Modular sensor device for a vehicle

Abstract

Disclosed is a modular sensor device for a vehicle, having a structure in which a camera, a RADAR sensor, and a LIDAR sensor for autonomous travel of the vehicle are modularized into a single unit to be installed at a desired position on a vehicle body. The device is capable of self-repairing using heating of an electric heating wire when a surface of a protector is damaged. Additionally, the device is capable of improving sensing accuracy through sensor leveling in which a sensing area of the RADAR sensor and / or the LIDAR sensor is automatically corrected in response to a change in behavior of the vehicle body.

Description

Technical Field

[0001] This invention relates to a modular sensor device for a vehicle. More specifically, this invention relates to such a modular sensor device for a vehicle, wherein multiple sensors for autonomous driving are modularized into a single unit and mounted at a desired location on the vehicle body. Background Technology

[0002] Sensors used for autonomous driving of vehicles, such as cameras, radio detection and ranging (RADAR) sensors, and light imaging detection and ranging (LIDAR) sensors, are installed at predetermined locations on the vehicle.

[0003] Overall control of autonomous driving or driving can be performed based on camera capture signals and detection signals from RADAR and LIDAR sensors, including controlling the vehicle's direction of travel, acceleration, and deceleration.

[0004] When RADAR and LIDAR sensors detect adjacent vehicles, obstacles, etc., and changes occur in vehicle behavior, such as changes in the left-right behavior due to vehicle turning, changes in the front-rear behavior due to sudden stopping or starting of the vehicle, and changes in the vertical behavior due to changes in the number of occupants and the weight of the load applied to the vehicle, the sensing range or area of ​​the RADAR and LIDAR sensors must be automatically corrected to improve the sensing accuracy of the RADAR and LIDAR sensors.

[0005] However, since the RADAR and LIDAR sensors are mounted in a fixed position on the vehicle, there is a problem that the sensing range or area of ​​the RADAR and LIDAR sensors cannot be corrected when the vehicle body behavior changes.

[0006] In addition, since the camera, RADAR sensor, and LIDAR sensor are each installed in different locations on the vehicle body, separate mounting structures must be manufactured to mount the camera, RADAR sensor, and LIDAR sensor on the vehicle body, which causes problems such as an increase in the number of parts and an increase in manufacturing costs.

[0007] Furthermore, as a protective cover, the protector is positioned in front of or outside (e.g., relative to the vehicle body) of the RADAR and LIDAR sensors mounted on the vehicle body. For example, during vehicle operation or driving, the protector may suffer surface damage due to breakage or abrasion caused by foreign objects such as stones or gravel impacting the protective cover. Surface damage to the protector may lead to malfunction of the RADAR and / or LIDAR sensors, or a reduction in the sensing accuracy of the RADAR and / or LIDAR sensors.

[0008] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this invention. Therefore, the background section may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0009] This invention addresses the aforementioned problems associated with the prior art. Various aspects of this invention aim to provide a modular sensor device for vehicles. This device has a structure in which a camera, RADAR sensor, and LIDAR sensor for autonomous driving of the vehicle are modularized into a single unit for mounting at a desired location on the vehicle body. The device is capable of self-repair by heating with a heating wire when the surface of the protector is damaged. Furthermore, the device can improve sensing accuracy through sensor leveling, in which the positions of the sensing areas of the RADAR and LIDAR sensors are automatically corrected in response to changes in vehicle body behavior.

[0010] According to one aspect, the present invention provides a modular sensor device for a vehicle, the device comprising: a protector mounted on the vehicle body; a camera configured to capture an image of the front of the vehicle and mounted on the upper part of the protector; a bracket mounted on the rear surface of the protector; at least two actuators mounted on the bracket; and at least two sensors, the at least two sensors engaging with a corresponding one of the at least two actuators and configured to tilt up and down or left and right by the actuation of the corresponding one of the at least two actuators.

[0011] In an embodiment, the actuator may include: a fixed housing mounted on the bracket; a tilting housing, the front surface portion of which engages with a corresponding one of at least two sensors, and the rear surface portion of which is obliquely contactable with the fixed housing; a first motor and a second motor mounted in a predetermined arrangement within the fixed housing; a first output gear and a second output gear, wherein the first output gear is connected to the output shaft of the first motor, and the second output gear is connected to the output shaft of the second motor; a first sector gear and a second sector gear, each of which has one end connected to the tilting housing; and a first transmission gear and a second transmission gear mounted within the fixed housing, wherein the first transmission gear is configured to transmit rotational power of the first output gear to the first sector gear, and the second transmission gear is configured to transmit rotational power of the second output gear to the second sector gear.

