Sensor system and vehicle

Abstract

The utility model provides a sensor system and a vehicle, the sensor system comprises a support, a laser radar and at least one camera, and the support is configured to be fixedly arranged on the inner side of windshield glass of the vehicle. The laser radar is arranged on the support and can collect point cloud data outside the vehicle. The camera is arranged on the support and can collect image data outside the vehicle. The lidar is spaced apart from the camera in at least one of a horizontal direction and a vertical direction. According to the sensor system, the laser radar and the camera are arranged at intervals through the support, crosstalk between the laser radar and the camera can be restrained, noise is reduced, the sensor system is arranged on the inner side of the windscreen of the vehicle, the laser radar and the camera can be protected by the windscreen, and the safety of the vehicle is improved. The view field range of the laser radar and the camera is less affected by the windshield glass.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle-mounted sensors, and in particular to a sensor system and a vehicle. Background Art

[0002] With the development of intelligent vehicles and autonomous driving technology, the number of vehicle-mounted sensors is increasing and their functions are becoming more and more abundant. Among them, lidar is an important sensor in autonomous driving vehicles, which is used to detect objects in the vehicle's surrounding environment.

[0003] Existing vehicle-mounted sensors are usually installed on the outside of the vehicle, such as the front, rear, or top of the vehicle. However, the location on the outside of the vehicle is not conducive to protecting the sensors, and will increase the wind resistance of the vehicle while driving, thereby increasing the energy consumption of the vehicle.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Utility Model Content

[0005] In view of one or more deficiencies in the prior art, the present disclosure provides a sensor system, comprising:

[0006] A bracket, the bracket being configured to be fixedly disposed on the inner side of a windshield of a vehicle;

[0007] A laser radar, the laser radar is disposed on the bracket and configured to collect point cloud data outside the vehicle; and

[0008] at least one camera, the camera being disposed on the bracket and configured to collect image data of the exterior of the vehicle;

[0009] The laser radar is spaced apart from the camera along at least one of a horizontal direction and a vertical direction.

[0010] According to one aspect of the present disclosure, a mounting position is provided on the bracket, and the laser radar and the camera are mounted in the mounting position.

[0011] The lower edge of the bracket is attached to the windshield or is spaced apart from the windshield.

[0012] According to one aspect of the present disclosure, there is a no-entry zone between the laser radar and the windshield, and the no-entry zone includes an area where the field of view of the laser radar is located on the side of the windshield.

[0013] According to one aspect of the present disclosure, the range of the restricted zone in the cabin is determined based on the field of view of the laser radar and the inclination angle of the windshield relative to the horizontal plane.

[0014] According to one aspect of the present disclosure, the geometric shape and size of the bracket, and the installation positions of the laser radar and the camera in the bracket are determined based on the scope of the restricted area in the cabin.

[0015] According to one aspect of the present disclosure, the size of the bracket includes a width and a height of the bracket, and the width and the height of the bracket are determined based on the range of the restricted area in the cabin.

[0016] According to one aspect of the present disclosure, the upper edge of the bracket is at least partially fitted or abutted against the windshield, and the lower edge of the bracket is configured to absorb the detection beam emitted by the laser radar and formed by reflection on the windshield.

[0017] According to one aspect of the present disclosure, the lower edge of the bracket is also configured to block the light beam formed by reflection of objects inside the windshield from entering the restricted area in the cabin.

[0018] According to one aspect of the present disclosure, the restricted area within the cabin is surrounded by the bracket and the windshield, and the lower edge of the bracket extends to abut against the windshield.

[0019] According to one aspect of the present disclosure, a lower edge of the bracket is spaced apart from the windshield to reduce the size of the bracket.

[0020] According to one aspect of the present disclosure, the horizontal field of view angle of the laser radar is not less than 105°, and the vertical field of view angle is 20°-30°; the vertical field of view angle of the camera is not less than 30°.

[0021] According to one aspect of the present disclosure, the laser radar and the camera are arranged at intervals along the vertical direction.

[0022] According to one aspect of the present disclosure, the field of view of the laser radar on the inner side of the windshield does not overlap with the field of view of the camera on the inner side of the windshield.

[0023] According to one aspect of the present disclosure, the distance between the laser radar and the camera in the vertical direction is not less than 3 mm.

[0024] According to one aspect of the present disclosure, the minimum distance between the front end of the laser radar and the windshield is not less than 3 mm.

[0025] According to one aspect of the present disclosure, the laser radar and the camera are arranged with an interval along the horizontal direction, and the optical center of the laser radar and the optical center of the camera are at the same horizontal height.

[0026] According to one aspect of the present disclosure, the field of view of the laser radar on the inner side of the windshield partially overlaps with the field of view of the camera on the inner side of the windshield.

