Self-driving vehicle sensor mounting bracket

Abstract

The utility model discloses a sensor mounting bracket for an automatic driving vehicle. The sensor mounting bracket for the autonomous vehicle comprises a base assembly which is suitable for being fixedly mounted on a vehicle body of the autonomous vehicle; the laser radar supporting assembly is fixedly installed on the base assembly and used for installing a laser radar; and the camera mounting assembly is fixedly mounted on the laser radar supporting assembly and is used for mounting a camera. According to the sensor installation support of the automatic driving vehicle, the laser radar supporting assembly and the camera installation assembly are integrated together, so that on one hand, development cost is reduced, on the other hand, collaborative debugging and calibration of a laser radar and a camera are facilitated, collaborative debugging and calibration can be carried out without waiting for installation on the whole vehicle, and the cost is reduced. And the assembly detection rhythm and speed of the whole vehicle are prevented from being influenced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a sensor mounting bracket for an autonomous driving vehicle. Background Art

[0002] In the automotive industry, autonomous vehicles are rapidly developing. Unmanned driving technology is a key development direction for the automotive industry. Autonomous driving technology is based on the collection of information about the vehicle's surroundings. When operating on urban roads, autonomous passenger vehicles must be able to perceive their surroundings and objects to ensure the safety of both vehicle and passengers. Autonomous driving is achieved through various sensors and hardware modules installed on the vehicle's roof.

[0003] In the existing technology, laser radar, cameras, etc. are installed on the vehicle through their own dedicated brackets. On the one hand, the development cost is high. On the other hand, it is inconvenient to coordinate the debugging and calibration of the laser radar and the camera. Coordinated debugging and calibration can only be carried out after installation on the entire vehicle, which affects the assembly and inspection rhythm and speed of the entire vehicle. Utility Model Content

[0004] The purpose of this utility model is to provide an autonomous driving vehicle sensor mounting bracket to improve the convenience of sensor installation and to be applicable to more different types of sensors.

[0005] To achieve the above objectives, the present invention provides a sensor mounting bracket for an autonomous vehicle. The sensor mounting bracket for an autonomous vehicle comprises:

[0006] a base assembly adapted to be fixedly mounted to a body of the autonomous vehicle;

[0007] A laser radar support assembly, which is fixedly mounted to the base assembly and is used to mount the laser radar;

[0008] A camera mounting assembly is fixedly mounted to the laser radar support assembly and is used for mounting a camera.

[0009] The autonomous driving vehicle sensor mounting bracket of the present invention integrates the laser radar support component and the camera mounting component, thereby reducing development costs on the one hand and facilitating the coordinated debugging and calibration of the laser radar and the camera on the other hand. After the laser radar and the camera are installed on the mounting bracket or the laser radar support component, the corresponding coordinated debugging and calibration can be carried out, rather than having to wait until they are installed on the entire vehicle to carry out the coordinated debugging and calibration, thereby avoiding affecting the assembly inspection rhythm and speed of the entire vehicle.

[0010] Preferably, the lidar support assembly includes an intermediate lidar support assembly and two side lidar support assemblies. The intermediate lidar support assembly and the two side lidar support assemblies are both fixedly mounted to the base assembly. One of the two side lidar support assemblies is located on the left side of the intermediate lidar support assembly, and the other is located on the right side of the intermediate lidar support assembly;

[0011] The camera mounting assembly is fixedly mounted to the intermediate lidar support assembly.

[0012] Preferably, the base assembly includes a cross beam that extends horizontally from left to right.

[0013] The intermediate lidar support assembly is mounted on the cross beam in a manner that can slide along and lock to the cross beam.

[0014] The mounting method that can slide relatively and lock, for example, is to provide an elongated hole on the intermediate lidar support assembly, and a circular hole or a threaded hole at the top of the cross beam. The fixing connection is achieved by screwing a screw or a bolt through the elongated hole into the threaded hole; or by passing a bolt through the elongated hole and the circular hole and then cooperating with a nut for fixing connection. In order to increase the range of slidable adjustment, several circular holes or threaded holes arranged at intervals can be provided at the top of the cross beam, and the spacing between the holes is less than the length of the elongated hole.

[0015] The mounting method that can slide relatively and lock can also be achieved by providing an upward-opening T-shaped groove on the cross beam and arranging the hexagonal head of a bolt in the T-shaped groove. Among them, the hexagonal head of the bolt can slide in the T-shaped groove but cannot rotate in it.