[0012] In another embodiment, the first motor and the second motor may be arranged perpendicularly to each other within the fixed housing, and the first output gear and the second output gear may also be arranged perpendicularly to each other.

[0013] In another embodiment, the first sector gear may have an arched shape that bends along a horizontal axis.

[0014] In another embodiment, a first fastening protrusion may be formed on the upper end of the first sector gear, and a first fastening hole may be formed in the inclined housing, wherein the first fastening protrusion is inserted into and fastened to the first fastening hole.

[0015] In another embodiment, the first transmission gear may include: a first pinion meshing with the first output gear; a second pinion meshing with the first sector gear; and a first rotating shaft configured to coaxially connect the first pinion to the second pinion and rotatably engage within the fixed housing.

[0016] In another embodiment, the second sector gear may have an arched shape that bends along a vertical axis.

[0017] In another embodiment, a second fastening protrusion may be formed on the upper end of the second sector gear, and a second fastening hole may be formed in the inclined housing, wherein the second fastening protrusion is inserted into and fastened to the second fastening hole.

[0018] In another embodiment, the second transmission gear may include: a first pinion meshing with the second output gear; a second pinion meshing with the second sector gear; and a second rotating shaft configured to coaxially connect the first pinion to the second pinion and rotatably engage within the fixed housing.

[0019] In another embodiment, a first mounting wing may be formed on the circumferential portion of the fixed housing and the first mounting wing may be mounted on the front surface portion of the bracket, and a second mounting wing may be formed on the circumferential portion of the inclined housing and the second mounting wing may be mounted on the rear surface portion of the respective sensors of at least two sensors.

[0020] In another embodiment, one of the at least two sensors may be a radio detection and ranging (RADAR) sensor or an optical imaging detection and ranging (LIDAR) sensor.

[0021] In another embodiment, the protector may include: a substrate made of a plastic material; a protective cover made of a polyurethane material attached to the outer surface of the substrate; and a heating wire attached to the inner surface of the substrate.

[0022] In another embodiment, the protective cover can be injection molded using a polyurethane material with a hardness of 75 and a thickness in the range of 0.5-1.0 mm.

[0023] According to another aspect, a modular sensor device for a vehicle includes: a protector mounted on the vehicle body; a camera mounted on the protector; a bracket mounted on the rear surface of the protector; an actuator mounted on the bracket; and a sensor engaged with the actuator and configured to tilt up and down or left and right by the actuation of the actuator.

[0024] In one or more embodiments, the actuator may include: a fixed housing mounted on the bracket; and a tilting housing, the front surface portion of which engages with the sensor, and the rear surface portion of which is movably in contact with the fixed housing.

[0025] In one or more embodiments, the sensor may be a radio detection and ranging (RADAR) sensor or an optical imaging detection and ranging (LIDAR) sensor.

[0026] According to another aspect, a modular sensor device for a vehicle includes: a protector mounted on the vehicle body; a camera mounted on the protector; a bracket mounted on the rear surface of the protector; a first actuator mounted on the bracket; a first sensor engaged with the first actuator and configured to tilt up and down or left and right by the drive of the first actuator; a second actuator mounted on the bracket; and a second sensor engaged with the second actuator and configured to tilt up and down or left and right by the drive of the second actuator.

[0027] In one or more embodiments, both the first actuator and the second actuator include: a fixed housing engaged with the bracket; and an inclined housing movably engaged with the fixed housing.

[0028] In one or more embodiments, the first sensor may be a radio detection and ranging (RADAR) sensor, and the second sensor may be an optical imaging detection and ranging (LIDAR) sensor.

[0029] Other aspects and embodiments of the invention are discussed below.

[0030] It should be understood that the term "vehicle" or "of vehicles" or other similar terms as used herein generally includes motor vehicles, such as passenger cars including SUVs, buses, trucks, various commercial vehicles, ships including various boats and vessels, aircraft, etc. The term "vehicle" or "of vehicles" or other similar terms includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., vehicles derived from fuels other than petroleum). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as a vehicle powered by both gasoline and electricity.