[0027] According to one aspect of the present disclosure, the sensor system includes a plurality of cameras, and the plurality of cameras are respectively arranged on both sides of the laser radar.

[0028] According to one aspect of the present disclosure, the sensor system further includes a housing, which is disposed on an outer side of the bracket.

[0029] According to one aspect of the present disclosure, an anti-reflection area is provided on the windshield, the position of the anti-reflection area matches the field of view of the laser radar, and the anti-reflection area is configured to improve the transmittance of the detection beam of the laser radar.

[0030] According to one aspect of the present disclosure, the distance between the front end of the laser radar and the windshield is determined based on the field of view of the laser radar and the range of the anti-reflection area.

[0031] According to one aspect of the present disclosure, the present disclosure also includes a vehicle, the vehicle comprising:

[0032] Windshield; and

[0033] As the sensor system mentioned above, the sensor system is arranged on the inner side of the windshield.

[0034] An embodiment of the present disclosure discloses a sensor system, in which a laser radar and a camera are fixed by a bracket and arranged on the inner side of a vehicle's windshield, so that the laser radar and the camera are arranged at a distance, which can suppress crosstalk between the laser radar and the camera and reduce noise. At the same time, the laser radar and the camera can be protected by the windshield, and the field of view of the laser radar and the camera is less affected by the windshield.

[0035] The embodiment of the present disclosure also discloses a vehicle, which uses the aforementioned sensor system to protect the sensor and is beneficial to reducing the wind resistance of the vehicle when it is traveling and reducing the energy consumption of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0037] Figure 1 is a schematic diagram of a sensor system in some embodiments of the present disclosure;

[0038] Figure 2is an exploded schematic diagram of a sensor system in some embodiments of the present disclosure;

[0039] Figure 3A and Figure 3B is a side cross-sectional schematic diagram of the positional relationship between the bracket and the windshield in different embodiments of the present disclosure;

[0040] Figure 4A and Figure 4B is a schematic diagram of the inclination angle of the windshield relative to the horizontal plane and the range of the restricted area in the cabin in different embodiments of the present disclosure;

[0041] Figure 5 is a schematic diagram of the lower edge of the bracket absorbing and blocking the light beam in some embodiments of the present disclosure;

[0042] Fig. 6A yes Figure 3A A schematic diagram of a restricted area in a cabin in the embodiment shown in FIG.

[0043] Figure 6B yes Figure 3B A schematic diagram of a restricted area in a cabin in the embodiment shown in FIG.

[0044] Figure 7 is a schematic diagram of the horizontal spacing arrangement of a laser radar and a camera in some embodiments of the present disclosure;

[0045] Figure 8 is a schematic diagram of an anti-reflection area of ​​a windshield and a field of view of a laser radar in some embodiments of the present disclosure;

[0046] Fig. 9A is a front view of a vehicle in some embodiments of the present disclosure;

[0047] Fig. 9B is a top view of a vehicle in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0048] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0049] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0050] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0051] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0052] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0053] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0054] In some embodiments of the present disclosure, the sensor system includes: a bracket, a laser radar and at least one camera, the bracket is fixedly arranged on the inner side of the windshield of the vehicle, and the laser radar and the camera are arranged on the bracket. The laser radar is arranged to collect point cloud data outside the vehicle, and the camera is arranged to collect image data outside the vehicle. The laser radar and the camera are spaced apart in at least one of the horizontal direction and the vertical direction. The spacing between the laser radar and the camera can suppress the crosstalk between the laser radar and the camera and reduce noise, and the laser radar and the camera are arranged on the inner side of the windshield to be protected by the windshield, reducing the interference of the external environment on the laser radar and the camera, and the field of view of the laser radar and the camera is less affected by the windshield, so that data outside the vehicle can be obtained.

[0055] Figure 1 and Figure 2 The structure of the sensor system 1 in some embodiments of the present disclosure is shown below. Figure 1 and Figure 2 The sensor system 1 will be described.

[0056] like Figure 1 and Figure 2As shown, the sensor system 100 includes a bracket 110, a laser radar 120 and at least one camera 130, wherein the bracket 110 is fixedly arranged on the inner side of the windshield 210 of the vehicle, the windshield 210 refers to the glass located directly in front of the cockpit of the vehicle, and the inner side of the windshield 210 refers to the range of the windshield 210 close to the cockpit. The bracket 110 may be arranged in the middle area close to the upper edge of the windshield 210, a part of the sensor system 100 may be arranged between the central rearview mirror and the windshield 210, and another part of the sensor system 100 may be arranged above the central rearview mirror. For example, the laser radar 120 in the sensor system 100 may be arranged in front of the central rearview mirror, and the camera 130 may be arranged above the central rearview mirror to avoid blocking the central rearview mirror and the driver's line of sight.