[0016] Preferably, the base assembly includes two parallel cross beams and two bases. The two bases are spaced apart from each other front and back and are respectively fixedly mounted to the body of the autonomous vehicle. The left and right ends of each cross beam are respectively fixedly connected to a base.

[0017] Preferably, the cross section of the cross beam is rectangular, and its height dimension is greater than or equal to 2 times the width dimension.

[0018] Preferably, the side lidar support assembly includes a side lidar mounting base, a side mounting bracket, a side support bracket, and a side bracket base.

[0019] The side bracket base is mounted on the cross beam in a manner that can slide along and lock to the cross beam;

[0020] The side support bracket is fixedly connected to the side bracket base;

[0021] The side mounting bracket is mounted on the side support bracket in a manner that can rotate and lock relative to the side support bracket;

[0022] The side lidar mounting base is fixedly mounted to the side mounting bracket for mounting a side lidar.

[0023] The mounting method that can slide relative to each other and lock is, for example, that there are elongated holes provided on the side bracket base, and circular holes or threaded holes provided at the top of the cross beam. The fixing connection is carried out by screwing a screw or bolt through the elongated hole into the threaded hole; or the fixing connection is carried out by passing a bolt through the elongated hole and the circular hole and then cooperating with a nut. In order to increase the range that can be slid and adjusted, several circular holes or threaded holes arranged at intervals can be provided at the top of the cross beam, and the distance between the holes is less than the length of the elongated hole.

[0024] The mounting method that can slide relative to each other and lock can also be realized by providing a T-shaped groove with an upward opening on the cross beam and arranging the hexagonal head of a bolt in the T-shaped groove. Among them, the hexagonal head of the bolt can slide in the T-shaped groove but cannot rotate in it.

[0025] Mounting holes are provided on the side lidar mounting base for mounting the lidar. The left and right tilting angles of the lidar are adjusted by the relative rotation between the side mounting bracket and the side support bracket. Thus, the position of the blind area on the side of the vehicle can be adjusted.

[0026] Preferably, the two side lidar support assemblies have the same shape and structure, but the mounting directions on the cross beam are opposite. The side lidar support assembly located at the left end of the cross beam faces left; the side lidar support assembly located at the right end of the cross beam faces right.

[0027] Preferably, the middle lidar support assembly includes a middle lidar mounting base, a middle mounting bracket, a middle support bracket, and a middle bracket base,

[0028] The middle bracket base is mounted on the cross beam in a manner that can slide along the cross beam and lock;

[0029] The middle support bracket is fixedly connected to the middle bracket base;

[0030] The middle mounting bracket is mounted on the middle support bracket in a manner that can rotate and lock relative to the middle support bracket;

[0031] The middle lidar mounting base is fixedly mounted to the middle mounting bracket for mounting a middle lidar.

[0032] Preferably, the middle support frame is U-shaped, and two mounting round holes are respectively provided on its two side plates;

[0033] The middle mounting frame is U-shaped, and a central round hole and an arc hole are respectively provided on its two side plates. The center of the arc of the arc hole coincides with the center of the central round hole.

[0034] Preferably, the camera mounting assembly includes a camera bracket and a camera bracket base.

[0035] The middle bracket base is inverted U-shaped, including a top plate and two side plates connected to the top plate. The side plates extend downward from the top plate and define a camera mounting space below the top plate;

[0036] The camera bracket base is disposed in the camera mounting space and fixedly connected to the top plate of the middle bracket base;

[0037] The camera bracket is used to mount a camera and is mounted on the camera bracket base in a manner that can rotate and lock relative to the camera bracket base. Description of the Drawings

[0038] Figure 1 is a schematic diagram of a left lidar support assembly according to an embodiment of the present invention.

[0039] Figure 2 is a schematic diagram of a middle lidar support assembly and a camera mounting assembly according to an embodiment of the present invention.

[0040] Figure 3 is a schematic diagram of a sensor mounting bracket for an autonomous vehicle according to an embodiment of the present invention.

[0041] Reference Numerals:

[0042] 11 Side lidar mounting seat; 12 Side mounting frame; 13 Side support frame; 14 Side bracket base; 21 Middle lidar mounting seat; 22 Middle mounting frame; 23 Middle support frame; 24 Middle bracket base; 25 Camera bracket; 26 Camera bracket base; 31 First cross beam; 32 Second cross beam; 41 First base; 42 Second base; 121 First round hole; 122 Second round hole; 131 Third round hole; 132 Arc hole. Detailed Description of the Embodiments

[0043] In the drawings, the same or similar reference numerals are used to represent the same or similar elements or elements having the same or similar functions. The embodiments of the present invention will be described in detail below with reference to the drawings.