[0031] The above and other features of the present invention are discussed below. Attached Figure Description

[0032] The above and other features of the invention are described in detail with reference to the various embodiments of the invention illustrated in the accompanying drawings. Hereinafter, the drawings are given by way of illustration only, and therefore the drawings do not limit the invention, and wherein:

[0033] Figure 1A and Figure 1B This is a perspective view showing a modular sensor device for a vehicle according to the present invention;

[0034] Figure 2 This is an exploded perspective view showing the actuator of the modular sensor device for a vehicle according to the present invention;

[0035] Figure 3 This is a perspective view showing the assembly of the actuator of the modular sensor device for a vehicle according to the present invention;

[0036] Figure 4 This is an exploded perspective view showing a protector for a modular sensor device for a vehicle according to the present invention;

[0037] Figure 5 This is a cross-sectional view showing a protector for a modular sensor device for a vehicle according to the present invention;

[0038] Figures 6 to 8 Each of these is a front view showing an example of a modular sensor device for a vehicle according to the invention mounted on a vehicle;

[0039] Figure 9 It is along Figure 6 The cross-sectional view intercepted by line AA;

[0040] Figure 10 It is along Figure 6 The cross-sectional view intercepted by line BB;

[0041] Figure 11 It is along Figure 6 The cross-sectional view intercepted by line CC; and

[0042] Figure 12 and Figure 13 This is a plan view illustrating various examples of sensor leveling operations for a modular sensor device for a vehicle according to the present invention.

[0043] It should be understood that the accompanying drawings are not necessarily drawn to scale, but rather present slightly simplified representations of various features illustrating the basic principles of the invention. Specific design features of the invention, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the particular intended application and environment of use.

[0044] Throughout these accompanying drawings, multiple figures are referenced by reference numerals that denote the same or equivalent parts of the invention. Detailed Implementation

[0045] Descriptions of specific structures or functions presented in embodiments of the invention are provided by way of example only for the purpose of explaining embodiments of the concepts according to the invention. Embodiments of the concepts according to the invention can be implemented in various forms. Furthermore, the description should not be construed as limiting to the embodiments described herein, and should be understood to include all modifications, equivalents, and substitutions falling within the spirit and scope of the invention.

[0046] In this specification, the terms "first," "second," etc., may be used to describe various components, but the components are not limited to these terms. These terms are only used to distinguish one component from another. For example, without departing from the scope of various embodiments of the invention, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

[0047] It should be understood that when a component is referred to as being "connected to" or "in contact with" another component, the component may be directly connected to or in contact with the other component, or there may be an intermediate component. Conversely, when a component is referred to as being "directly connected to" or "directly in contact with" another component, there is no intermediate component. Other terms used to describe the relationship between components should be interpreted in a similar manner (e.g., "between" versus "directly between", "adjacent" versus "directly adjacent", etc.).

[0048] Throughout this specification, the same reference numerals denote the same parts. The terminology used herein is for illustrative purposes and is not intended to limit the invention. In this specification, singular forms include plural forms unless otherwise stated. The terms “comprising” and / or “including” as used herein mean that the referenced parts, steps, operations, and / or elements do not exclude the presence or addition of one or more other parts, steps, operations, and / or elements. When a part, unit, controller, device, element, apparatus, etc., of the present invention is described as having a purpose or performing an operation, function, etc., the part, unit, controller, device, element, or apparatus shall be considered herein to be “configured to” satisfy that purpose or perform that operation or function. Each part, unit, controller, device, element, apparatus, etc., may be embodied individually or included together with a processor and memory (e.g., a non-transitory computer-readable medium) as part of an apparatus.

[0049] Various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0050] Figure 1A and Figure 1B This is a perspective view showing a modular sensor device for a vehicle according to the present invention. Figure 2 and Figure 3 An actuator for a modular sensor device for a vehicle according to the present invention is shown.

[0051] The modular sensor device 100 for vehicles according to the present invention can be configured as a modular component assembled into a single unit, wherein the modular component includes: a panel or protector 10 mounted on the vehicle body to protect the sensor; a camera 20 mounted on the upper, outer, front, or outer portion of the protector 10, capable of capturing a forward image; a bracket 30 mounted on the rear surface of the protector 10; at least two actuators 40 mounted on the bracket 30; and a sensor 50 engaged with the actuators 40 and configured to tilt up and down or left and right by the actuation of the actuators 40. For example, the camera 20 can be configured to capture an image of the area in front of the vehicle. The image may include objects in front of the vehicle.