[0057] The bracket 110 may also correspond to other positions of the windshield 210, such as the middle and left and right sides of the windshield 210, above the dashboard, the rear windshield, the B-pillar, etc. The interior of the vehicle may include a mounting structure for fixing the sensor system 100, and the mounting structure may be arranged on a sheet metal part of the windshield or the roof of the vehicle, or on the dashboard. The bracket 110 may be arranged in the mounting structure, or hoisted on the mounting structure. A shock absorbing structure may also be arranged between the bracket 110 and the mounting structure to prevent the vibration of the vehicle during driving from affecting the laser radar 120 and the camera 130.

[0058] The laser radar 120 and the camera 130 are both arranged on the bracket 110. The laser radar 120 can collect point cloud data outside the vehicle. For example, the detection beam emitted by the laser in the laser radar 120 can pass through the windshield 210, and form an echo after being reflected by an object outside the vehicle. The echo passes through the windshield 210 and is received by the detector in the laser radar 120. The laser radar 120 obtains point cloud data outside the vehicle based on the echo. The camera 130 can collect image data outside the vehicle. For example, the camera 130 can take pictures or videos outside the windshield 210. In an embodiment with multiple cameras 130, different cameras 130 can be configured to implement different functions, such as RGB (three primary colors) cameras and infrared cameras, etc., to meet the use requirements of the vehicle under different working conditions.

[0059] In some embodiments of the present disclosure, the laser radar 120 and the camera 130 are both facing the front of the cockpit, and can obtain point cloud data and image data within a certain range in front of the vehicle. For example, the laser radar 120 can be used as the main radar of the vehicle. The horizontal field of view angle of the laser radar 120 can be set to not less than 105°, such as 105° or 120°, and the vertical field of view angle is 20°-30°, such as 25° or 30°. For different vehicles, the laser radar 120 can have the same field of view angle or different field of view angles. The vertical field of view angle of the camera 130 can be set to not less than 30°, such as 30° or 45°. Similarly, the camera 130 can select different field of view angles according to different vehicles.

[0060] In some embodiments of the present disclosure, the main optical axis of the laser radar 120 and the main optical axis of the camera 130 can be parallel to each other, for example, the laser radar 120 and the camera 130 are both facing the front of the vehicle. The main optical axis of the laser radar 120 and the main optical axis of the camera 130 can also have a certain angle, for example, the laser radar 120 is facing the front of the vehicle, and the camera 130 is facing the side front of the vehicle.

[0061] In some embodiments of the present disclosure, the laser radar 120 and the camera 130 are spaced apart in at least one of the horizontal direction and the vertical direction, for example, the laser radar 120 and the camera 130 are arranged in the horizontal direction or in the vertical direction. The laser radar 120 and the camera 130 are spaced apart in the horizontal direction or in the vertical direction so that the field of view of the laser radar 120 and the field of view of the camera 130 can cover different areas outside the vehicle, for example, different arrangements are selected according to different vehicles.

[0062] At the same time, the arrangement of the laser radar 120 and the camera 130 is also related to the size of the bracket 110. By changing the arrangement of the laser radar 120 and the camera 130, it is helpful to reduce the size of the bracket 110, thereby reducing or eliminating the impact of the sensor system 100 on the driver's line of sight.

[0063] The present disclosure provides an embodiment in which a sensor system 100 is arranged on the inner side of a vehicle windshield 210, a laser radar 120 and a camera 130 are both arranged on a bracket 110, and are arranged at intervals along at least one of a horizontal direction and a vertical direction. The interval arrangement of the laser radar 120 and the camera 130 can reduce the crosstalk between the laser radar 120 and the camera 130 and reduce noise.

[0064] The laser radar 120 is used to obtain point cloud data outside the vehicle, and the camera 130 is used to obtain image data outside the vehicle. The combination of the laser radar 120 and the camera 130 can meet the use requirements of the vehicle. The windshield 210 can protect the sensor system 100, and the windshield 210 has little effect on the field of view of the laser radar 120 and the camera 130. At the same time, the sensor system 100 does not need to occupy the external space of the vehicle, which is conducive to reducing the wind resistance of the vehicle when driving and reducing the energy consumption of the vehicle.

[0065] In some embodiments of the present disclosure, a mounting position is provided on the bracket 110, and the laser radar 120 and the camera 130 are installed in the mounting position. Figure 1 and Figure 2 As shown, in some embodiments, a first mounting position 111 and a second mounting position 112 are provided on the bracket 110, the laser radar 120 is installed in the first mounting position 111, and the camera 130 is installed in the second mounting position 112. In some embodiments of the present disclosure, the surface of the bracket 110 in front of the first mounting position 111 and the second mounting position 112 may be blackened to prevent the external stray light of the sensor system from generating ghost images.