[0044] In the description of the present utility model, the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation on the protection scope of the present utility model.

[0045] See Figures 1-3 , the present utility model provides a sensor mounting bracket for an autonomous vehicle. The sensor mounting bracket for the autonomous vehicle includes: a base assembly; a lidar support assembly; and a camera mounting assembly. The specific shapes and structures of each component are not limited to the illustrated manner, but can adopt any appropriate form.

[0046] The base assembly is adapted to be fixedly mounted to the body of the autonomous vehicle in any appropriate manner such as threaded connection, welding, bonding, riveting, etc., and serves as the base of the entire mounting bracket. To install the base assembly, for example, appropriate mounting parts can be provided at the top or other appropriate positions of the body to adapt to the base assembly.

[0047] The lidar support assembly is used to mount the lidar, and is fixedly mounted to the base assembly in any appropriate manner such as threaded connection, welding, bonding, riveting, etc. In an alternative embodiment, the lidar support assembly is fixedly mounted to the base assembly in a manner that can be adjusted left and right.

[0048] The camera mounting assembly is used to mount the camera, and is fixedly mounted to the lidar support assembly in any appropriate manner such as threaded connection, welding, bonding, riveting, etc.

[0049] In this embodiment, the lidar support assembly and the camera mounting assembly are integrated. Thus, on the one hand, the development cost is reduced, and on the other hand, it is convenient for the collaborative debugging and calibration of the lidar and the camera. After the lidar and the camera are installed on the mounting bracket or on the lidar support assembly, the corresponding collaborative debugging and calibration can be carried out, rather than having to wait until they are installed on the whole vehicle to carry out the collaborative debugging and calibration, avoiding affecting the assembly inspection beat and speed of the whole vehicle.

[0050] The number of lidar support assemblies can be set as needed. In the case of having two or more lidar support assemblies, the camera mounting assembly can be provided only on some of the lidar support assemblies; of course, the technical solution of providing the camera mounting assembly on each lidar support assembly is also within the protection scope of the present utility model.

[0051] In the illustrated embodiment, the lidar support assembly includes an intermediate lidar support assembly and two side lidar support assemblies. The intermediate lidar support assembly and the two side lidar support assemblies are both fixedly mounted to the base assembly. One of the two side lidar support assemblies is located on the left side of the intermediate lidar support assembly, and the other is located on the right side of the intermediate lidar support assembly. The side lidar support assembly on the left side is used to mount the left lidar (for example, the lidar faces left); the side lidar support assembly on the right side is used to mount the right lidar (for example, the lidar faces right).

[0052] In the illustrated embodiment, the camera mounting assembly is fixedly mounted to the intermediate lidar support assembly. That is to say, in this embodiment, only one camera mounting assembly is provided. However, it does not mean that only one camera must be mounted. For example, two cameras can also be arranged side by side on the camera mounting assembly.

[0053] The base assembly can be in any suitable manner, and is not limited to Figure 3 the said implementation manners. In Figure 3 the illustrated embodiment, the base assembly includes a cross beam that extends horizontally from left to right. Thus, the lidar support assembly can be fixedly arranged on the base assembly in a manner that can slide along the cross beam. For example, in an alternative embodiment, the intermediate lidar support assembly is mounted on the cross beam in a manner that can slide along the cross beam and be locked.

[0054] The mounting manner that can slide relative to each other and be locked is, for example, that there are oblong holes provided on the lidar support assembly, and circular holes or threaded holes are provided at the top of the cross beam. The fixing connection is achieved by screwing a screw or bolt through the oblong hole and into the threaded hole; or the fixing connection is achieved by passing a bolt through the oblong hole and the circular hole and then cooperating with a nut. In order to increase the range of sliding adjustment, several circular holes or threaded holes arranged at intervals can be provided at the top of the cross beam, and the distance between the holes is less than the length of the oblong hole.

[0055] The mounting manner that can slide relative to each other and be locked can also be achieved by providing a T-shaped groove with an upward opening on the cross beam and arranging the hexagonal head of a bolt in the T-shaped groove. Among them, the hexagonal head of the bolt can slide in the T-shaped groove but cannot rotate therein. This is also within the protection scope of the present utility model.