[0052] The protector 10 is mounted on an outer surface portion of the vehicle body (e.g., around the bumper) and is used to protect the sensor 50, actuator 40, etc.

[0053] For this purpose, multiple clips 14 configured to engage the protector 10 to the vehicle body can be integrated on the edge or periphery of the protector 10, or integrated along the edge or periphery of the protector 10.

[0054] Camera 20 is configured to photograph the vehicle's surroundings. Camera 20 is mounted in a mounting hole formed in the upper, outer, front, or outer part of the protector 10 and is arranged to photograph or capture images in the forward direction.

[0055] The bracket 30 includes: a lower plate 31 configured to protect the lower part of the sensor 50 by blocking foreign objects moving from or entering the ground (e.g., the vehicle's underframe) while the vehicle is in motion; and an upper plate 32 configured to mount the actuator 40 on the bracket 30. The upper plate 32 may be arranged to extend upward from the rear end of the lower plate 31.

[0056] The sensor 50 coupled to the actuator 40 may be a radio detection and ranging (RADAR) sensor 51 configured to detect the distance and speed of adjacent vehicles by emitting radio waves, or an optical imaging detection and ranging (LIDAR) sensor 52 configured to detect the distance to adjacent vehicles and obstacles by emitting lasers.

[0057] Therefore, actuator 40 may include a first actuator 40-1 configured to tilt the RADAR 51 up and down or left and right, and a second actuator 40-2 configured to tilt the LIDAR 52 up and down or left and right. The first actuator 40-1 and the second actuator 40-2 may be identical in shape and structure.

[0058] The actuator 40 is a drive device that enables the sensor 50 to tilt up and down or left and right at a predetermined angle, and includes a fixed housing 41 mounted on the bracket 30 and an inclined housing 42 engaged with the sensor 50.

[0059] The fixed housing 41 has a structure with an opening in the forward direction and is mounted on the front surface portion of the bracket 30.

[0060] For this purpose, the first mounting fins 41-1 are integrated on opposite sides of the circumferential portion of the fixed housing 41. The first mounting fins 41-1 are mounted on the front surface portion of the bracket 30 using fasteners (e.g., screws, bolts, rivets, nails, etc.) so that the fixed housing 41 can be arranged to be fixed on the front surface portion of the bracket 30.

[0061] The inclined housing 42 has a structure with an opening in the rearward direction and is engaged with the rear surface portion of the sensor 50.

[0062] For this purpose, the second mounting fins 42-1 are integrated in four directions on the circumferential portion of the inclined housing 42. The second mounting fins 42-1 are mounted on the rear surface portion of the sensor 50 using fasteners (e.g., screws, bolts, rivets, nails, etc.) so that the inclined housing 42 can be arranged to engage with the rear surface portion of the sensor 50.

[0063] The first motor 43 and the second motor 44 are mounted in a predetermined arrangement within the fixed housing 41. Each of the first motor 43 and the second motor 44 has an output shaft, and a first output gear 43-1 and a second output gear 44-1 are respectively connected to the output shaft.

[0064] Here, the first motor 43 and the second motor 44 can be mounted on the inner bottom of the fixed housing 41 in an arrangement perpendicular to each other, thereby allowing the first output gear 43-1 of the first motor 43 and the second output gear 44-1 of the second motor 44 to be arranged perpendicular to each other.

[0065] Therefore, the rotational force of the first output gear 43-1 driven by the first motor 43 can be used to tilt the tilting housing 42 and the sensor 50 in the left-right direction, and the rotational force of the second output gear 44-1 driven by the second motor 44 can be used to tilt the tilting housing 42 and the sensor 50 in the up-down direction. The rotational forces of the first output gear 43-1 and the second output gear 44-1 can be used to tilt the tilting housing 42 and the sensor around a pair of vertical axes.

[0066] One (e.g., first) end of the first sector gear 45 and one (e.g., first) end of the second sector gear 46 are connected to the inclined housing 42, and the other (e.g., second) end of the first sector gear 45 and the other (e.g., second) end of the second sector gear 46 are arranged as free ends within the fixed housing 41.

[0067] Here, a first fastening protrusion 45-1 is formed at one (e.g., first) end of the first sector gear 45, a first fastening hole 42-2 is formed at a predetermined position in the inclined housing 42, and the first fastening protrusion 45-1 is inserted to lock into the first fastening hole 42-2, thereby allowing one (e.g., first) end of the first sector gear 45 to be connected and fixed to the inclined housing 42.