[0066] When the sensor system 100 includes multiple cameras 130, multiple second mounting positions 112 can be set on the bracket 110 for respectively mounting the multiple cameras 130, or only one second mounting position 112 can be set, for example, multiple cameras 130 are integrated into an integrated structure, and the integrated structure of multiple cameras 130 is set in the same second mounting position 112.

[0067] In some embodiments of the present disclosure, the positional relationship between the lower edge of the bracket 110 and the windshield 210 is as follows: Figure 3A and Figure 3B As shown, Figure 3A , the lower edge of the bracket is attached to the windshield 210, or as Figure 3B , there is a certain interval between the lower edge of the bracket and the windshield 210. In some embodiments of the present disclosure, there is a cabin forbidden zone KOZ between the laser radar 120 and the windshield 210, and the cabin forbidden zone KOZ includes the area where the field of view of the laser radar 120 is located inside the windshield 210. A matte material can be provided around the cabin forbidden zone KOZ, for example, a matte layer is formed on the surface of the bracket 110 around the cabin forbidden zone KOZ or a blackening treatment is performed, which can prevent the light beam in the cockpit from entering the laser radar and affecting the detection of the laser radar 120.

[0068] In some embodiments of the present disclosure, the range of the cabin forbidden zone KOZ is determined based on the field of view of the laser radar 120 and the inclination angle of the windshield 210 relative to the horizontal plane. For example, when the horizontal field of view and the vertical field of view of the laser radar 120 are small, the range of the cabin forbidden zone KOZ is also reduced accordingly.

[0069] like Figure 4A and Figure 4B As shown, the inclination angle of the windshield 210 relative to the horizontal plane will also affect the range of the cabin restricted zone KOZ. Figure 4A As shown, when the inclination angle of the windshield 210 relative to the horizontal plane is small, the range of the restricted zone KOZ in the cabin is relatively large, such as Figure 4B As shown, when the inclination angle of the windshield 210 relative to the horizontal plane is large, the range of the cabin restricted zone KOZ is relatively small.

[0070] In some embodiments of the present disclosure, the geometric shape and size of the bracket 110 are determined based on the range of the cabin no-entry zone KOZ, so that the structure of the bracket 110 does not block the cabin no-entry zone KOZ.

[0071] The geometric shape of the bracket 110 can be roughly set to a wedge shape, and the wedge angle can match the inclination angle of the windshield 210. At the same time, the geometric shape and size of the bracket 110 will also affect the space occupied by the sensor system 100. Based on the determined cabin forbidden zone KOZ, the size of the bracket 110 can be minimized to reduce the impact of the sensor system 100 on the driver's line of sight.

[0072] In this embodiment, the installation positions of the laser radar 120 and the camera 130 on the bracket 110 in the sensor system 100 can also be determined based on the cabin restricted zone KOZ, such as the arrangement of the laser radar 120 and the camera 130, which will be explained in conjunction with subsequent specific embodiments.

[0073] The size of the bracket 110 includes the width and height of the bracket 110. The width of the bracket 110 indicates the size of the bracket 110 in the horizontal direction, and the height of the bracket 110 indicates the size of the bracket 110 in the vertical direction. The width and height of the bracket 110 are determined based on the range of the forbidden zone KOZ in the cabin. For example, if the range of the forbidden zone KOZ in the cabin is large, the width and height of the bracket 110 are increased accordingly to avoid the structure of the bracket 110 blocking the detection beam and echo of the laser radar 120. The width of the bracket 110 is related to the range of the forbidden zone KOZ in the cabin, and the arrangement of the laser radar 120 and the camera 130. For example, if the laser radar 120 and the camera 130 are arranged at intervals in the horizontal direction, the width of the bracket 110 is increased, and the height of the bracket 110 is related to the range of the forbidden zone KOZ in the cabin, and the arrangement of the laser radar 120 and the camera 130. For example, if the laser radar 120 and the camera 130 are arranged at intervals in the vertical direction, the height of the bracket 110 is increased.

[0074] In some embodiments of the present disclosure, the upper edge of the bracket 110 is at least partially fitted or abutted against the windshield 210. For example, the surface of the bracket 110 close to the windshield 210 is set to have the same inclination angle as the windshield 210 and is fitted to the inner side of the windshield 210. This is beneficial to improving the stability of the sensor system 100 and also beneficial to reducing the space occupied by the sensor system 100 in the cockpit.