[0056] Specifically, as shown in the figure, the base assembly includes two parallel crossbeams 31 and 32, and two bases 41 and 42. The two bases 41 and 42 are spaced apart from each other front and back, and are respectively fixedly installed on the body of the autonomous vehicle. The left and right ends of each crossbeam are respectively fixedly connected to one base. It can be understood that the "front and back" here refers to the front and back directions of the vehicle. For example, the bases 41 and 42 can be fixed to the vehicle top with structural adhesive.

[0057] In an alternative embodiment, to have higher strength and facilitate installation, the cross-section of the crossbeam is rectangular, and its height dimension is greater than or equal to the width dimension. For example, the height dimension of the crossbeam cross-section is greater than or equal to 2 times the width dimension.

[0058] As Figure 3 shown, the side lidar support assembly includes a side lidar mounting base 11, a side mounting frame 12, a side support frame 13, and a side bracket base 14. Thus, a left lidar and a right lidar can also be installed.

[0059] In an alternative embodiment, the side bracket base 14 is mounted on the crossbeam in a manner that can slide along and lock to the crossbeam. The side support frame 13 is fixedly connected to the side bracket base 14 and is used to mount the side lidar. The way the side bracket base 14 is mounted to the crossbeam can adopt the same or similar mounting method as the aforementioned slidable and lockable mounting method.

[0060] Similarly, the side mounting frame 12 is mounted on the side support frame 13 in a manner that can rotate relative to the side support frame 13 and lock; the side lidar mounting base 11 is fixedly installed on the side mounting frame 12 and is used to mount the other side lidar.

[0061] The side lidar mounting base is provided with mounting holes for mounting the lidar. By the relative rotation between the side mounting frame and the side support frame, the left and right tilting angles of the lidar are adjusted. Thus, the position of the vehicle side blind area can be adjusted.

[0062] More specifically, the mounting method that can rotate relative to and lock is as follows: First round holes 121 are provided on both side plates of the side mounting frame 12, and third round holes 131 are provided on both side plates of the side support frame 13. A pivot shaft (not shown) passes through the two first round holes 121 and the two third round holes 131. Thus, both the side mounting frame 12 and the side support frame 13 can rotate around the pivot shaft not shown.

[0063] On both side plates of the side mounting bracket 12, second round holes 122 are also provided. Threaded connectors such as bolts (not shown) are provided in the second round holes 122. Corresponding arc-shaped holes 132 are provided on the side support bracket 13, and the rod portion of the threaded connector passes through the arc-shaped holes 132. Thus, when it is necessary to fix the relative rotational position of the side mounting bracket 12 and the side support bracket 13, it can be achieved by tightening the nut provided on the threaded connector. That is to say, the two are fixed by the axial force generated by the cooperation of the threaded connector and the nut.

[0064] In an alternative embodiment, the two side lidar support assemblies have the same shape and structure, but the mounting directions on the cross beam are opposite. The side lidar support assembly located at the left end of the cross beam faces left; the side lidar support assembly located at the right end of the cross beam faces right.

[0065] In the illustrated embodiment, the intermediate lidar support assembly includes an intermediate lidar mounting base 21, an intermediate mounting bracket 22, an intermediate support bracket 23, and an intermediate bracket base 24. The intermediate bracket base 24 is mounted on the cross beam in a manner that can slide along and lock to the cross beam. The intermediate support bracket 23 is fixedly connected to the intermediate bracket base 24. By adjusting left and right, it is ensured that the intermediate lidar is accurately located on the vehicle's central axis.

[0066] The intermediate mounting bracket 22 is mounted on the intermediate support bracket 23 in a manner that can rotate relative to and lock to the intermediate support bracket 23. The mounting method that can rotate relative to and lock can similarly adopt the aforementioned mounting method.

[0067] The intermediate lidar mounting base 21 is fixedly mounted to the intermediate mounting bracket 22 for mounting the intermediate lidar.

[0068] Specifically, the intermediate support bracket 23 is U-shaped, and two mounting round holes are respectively provided on its two side plates; the intermediate mounting bracket 22 is U-shaped, and a central round hole and an arc-shaped hole are respectively provided on its two side plates, and the center of the arc of the arc-shaped hole coincides with the center of the central round hole. Thus, the mounting method that can rotate relative to and lock is realized.

[0069] As shown in the figure, the camera mounting assembly includes a camera bracket 25 and a camera bracket base 26.