[0068] Furthermore, a second fastening protrusion 46-1 is formed at one (e.g., a first) end of the second sector gear 46, a second fastening hole 42-3 is formed at a predetermined position in the inclined housing 42, and the second fastening protrusion 46-1 is inserted to lock into the second fastening hole 42-3, thereby allowing one (e.g., a first) end of the second sector gear 46 to be connected and fixed to the inclined housing 42.

[0069] Here, the first sector gear 45 may have an arched shape that bends to the left or right (e.g., along a horizontal axis) to tilt the inclined housing 42 and the sensor 50 to the left and right (e.g., relative to the horizontal axis) at a predetermined angle, and the second sector gear 46 may have an arched shape that bends upward or downward (e.g., along a vertical axis) to tilt the inclined housing 42 and the sensor 50 up and down at a predetermined angle (e.g., relative to the vertical axis).

[0070] The first transmission gear 47, configured to transmit the rotational power of the first output gear 43-1 of the first motor 43 to the first sector gear 45, and the second transmission gear 48, configured to transmit the rotational power of the second output gear 44-1 of the second motor 44 to the second sector gear 46, can be further installed in the fixed housing 41.

[0071] The first transmission gear 47 may include: a first pinion 47-1 that meshes with a first output gear 43-1; a second pinion 47-2 that meshes with a first sector gear 45; and a rotating shaft 47-3 configured to coaxially connect the first pinion 47-1 to the second pinion 47-2 and rotatably engage or be disposed at a predetermined position within the fixed housing 41.

[0072] The second transmission gear 48 may include: a first pinion 48-1 that meshes with a second output gear 43-1; a second pinion 48-2 that meshes with a second sector gear 46; and a rotating shaft 48-3 configured to coaxially connect the first pinion 48-1 to the second pinion 48-2 and rotatably engage or be disposed at a predetermined position within the fixed housing 41.

[0073] In this way, a modular sensor device 100, assembled into a single unit and including a protector 10, a camera 20, a bracket 30, at least two actuators 40, and at least two sensors 50, can be installed at a desired location on various types of vehicles. The camera 20, capable of capturing a frontal lens or image, is mounted on the upper part of the protector 10, the bracket 30 is mounted on the rear surface of the protector 10, at least two actuators 40 are mounted on the bracket 30, and at least two sensors 50 are engaged with a corresponding one of the at least two actuators 40 and configured to tilt up and down or left and right by the drive of the actuators 40.

[0074] For example, such as Figure 6 and Figure 9 As shown, a single modular sensor device 100 can be mounted at the center of the front portion of the vehicle along its width (e.g., above the bumper cover). Alternatively, as... Figure 7 and Figure 10 As shown, two modular sensor devices 100 can be mounted at predetermined positions on the left and right sides of the front portion of the vehicle along the width direction. Alternatively, as... Figure 8 and Figure 11 As shown, two modular sensor devices 100 can be installed at predetermined positions on the left side and at the center position along the width direction on the front part of the vehicle.

[0075] Of course, the modular sensor device 100 can be installed not only on the front of the vehicle, but also on the sides and rear of the vehicle.

[0076] Here, multiple clips 14 formed on the edge of the protector 10 can be inserted and secured to the vehicle body 60. The lower plate 31 or upper plate 32 of the bracket 30 can be mounted on the vehicle body 60, thereby securing the modular sensor device 100 firmly to the vehicle body 60.

[0077] Thus, by mounting the modular sensor unit at the desired location on the vehicle body, in which cameras, RADAR sensors, and LIDAR sensors for autonomous driving are assembled into a single modular component, the sensor unit for autonomous driving can be used in various types of vehicles, and the number of parts and manufacturing costs can be reduced.

[0078] Hereinafter, the sensor leveling operation procedure for the modular sensor device for vehicles according to the present invention is as follows.

[0079] When the RADAR sensor 51 and / or LIDAR sensor 52 sense adjacent vehicles, obstacles, etc., and in the event of changes in vehicle body behavior, including changes in the left-right behavior of the vehicle body due to turning (e.g., roll or yaw), changes in the front-rear behavior of the vehicle body due to sudden stopping or starting (e.g., pitch), and changes in the vertical behavior of the vehicle body due to changes in the number of passengers and (e.g., the load weight carried by the vehicle), the sensing range or area of ​​the RADAR sensor 51 and LIDAR sensor 52 must be automatically corrected to improve the sensing accuracy of the RADAR sensor 51 and / or LIDAR sensor 52.