[0075] The lower edge of the bracket 110 is configured to absorb the light beam formed by the detection light beam emitted by the laser radar 120 and reflected on the windshield 210, and also to block the light beam reflected by the reflective surface inside the vehicle. Figure 5 As shown in , the laser radar 120 is located on the inner side of the windshield 210. A portion of the detection beam emitted by the laser radar 120 can pass through the windshield 210 to detect objects outside the vehicle, and another portion will be reflected by the windshield 210. The reflected beam L1 may be detected by the laser radar 120, affecting the accuracy of the detection result of the laser radar 120. In this embodiment, Figure 5 As shown, the lower edge of the bracket 110 is used to absorb the light beam L1 formed by the reflection of the detection light beam on the windshield 210. For example, a light-absorbing material is set on the lower edge of the bracket 110, or a blackening treatment is performed to form a light-absorbing layer.

[0076] like Figure 5As shown, the detection beam emitted by the laser radar 120 is reflected by an object outside the vehicle to generate an echo, and the echo may pass through the windshield 210 and irradiate the reflective surface inside the vehicle, such as irradiating the surface above the dashboard inside the vehicle and reflecting. The reflected light may enter the restricted zone KOZ in the cabin, affecting the accuracy of the detection result of the laser radar 120. In some embodiments of the present disclosure, the lower edge of the bracket 110 can be configured to block the light beam L2 formed by the reflection of the object inside the vehicle from being detected by the laser radar 120, reduce the influence of stray light on the laser radar 120, and avoid the formation of ghost images.

[0077] In some embodiments of the present disclosure, Figure 3A As shown, the lower edge of the bracket 110 extends to abut against the windshield 210, and the inclination angle of the lower edge of the bracket 110 can also be set to match the range of the restricted zone KOZ in the cabin. For example, the bracket 110 and the windshield 210 surround the restricted zone KOZ in the cabin, wherein the front side of the bracket 110 surrounds the three surfaces of the restricted zone KOZ in the cabin, and the surface of the windshield 210 corresponding to the restricted zone KOZ in the cabin, forming a closed area. The light beams transmitted in the cockpit are blocked by the bracket 110 outside the restricted zone KOZ in the cabin, which can prevent the light beams inside the vehicle from affecting the laser radar 120.

[0078] Figure 3A The vertical field of view of the laser radar 120 on the windshield 210 corresponds to the area. The laser radar 120 also has a horizontal field of view. The range of the horizontal field of view on the windshield 210 determines the range of the cabin forbidden zone KOZ, and further determines the size of the bracket 110. For example, when the horizontal field of view of the laser radar 120 is large, the width range of the cabin forbidden zone KOZ and the width of the bracket 110 increase accordingly. Fig. 6A As shown in the shaded range, the lower edge of the bracket 110 extends to the windshield 210. In an embodiment in which the bracket 110 and the windshield 210 surround the cabin's restricted zone KOZ, the width of the lower edge of the bracket 110 is set to match the corresponding area of ​​the horizontal field of view angle of the laser radar 120 on the windshield 210.

[0079] In other embodiments of the present disclosure, Figure 3B As shown, the lower edge of the bracket 110 is spaced apart from the windshield 210, the bracket 110 and the windshield 210 form a non-enclosed area, and the lower side of the restricted area KOZ in the cabin is connected to the cockpit.

[0080] Figure 6B The figure shows the cabin restricted zone KOZ of the laser radar 120 in this embodiment. The lower edge of the bracket 110 is spaced apart from the windshield 210, which is beneficial to reducing the width of the bracket 110. Fig. 6A and Figure 6B It can be seen from the comparison that the non-enclosed cabin restricted zone KOZ can significantly reduce the width of the bracket 110, the sensor system 100 occupies less space and has less impact on the driver's line of sight.

[0081] In some embodiments of the present disclosure, the sensor system 100 is disposed inside a vehicle, which not only needs to meet the use requirements of the sensor therein, such as preventing the bracket 110 or the structure inside the vehicle from blocking the field of view of the laser radar 120 or the camera 130, but also needs to not affect the driver and try to avoid the sensor system 100 blocking the driver's line of sight.

[0082] For example Figure 1 As shown, in some embodiments of the present disclosure, the laser radar 120 and the camera 130 can be arranged at intervals along the vertical direction, and the intervals between the laser radar 120 and the camera 130 in the horizontal direction are not limited separately, and they can be aligned in the horizontal direction or arranged at intervals. The laser radar 120 and the camera 130 are arranged at intervals along the vertical direction to reduce the width of the bracket 110 in the horizontal direction and reduce the impact on the driver.