[0070] The middle bracket base 24 is in an inverted U shape and includes a top plate and two side plates connected to the top plate. The side plates extend downward from the top plate and define a camera mounting space below the top plate. The camera bracket base 26 is disposed in the camera mounting space and fixedly connected to the top plate of the middle bracket base 24. The camera bracket 25 is used for mounting a camera and is mounted on the camera bracket base 26 in a manner that can rotate and lock relative to the camera bracket base 26.

[0071] The embodiment of the present utility model can realize the angle adjustment of the sensor. Moreover, it can be adapted to various models of lidars, and on the other hand, it can reduce certain costs.

[0072] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it. Those of ordinary skill in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. An installation bracket for an autonomous vehicle sensor, characterized in that, Comprising: A base assembly, which is adapted to be fixedly mounted to the body of an autonomous vehicle; A lidar support assembly, which is fixedly mounted to the base assembly for mounting a lidar; A camera mounting assembly, which is fixedly mounted to the lidar support assembly for mounting a camera, wherein the lidar support assembly includes an intermediate lidar support assembly and two side lidar support assemblies, the intermediate lidar support assembly and the two side lidar support assemblies are both fixedly mounted to the base assembly, one of the two side lidar support assemblies is located on the left side of the intermediate lidar support assembly, and the other is located on the right side of the intermediate lidar support assembly; The camera mounting assembly is fixedly mounted to the intermediate lidar support assembly.

2. The sensor mounting bracket for an autonomous vehicle according to claim 1, wherein The base assembly includes a cross beam, which extends horizontally left and right, The intermediate lidar support assembly is mounted on the cross beam in a manner that can slide along and lock to the cross beam.

3. The sensor mounting bracket for an autonomous vehicle according to claim 2, wherein, The base assembly includes two parallel cross beams (31, 32), and two bases (41, 42), the two bases (41, 42) are spaced apart from each other front and back, and are respectively fixedly mounted to the body of the autonomous vehicle, and the left and right ends of each cross beam are respectively fixedly connected to one base.

4. The sensor mounting bracket for an autonomous vehicle according to claim 3, wherein The cross section of the cross beam is rectangular, and its height dimension is greater than or equal to 2 times the width dimension.

5. The sensor mounting bracket for an autonomous vehicle according to claim 2, wherein The side lidar support assembly includes a side lidar mounting seat (11), a side mounting frame (12), a side support frame (13), and a side bracket base (14), The side bracket base (14) is mounted on the cross beam in a manner that can slide along and lock to the cross beam; The side support frame (13) is fixedly connected to the side bracket base (14); The side mounting frame (12) is mounted on the side support frame (13) in a manner that can rotate and lock relative to the side support frame (13); The side lidar mounting seat (11) is fixedly mounted to the side mounting frame (12) for mounting a side lidar.

6. The sensor mounting bracket for an autonomous vehicle according to claim 5, wherein The two side lidar support assemblies have the same shape and structure, but are mounted in opposite directions on the cross beam.

7. The sensor mounting bracket for an autonomous vehicle according to claim 2, wherein The intermediate lidar support assembly includes an intermediate lidar mounting seat (21), an intermediate mounting frame (22), an intermediate support frame (23), and an intermediate bracket base (24), The intermediate bracket base (24) is mounted on the cross beam in a manner that can slide along and lock to the cross beam; The intermediate support frame (23) is fixedly connected to the intermediate bracket base (24); The intermediate mounting frame (22) is mounted on the intermediate support frame (23) in a manner that can rotate and lock relative to the intermediate support frame (23); The intermediate lidar mounting seat (21) is fixedly mounted to the intermediate mounting frame (22) for mounting an intermediate lidar.

8. The sensor mounting bracket for an autonomous vehicle according to claim 7, wherein the intermediate support frame (23) is U-shaped, and two mounting round holes are respectively provided on its two side plates; the intermediate mounting frame (22) is U-shaped, and a central round hole and an arc-shaped hole are respectively provided on its two side plates, and the center of the arc-shaped hole coincides with the center of the central round hole.

9. The sensor mounting bracket for an autonomous vehicle according to claim 7, wherein the camera mounting assembly includes a camera bracket (25) and a camera bracket base (26), the intermediate bracket base (24) is inverted U-shaped, including a top plate and two side plates connected to the top plate, and the side plates extend downward from the top plate and define a camera mounting space below the top plate; the camera bracket base (26) is disposed in the camera mounting space and is fixedly connected to the top plate of the intermediate bracket base (24); the camera bracket (25) is used for mounting a camera and is mounted on the camera bracket base (26) in a manner that can rotate and lock relative to the camera bracket base (26).

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