[0080] Therefore, firstly, when the detection signal of a sensor configured to detect changes in vehicle body behavior (e.g., yaw rate sensor, lateral acceleration sensor, height sensor, etc.) is sent to the controller 70, the first motor 43 or the second motor 44 can be driven based on the control signal of the controller 70.

[0081] In response to the drive of the first motor 43, the first output gear 43-1 rotates in one (e.g., first) direction or another (e.g., second) direction, and the rotational force of the first output gear 43-1 is transmitted to the first sector gear 45 through the first pinion 47-1 and the second pinion 47-2 of the first transmission gear 47.

[0082] Subsequently, the first sector gear 45 rotates to the left or right, while the tilting housing 42 tilts to the left or right at a predetermined angle (e.g., relative to the horizontal axis).

[0083] Here, since the first fastening protrusion 45-1 formed at one (e.g., the first) end of the first sector gear 45 engages with the first fastening hole 42-2 in the inclined housing 42, the inclined housing 42 can also tilt to the left or right (e.g., relative to the horizontal axis) at a predetermined angle when the first sector gear 45 rotates to the left or right.

[0084] In addition, sensor leveling can be performed, wherein the tilt housing 42 tilts to the left or right at a predetermined angle, while the sensor 50, namely the RADAR sensor 51 or the LIDAR sensor 52, also tilts at the same angle as the predetermined angle.

[0085] Here, since the second mounting flap 42-1 of the tilted housing 42 is connected to the rear surface of the sensor 50, sensor leveling can be performed, wherein as the tilted housing 42 tilts to the left or right at a predetermined angle, the sensor 50, i.e., the RADAR sensor 51 or the LIDAR sensor 52, tilts at the same angle.

[0086] For example, the tilted housing 42 and the sensor 50 can be as follows: Figure 12 As shown, it is tilted to the right by approximately 5°, or the tilted housing 42 and sensor 50 can be as follows: Figure 13 The angle shown is tilted to the left by approximately 5°. As used in this paragraph, the term approximately may include the angle described (5°) and a range of plus or minus (±) 3° from the angle described.

[0087] Conversely, in response to the drive of the second motor 44, the second output gear 44-1 rotates in one (e.g., first) direction or another (e.g., second) direction, and the rotational force of the second output gear 44-1 is transmitted to the second sector gear 46 through the first pinion 48-1 and the second pinion 48-2 of the second transmission gear 48.

[0088] Subsequently, the second sector gear 46 rotates upward or downward, while the inclined housing 42 tilts upward or downward at a predetermined angle.

[0089] Here, since the second fastening protrusion 46-1 formed at one end of the second sector gear 46 engages with the second fastening hole 42-3 in the inclined housing 42, the inclined housing 42 can also tilt upward or downward (e.g., relative to the vertical axis) at a predetermined angle when the second sector gear 46 rotates upward or downward.

[0090] In addition, sensor leveling can be performed, wherein the tilt housing 42 is tilted up or down at a predetermined angle, while the sensor 50, namely the RADAR sensor 51 or the LIDAR sensor 52, is also tilted at the same angle as the predetermined angle.

[0091] Here, since the second mounting wing 42-1 of the tilted housing 42 is connected to the rear surface of the sensor 50, sensor leveling can be performed, wherein as the tilted housing 42 tilts up or down at a predetermined angle, the sensor 50, i.e., the RADAR sensor 51 or the LIDAR sensor 52, tilts at the same angle.

[0092] Thus, when the vehicle body behavior changes, the sensing range or area of ​​sensors 50, such as RADAR sensor 51 and LIDAR sensor 52, can be automatically corrected by sensor leveling performed by the actuator 40, thereby improving the sensing accuracy of RADAR and LIDAR.

[0093] like Figure 4 and Figure 5 As shown, the protector 10 has a structure in which a substrate 11, which is made of or injection molded from a plastic material (e.g., polycarbonate (PC)), a protective cover 12 attached to the outer surface of the substrate 11, and a heating wire 13 attached to the inner surface of the substrate 11 are laminated.

[0094] Here, the protective cover 12 can be made of or injection molded from polyurethane material with a hardness of 75 and a thickness of 0.4-1.0 mm.