[0083] In some embodiments of the present disclosure, for example Fig. 6A and Figure 6B As shown in the shaded area in the figure, when the laser radar 120 and the camera 130 are arranged at intervals along the vertical direction, the field of view of the laser radar 120 on the inside of the windshield 210 and the field of view of the camera 130 on the inside of the windshield 210 do not overlap. For example, the two can be spaced apart from each other in the vertical direction, or they can be adjacent to each other, or they can be isolated by the bracket 110, which can reduce the mutual interference between the laser radar 120 and the camera 130.

[0084] In some embodiments of the present disclosure, taking the laser radar 120 with a vertical field of view angle of 30° as an example, the vertical distance between the laser radar 120 and the camera 130 is not less than 3 mm, for example, 3 mm-5 mm, wherein the vertical distance between the laser radar 120 and the camera 130 represents the distance between the main structure of the laser radar 120 and the main structure of the camera 130. For example, the camera 130 is arranged above the laser radar 120, and the vertical distance between the lower surface of the camera 130 and the upper surface of the laser radar 120 is set to be not less than 3 mm.

[0085] In some embodiments of the present disclosure, Figure 3BAs shown, the front end of the laser radar 120 is spaced from the windshield 210, and the minimum distance is not less than 3 mm. At the same time, the laser radar 120 has a field of view angle in the vertical direction, for example, 30°. The minimum distance between the front end of the laser radar 120 and the windshield 210 can be determined based on the vertical field of view angle of the laser radar 120 and the inclination angle of the windshield 210 relative to the horizontal plane, so that the field of view range of the laser radar 120 on the inside of the windshield 210 and the field of view range of the camera 130 on the inside of the windshield 210 do not overlap. The minimum distance between the front end of the laser radar 120 and the windshield 210 can be controlled by controlling the minimum distance between the sensor system 100 and the windshield 210, or the bracket 110 can be set to fit the windshield 210, and the minimum distance between the front end of the laser radar 120 and the windshield 210 can be controlled by the position of the first mounting position 111.

[0086] In some embodiments of the present disclosure, Figure 1 As shown, the sensor system 100 also includes a shell 140, which is arranged on the outside of the bracket 110. The shell 140 can protect the laser radar 120 and the camera 130 to prevent the laser radar 120 and the camera 130 from shifting due to collision vibration and other reasons, thereby affecting the accuracy of the detection results. At the same time, the sensor system 100 can also be decorated to make the appearance of the sensor system 100 consistent with the interior of the vehicle.

[0087] In some embodiments of the present disclosure, the inclination angle of the windshield 210 relative to the horizontal plane is 20°, the sensor system 100 includes two cameras 130, and the two cameras 130 are arranged side by side in the horizontal direction, and the laser radar 120 and the camera 130 are arranged at intervals in the vertical direction. The horizontal field of view angle of the laser radar 120 is 105°, and the vertical field of view angle is 25°. The vertical field of view angles of the two cameras 130 are both 30°, and the horizontal field of view angles are 120° and 30°, respectively. In this embodiment, the lower edge of the bracket 110 is spaced apart from the windshield 210 to form a non-enclosed area, and the lower side of the restricted entry zone KOZ in the cabin is connected to the cockpit. The width of the bracket 110 can be set to no more than 600 mm, and the size of the sensor system 100 is reduced to reduce the impact on the driver's line of sight.

[0088] In other embodiments of the present disclosure, the inclination angle of the windshield 210 relative to the horizontal plane is 20°. The laser radar 120 and the camera 130 are spaced apart in the vertical direction, and the horizontal field of view angle of the laser radar 120 is 120°, and the vertical field of view angle is 25°. In this embodiment, the lower edge of the bracket 110 is spaced apart from the windshield 210 to form a non-enclosed area, and the lower side of the restricted area KOZ in the cabin is connected to the cockpit. In this embodiment, the horizontal field of view angle of the laser radar 120 is relatively large, and the width of the bracket 110 can be increased accordingly, for example, not more than 800 mm.

[0089] In other embodiments of the present disclosure, the inclination angle of the windshield 210 relative to the horizontal plane is 25°. The laser radar 120 and the camera 130 are arranged at intervals in the vertical direction, and the horizontal field of view angle of the laser radar 120 is 105°, and the vertical field of view angle is 25°. In this embodiment, the restricted area KOZ in the cabin is completely enclosed by the bracket 110 and the windshield 210 to form a closed area. In this embodiment, the inclination angle of the windshield 210 relative to the horizontal plane is relatively large, and the width of the bracket 110 can be reduced accordingly, for example, not more than 400 mm.

