the vehicle and faces the front of the vehicle. A fifth sensor L2 (such as a blind spot laser radar) is installed in front of the vehicle through the above-mentioned first integrated bracket 1002, and the fifth sensor L2 is used to supplement the second blind spot between the fourth sensors L1. Two fifth sensors L2, two sixth sensors L3 (such as long-range laser radars) and two seventh sensors L4 (such as 4D millimeter wave radars) are respectively installed on the left rear and right rear of the vehicle through the above-mentioned two second integrated brackets 1003.

[0113] In some embodiments of the present application, a vehicle is disclosed, which includes a sensor system as disclosed in any of the above embodiments. The vehicle can be a tractor (such as a tractor of a truck), or other vehicles such as a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, and a lawn mower.

[0114] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The above embodiments only express several implementation methods of this specification, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the disclosed patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of this specification, which all belong to the protection scope of this specification. Therefore, the protection scope of the patent of this specification shall be based on the attached claims.

Claims

1. A sensor system for a vehicle, characterized in that: include: a plurality of first sensors; A plurality of second sensors; the second sensors and the first sensors are both first type sensors; The maximum sensing distance of the second sensor is smaller than the maximum sensing distance of the first sensor; the field of view of the second sensor is larger than the field of view of the first sensor; The multiple first sensors are respectively oriented towards multiple directions around the vehicle; there is a first blind area between the field of view areas of the multiple first sensors, and the field of view areas of the multiple second sensors at least cover the first blind area.

2. The sensor system according to claim 1, characterized in that Also includes: A plurality of third sensors; the plurality of third sensors are oriented toward the front of the vehicle; The third sensor is the first type sensor; The maximum sensing distance of the third sensor is greater than the maximum sensing distance of the first sensor.

3. The sensor system according to claim 1, characterized in that The first type of sensor includes a camera and the second sensor includes a fisheye camera.

4. The sensor system according to claim 1, characterized in that Also includes: a plurality of fourth sensors; A plurality of fifth sensors; the fifth sensor and the fourth sensor are both second type sensors; the maximum sensing distance of the fifth sensor is smaller than the maximum sensing distance of the fourth sensor; the field of view of the fifth sensor is larger than the field of view of the fourth sensor; The plurality of fourth sensors are respectively oriented toward a plurality of directions around the vehicle; a second blind area is provided between the field of view areas of the plurality of fourth sensors, and the field of view areas of the plurality of fifth sensors at least cover the second blind area.

5. The sensor system according to claim 4, characterized in that Also includes: A plurality of sixth sensors; the sixth sensors are oriented toward at least one of the front, side, and rear side of the vehicle; The sixth sensor is the second type sensor, and the second type sensor is different from the first type sensor in type; the maximum sensing distance of the sixth sensor is greater than the maximum sensing distance of the fourth sensor.

6. The sensor system according to claim 1 or 4, characterized in that Also includes: A plurality of seventh sensors; the plurality of seventh sensors are respectively oriented towards a plurality of directions of the vehicle; The seventh sensor is a third type sensor, and the third type sensor is different from the first type sensor or the second type sensor.

7. The sensor system according to claim 6, characterized in that The third type sensor includes a millimeter wave radar, and the seventh sensor includes a 4D millimeter wave radar.

8. The sensor system according to claim 1, characterized in that At least two identical sensors face the same direction of the vehicle.

9. The sensor system according to claim 1 or 4, characterized in that The plurality of directions around the vehicle include at least two of the front, rear, side rear, side front, and side of the vehicle.

10. The sensor system according to claim 1, characterized in that Also includes: A mounting box for mounting a plurality of first type sensors, wherein the mounting box comprises mounting grooves corresponding to each sensor respectively, and the light-transmitting surface of the mounting box is an arc-shaped surface.

11. The sensor system according to claim 10, characterized in that The multiple first type sensors include at least three first type sensors, and the three first type sensors are facing the front side, the side and the rear side of the vehicle. The installation box also includes a first nozzle, and the first nozzle is used to provide a cleaning function for the first type sensor facing the front side of the vehicle.

12. The sensor system according to claim 4, characterized in that Also includes: a first integrated bracket for mounting a first type of sensor and a second type of sensor; The first integrated bracket is used for installation in the front of the vehicle.

13. The sensor system according to claim 6, characterized in that Also includes: a second integrated bracket for mounting the first type of sensor, the second type of sensor, and the third type of sensor; The second integrated bracket is used for installation at the rear side of the vehicle.

14. The sensor system according to claim 13, characterized in that The second integrated bracket includes a fixing seat, the fixing seat includes a first fixing plate, a second fixing plate and a third fixing plate, the second fixing plate is vertically arranged with the first fixing plate, and the third fixing plate is vertically arranged with the first fixing plate and the second fixing plate; The first fixing plate is used to install one second type sensor, the second fixing plate is used to install another second type sensor, the third fixing plate is used to install the third type sensor, and a plurality of first type sensors are clamped and fixed between the first fixing plate and the second fixing plate.

15. The sensor system according to claim 14, characterized in that The second integrated bracket also includes a first support bracket, a second support bracket and a third support bracket; The first support frame is used to install the first type of sensor between the first fixing plate and the second fixing plate; the second support frame is used to install the second type of sensor on the first fixing plate or the second fixing plate; The third support frame is used to mount the third accumulation sensor on the third fixing plate.

16. The sensor system according to claim 1, characterized in that The first type of sensor includes a camera, and the sensor system further includes: A camera bracket is used for installing the first type of sensor, and the camera bracket can drive the first type of sensor to rotate.

17. The sensor system according to claim 16, characterized in that The camera bracket includes a nozzle bracket, the nozzle bracket is used to fix a second nozzle, the second nozzle is used to provide a cleaning function for the lens of the first type sensor, and the nozzle bracket can drive the nozzle to rotate.

18. The sensor system according to claim 17, characterized in that The camera bracket further comprises a support seat and a rotating frame, the camera is fixed on the rotating frame, the rotating frame is installed on the support seat through a first shaft, and the rotating frame is used to drive the camera to rotate around the first shaft; The nozzle bracket is installed on the rotating frame through a second shaft body. The nozzle bracket is used to drive the nozzle to rotate around the second shaft body. The second shaft body is arranged parallel to the first shaft body.

19. A vehicle comprising the sensor system according to any one of claims 1-18.

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