[0095] As a material for the protective cover 12, rigid polyurethane has high strength and is suitable for surface protection, but its self-healing properties are poor. Soft polyurethane has low strength, and its use may cause or lead to (e.g., more) severe surface damage to a degree that makes self-healing impossible. For this reason, a polyurethane with a hardness of 75, which falls between hard and soft, can be used as the material for the protective cover 12.

[0096] To achieve the self-healing effect of the protective cover 12, the thickness of the protective cover 12 can be at least 0.4 mm. If the thickness of the protective cover 12 exceeds 1.0 mm and is too thick, it may be disadvantageous that the heat transfer from the heating wire 13 may be reduced, and thus the self-healing effect of the protective cover 12 may be reduced.

[0097] Therefore, when the protective cover 12 of the protector 10 is damaged, for example, during vehicle operation or driving, due to breakage or wear caused by impacts from stones, gravel, etc., to the protective cover 12, a separate switch can be operated to supply current to the heating wire 13 to heat the heating wire 13. The heat generated by the heating of the heating wire 13 is transferred to the protective cover 12, thereby allowing the damaged area in the protective cover 12 to be filled through self-healing. For example, the heat transferred from the heating wire 13 can melt a portion of the protective cover 12, and the melted or liquid portion of the protective cover can then flow or move to the damaged portion of the protective cover, and the melted or liquid portion of the protective layer can subsequently cool, thereby increasing the thickness of the damaged area of ​​the protective cover 12.

[0098] Thus, since the protector 10 has a laminated structure in which a protective cover 12 made of polyurethane material is attached to the outer surface of a substrate 11 made of plastic material, and a heating wire 13 configured to transfer heat to the protective cover 12 is attached to the inner surface of the substrate 11, the protective cover 12 of the protector 10 can perform self-repair when it is damaged due to breakage, wear, etc., wherein the damaged area in the protective cover 12 is filled by polyurethane material from the area of ​​the protective cover surrounding the damaged area under the heat of the heating wire 13, thereby preventing sensor failure or reduced sensing accuracy caused by the damage to the protector, such as RADAR sensor and / or LIDAR sensor.

[0099] It should be clear from the above description that the present invention provides the following effects.

[0100] First, cameras, RADAR sensors, and LIDAR sensors used for autonomous driving or driving of vehicles are modularized into single units and installed in desired locations on the vehicle body, thereby achieving universality in various types of vehicles and reducing the number of parts and manufacturing costs.

[0101] Second, in response to changes in vehicle body behavior, sensor leveling performed by the drive actuator is used to automatically correct the sensing areas of the RADAR and LIDAR sensors, thereby improving the sensing accuracy of the RADAR and LIDAR sensors.

[0102] Third, because the protector has a laminated structure in which a protective cover made of polyurethane material is attached to the outer surface of the substrate and an electric heating wire configured to transfer heat to the protective cover is attached to the inner surface of the substrate, when the protective cover of the protector is damaged due to cracking or wear, the damaged area in the protective cover can be self-repaired by the heating operation of the electric heating wire, thereby preventing sensor failure and reduced sensing accuracy of sensors such as RADAR sensors and / or LIDAR sensors caused by damage to the protector.

[0103] Although the invention has been described in detail with reference to several embodiments, the scope of the invention is not limited to the above embodiments, and various modifications and improvements based on the basic concepts of the invention as defined in the claims are also included within the scope of the invention by those skilled in the art.

Claims

1. A modular sensor device for a vehicle, the device comprising: The protector is mounted on the vehicle body; A camera, configured to capture an image of the front of the vehicle, is mounted on the upper part of the protector; A bracket is mounted on the rear surface of the protector; At least two actuators are mounted on the bracket; as well as At least two sensors are coupled to a corresponding one of at least two actuators and configured to tilt up or down or left or right by the drive of a corresponding one of the at least two actuators.

2. The modular sensor device for a vehicle according to claim 1, wherein, Each of the at least two actuators includes: A fixed housing is mounted on the bracket; An inclined housing, the front surface portion of which is engaged with a corresponding one of at least two sensors, and the rear surface portion of which is capable of oblique contact with the fixed housing; A first motor and a second motor are installed in the fixed housing in a predetermined arrangement; A first output gear and a second output gear, wherein the first output gear is connected to the output shaft of the first motor, and the second output gear is connected to the output shaft of the second motor; A first sector gear and a second sector gear, each having one end connected to the inclined housing; and A first transmission gear and a second transmission gear are mounted within the fixed housing. The first transmission gear is configured to transmit the rotational power of the first output gear to the first sector gear, and the second transmission gear is configured to transmit the rotational power of the second output gear to the second sector gear.