[0090] In other embodiments of the present disclosure, the inclination angle of the windshield 210 relative to the horizontal plane is 25°. The laser radar 120 and the camera 130 are arranged at intervals in the vertical direction, and the horizontal field of view angle of the laser radar 120 is 120°, and the vertical field of view angle is 25°. The lower edge of the bracket 110 can be arranged to be spaced from the windshield 210 to form a non-enclosed area, and the lower side of the restricted area KOZ in the cabin is connected to the cockpit. In this embodiment, the inclination angle of the windshield 210 relative to the horizontal plane is large, and the bracket 110 is not used to form a closed area, and the width of the bracket 110 can be reduced accordingly, for example, not more than 300 mm.

[0091] In other embodiments of the present disclosure, the inclination angle of the windshield 210 relative to the horizontal plane is 35°. The laser radar 120 and the camera 130 are arranged at intervals in the vertical direction, and the horizontal field of view of the laser radar 120 is 120°, and the vertical field of view is 25°. In this embodiment, the restricted area KOZ in the cabin is completely enclosed by the bracket 110 and the windshield 210 to form a closed area, for example, not more than 300 mm.

[0092] In other embodiments of the present disclosure, Figure 7As shown, the laser radar 120 and the camera 130 are arranged at intervals in the horizontal direction, and the optical center of the laser radar 120 and the optical center of the camera 130 are at the same height, the optical center of the laser radar 120 represents the optical center of the lens in the laser radar 120, and the optical center of the camera 130 represents the optical center of the lens in the camera 130. In this embodiment, the laser radar 120 and the camera 130 are arranged side by side in the horizontal direction, which can reduce the height of the bracket 110.

[0093] In some embodiments of the present disclosure, the sensor system 100 includes a plurality of cameras 130, and the plurality of cameras 130 may be arranged on both sides of the laser radar 120, for example Figure 7 As shown, the sensor system 100 includes two cameras 130 , the laser radar 120 is arranged in the middle, and the two cameras 130 are arranged on both sides, for example, symmetrically arranged.

[0094] The laser radar 120 used in the vehicle is configured so that the horizontal field of view angle is greater than the vertical field of view angle. For example, the horizontal field of view angle of the laser radar 120 is 125°, and the vertical field of view angle is 30°. Therefore, in the field of view of the laser radar 120 inside the windshield 210, the horizontal width is greater than the vertical height. In the embodiment of the present disclosure, the field of view of the laser radar 120 inside the windshield 210 and the field of view of the camera 130 inside the windshield 210 can partially overlap to reduce the width of the bracket 110 and reduce the impact on the driver. The laser radar 120 and the camera 130 can reduce interference with each other by detecting light beams of different wavelengths or by setting filters.

[0095] In some embodiments of the present disclosure, the inclination angle of the windshield 210 relative to the horizontal plane is 25°. The laser radar 120 and the camera 130 are arranged at intervals in the horizontal direction, and the optical center of the laser radar 120 and the optical center of the camera 130 are at the same horizontal height. The horizontal field of view angle of the laser radar 120 is 105°, and the vertical field of view angle is 25°. In this embodiment, the restricted area KOZ in the cabin is completely enclosed by the bracket 110 and the windshield 210 to form a closed area.

[0096] like Figure 8As shown, according to some embodiments of the present disclosure, an anti-reflection region 211 is provided on the windshield 210 of the vehicle, wherein the position of the anti-reflection region 211 corresponds to the field of view of the laser radar 120, and the anti-reflection region 211 is configured to improve the transmittance of the detection beam emitted by the laser radar 120. In this embodiment, the anti-reflection region 211 is provided to increase the detection beam passing through the windshield 210, reduce the loss of the detection beam in the windshield 210, and improve the detection distance of the laser radar 120. For example, in some embodiments of the present disclosure, the wavelength of the detection beam emitted by the laser radar 120 is 905nm, 940nm or 1550nm, and the anti-reflection region 211 can be formed on the windshield 210 based on the wavelength of the detection beam.

[0097] In some embodiments of the present disclosure, an anti-reflection film can be provided to form the anti-reflection region 211 , or the material of the windshield 210 can be changed to form the anti-reflection region 211 . For example, the anti-reflection film or the material of the windshield 120 can be selected according to the wavelength of the detection beam of the laser radar 120 .

[0098] In some embodiments of the present disclosure, the distance between the front end of the laser radar 120 and the windshield 210 can be determined based on the field of view of the laser radar 120 and the range of the anti-reflection area 211, so that the field of view of the laser radar 120 on the windshield 210 is not larger than the range of the anti-reflection area 211, which can prevent the detection light beam within the field of view of the laser radar 120 from being blocked by the range outside the anti-reflection area 211 in the windshield, resulting in dark areas in the point cloud data acquired by the laser radar 120.

[0099] like Fig. 9A and Fig. 9B As shown, the present disclosure also includes an embodiment of a vehicle 200, wherein the vehicle 200 includes a windshield 210 and the sensor system 100 described in the aforementioned embodiment, the sensor system 100 is arranged on the inner side of the windshield 210, and the sensor system 100 is arranged, for example, in the middle, left and right sides, above the dashboard, rear windshield, B-pillar and other positions of the windshield 210, and can obtain point cloud data and image data outside the vehicle 200, and the windshield 210 can protect the sensor system 100, and the sensor system 100 is arranged on the inner side of the windshield 210 to reduce the wind resistance of the vehicle 200 during driving.

[0100] Finally, it should be noted that the above is only an embodiment of the present disclosure and is not intended to limit the present disclosure. Although the present disclosure is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A sensor system, characterized in that: include: A bracket, the bracket being configured to be fixedly disposed on the inner side of a windshield of a vehicle; A laser radar, the laser radar is disposed on the bracket and configured to collect point cloud data outside the vehicle; and at least one camera, the camera being disposed on the bracket and configured to collect image data of the exterior of the vehicle; wherein the laser radar is spaced apart from the camera along at least one of a horizontal direction and a vertical direction; There is a restricted zone between the laser radar and the windshield, and the restricted zone includes an area where the field of view of the laser radar is located inside the windshield; The bracket and the windshield surround the restricted area in the cabin, the front side of the bracket surrounds three surfaces of the restricted area in the cabin, and forms a closed area with the surface of the windshield corresponding to the restricted area in the cabin.

2. The sensor system according to claim 1, characterized in that The bracket is provided with a mounting position, and the laser radar and the camera are installed in the mounting position.

3. The sensor system according to claim 2, characterized in that The range of the restricted area in the cabin is determined based on the field of view of the laser radar and the inclination angle of the windshield relative to the horizontal plane.

4. The sensor system according to claim 3, characterized in that The geometric shape and size of the bracket, as well as the installation positions of the laser radar and the camera in the bracket are determined based on the scope of the restricted area in the cabin.

5. The sensor system according to claim 4, characterized in that The size of the bracket includes a width and a height of the bracket, and the width and the height of the bracket are determined based on the range of the restricted area in the cabin.

6. The sensor system according to claim 4, characterized in that The upper edge of the bracket is at least partially in contact with or in abutment with the windshield, and the lower edge of the bracket is configured to absorb a light beam formed by the detection light beam emitted by the laser radar and reflected on the windshield.

7. The sensor system according to claim 6, characterized in that The lower edge of the bracket is also configured to block the light beam formed by reflection of the object inside the windshield from entering the restricted area in the cabin.

8. The sensor system according to claim 6 or 7, characterized in that The lower edge of the bracket extends to abut against the windshield.

9. The sensor system according to any one of claims 1 to 7, characterized in that: The horizontal field of view angle of the laser radar is not less than 105°, and the vertical field of view angle is 20°-30°; the vertical field of view angle of the camera is not less than 30°.

10. The sensor system according to any one of claims 1 to 7, characterized in that: The laser radar and the camera are arranged at intervals along the vertical direction.

11. The sensor system according to claim 10, characterized in that The field of view of the laser radar on the inner side of the windshield does not overlap with the field of view of the camera on the inner side of the windshield.

12. The sensor system according to claim 10, characterized in that The distance between the laser radar and the camera in the vertical direction is not less than 3 mm.

13. The sensor system according to claim 10, characterized in that The minimum distance between the front end of the laser radar and the windshield is not less than 3 mm.

14. The sensor system according to any one of claims 1 to 7, characterized in that The laser radar and the camera are arranged at intervals along the horizontal direction, and the optical center of the laser radar and the optical center of the camera are at the same horizontal height.

15. The sensor system according to claim 14, characterized in that The field of view of the laser radar on the inner side of the windshield partially overlaps with the field of view of the camera on the inner side of the windshield.

16. The sensor system according to claim 14, characterized in that The sensor system includes a plurality of cameras, and the plurality of cameras are respectively arranged on both sides of the laser radar.

17. The sensor system according to any one of claims 1 to 7, characterized in that It also includes a shell, which is arranged on the outside of the bracket.

18. The sensor system according to any one of claims 1 to 7, characterized in that The windshield is provided with an anti-reflection area, the position of the anti-reflection area matches the field of view of the laser radar, and the anti-reflection area is configured to improve the transmittance of the detection beam of the laser radar.

19. The sensor system according to claim 18, characterized in that The distance between the front end of the laser radar and the windshield is determined according to the field of view of the laser radar and the range of the anti-reflection area.

20. A vehicle, characterized in that: include: Windshield; and The sensor system according to any one of claims 1 to 19, wherein the sensor system is arranged on the inner side of the windshield.

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