3. The modular sensor device for a vehicle according to claim 2, wherein, The first motor and the second motor are arranged perpendicularly to each other within the fixed housing, and the first output gear and the second output gear are also arranged perpendicularly to each other.

4. The modular sensor device for a vehicle according to claim 2, wherein, The first sector gear has an arched shape that bends along a horizontal axis.

5. The modular sensor device for a vehicle according to claim 2, wherein, A first fastening protrusion is formed on the first end of the first sector gear, and a first fastening hole is formed in the inclined housing, wherein the first fastening protrusion is inserted into and fastened to the first fastening hole.

6. The modular sensor device for a vehicle according to claim 2, wherein, The first transmission gear includes a first pinion, a second pinion, and a first rotating shaft. The first pinion meshes with the first output gear, the second pinion meshes with the first sector gear, and the first rotating shaft is configured to coaxially connect the first pinion to the second pinion and rotatably engage within the fixed housing.

7. The modular sensor device for a vehicle according to claim 2, wherein, The second sector gear has an arched shape that bends along the vertical axis.

8. The modular sensor device for a vehicle according to claim 2, wherein, A second fastening protrusion is formed on the first end of the second sector gear, and a second fastening hole is formed in the inclined housing, wherein the second fastening protrusion is inserted into and fastened to the second fastening hole.

9. The modular sensor device for a vehicle according to claim 2, wherein, The second transmission gear includes a first pinion, a second pinion, and a second rotating shaft. The first pinion meshes with the second output gear, the second pinion meshes with the second sector gear, and the second rotating shaft is configured to coaxially connect the first pinion to the second pinion and rotatably engage within the fixed housing.

10. The modular sensor device for a vehicle according to claim 2, wherein, A first mounting wing is formed on the circumferential portion of the fixed housing, and the first mounting wing is mounted on the front surface portion of the bracket.

11. The modular sensor device for a vehicle according to claim 2, wherein, A second mounting wing is formed on the circumferential portion of the inclined housing, and the second mounting wing is mounted on the rear surface portion of the respective sensors of at least two sensors.

12. The modular sensor device for a vehicle according to claim 1, wherein, One of the at least two sensors is a radio detection and ranging sensor or an optical imaging detection and ranging sensor.

13. The modular sensor device for a vehicle according to claim 1, wherein, The protector includes: The substrate is made of plastic material; A protective cover, made of polyurethane material, is attached to the outer surface of the substrate; and A heating wire is attached to the inner surface of the substrate.

14. The modular sensor device for a vehicle according to claim 13, wherein, The protective cover is injection molded using polyurethane material with a hardness of 75 and a thickness in the range of 0.5-1.0 mm.

15. A modular sensor device for a vehicle, the device comprising: The protector is mounted on the vehicle body; A camera, which is mounted on the protector; A bracket is mounted on the rear surface of the protector; An actuator, which is mounted on the bracket; as well as A sensor, which is coupled to the actuator and configured to tilt up and down or left and right by the actuator.

16. The modular sensor device for a vehicle according to claim 15, wherein, The actuator includes: A fixed housing, which is mounted on the bracket; and An inclined housing, the front surface portion of which is engaged with the sensor, and the rear surface portion of which is movably in contact with the fixed housing.

17. The modular sensor device for a vehicle according to claim 15, wherein, The sensor is a radio detection and ranging sensor or an optical imaging detection and ranging sensor.

18. A modular sensor device for a vehicle, the device comprising: The protector is mounted on the vehicle body; A camera, which is mounted on the protector; A bracket is mounted on the rear surface of the protector; The first actuator is mounted on the bracket; A first sensor is coupled to the first actuator and configured to tilt up or down or left or right by the drive of the first actuator; A second actuator is mounted on the bracket; as well as The second sensor is coupled to the second actuator and configured to tilt up and down or left and right by the drive of the second actuator.

19. The modular sensor device for a vehicle according to claim 18, wherein, Both the first actuator and the second actuator include: A fixed housing, which is engaged with the bracket; and An inclined housing that can be movably engaged with the fixed housing.

20. The modular sensor device for a vehicle according to claim 18, wherein, The first sensor is a radio detection and ranging sensor, and the second sensor is an optical imaging detection and ranging sensor.

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