Vehicle-mounted laser radar system and vehicle

Abstract

The utility model provides a vehicle-mounted laser radar system and a vehicle. The vehicle-mounted laser radar system comprises at least two side laser radars (1) and at least one overhead laser radar (2), the side laser radars (1) are arranged on the two sides of a vehicle body respectively, and the optical axes of the side laser radars (1) are oriented towards the rear side of the vehicle. The horizontal detection range of the side lidar (1) at least covers the rear side of a vehicle and at least partially covers the front side of the vehicle, the overhead lidar (2) is arranged on the top of a vehicle body, the optical axis of the overhead lidar (2) is oriented towards the front side of the vehicle, and the optical surface of the side lidar (1) is in the shape of a straight cylindrical surface or a curved cylindrical surface. The vehicle-mounted laser radar system disclosed by the utility model aims to obtain a large detection range and attractive appearance in a high-cost-performance manner.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle-mounted lidar, and more specifically, to a vehicle-mounted lidar system and a vehicle. Background Technology

[0002] This section aims to provide background information relevant to understanding the various techniques described herein. As the title of this section implies, this is a discussion of related techniques that should in no way imply that they are necessarily prior art. Therefore, it should be understood that any statement in this section should be read in this context, rather than as an admission of any prior art.

[0003] Regarding the layout of vehicle-mounted LiDAR, some technical solutions involve deploying a top-mounted LiDAR with a surface primarily composed of freeform surfaces and made of plastic. This type of top-mounted LiDAR can detect situations within a 120-degree forward range.

[0004] In some technical solutions, side-mounted lidar is placed at a relatively low position. In order to improve resistance to stone impacts while taking into account the optical performance of lidar, either a flat glass surface is used as the optical surface and it is placed on the side of the vehicle, which can achieve a detection range of about 300 degrees for three lidars; or a cylindrical surface is used as the optical surface and it is placed on the front side of the vehicle, which can achieve a detection range of about 270 degrees for three lidars. This lidar layout can be effectively integrated into the exterior design of the vehicle without being obtrusive. Utility Model Content

[0005] The purpose of this disclosure is to obtain a lidar system with a large detection range and aesthetically pleasing design in a cost-effective manner.

[0006] Furthermore, the purpose of this disclosure is to solve or at least alleviate one or more problems existing in the prior art.

[0007] This disclosure addresses the aforementioned problems by providing an in-vehicle lidar system and a vehicle. Specifically, according to one aspect of this disclosure, the following is provided:

[0008] A vehicle-mounted lidar system includes at least two side lidars and at least one top-mounted lidar. The side lidars are respectively arranged on both sides of the vehicle body and the optical axes of the side lidars are oriented towards the rear side of the vehicle. The horizontal detection range of the side lidars at least covers the rear side of the vehicle and at least partially covers the front side of the vehicle. The top-mounted lidar is arranged on the top of the vehicle body and the optical axis of the top-mounted lidar is oriented towards the front of the vehicle. The optical surface of the side lidars is constructed as a straight cylindrical surface or a curved cylindrical surface.

[0009] Alternatively, according to one embodiment of this disclosure, the side lidar is arranged on the exterior rearview mirror mounting bracket of the vehicle.

[0010] Optionally, according to one embodiment of this disclosure, the side lidar is arranged on the fender of the vehicle, and the front door of the vehicle is constructed with a recess, so that the horizontal detection range of the side lidar can cover the rear side of the vehicle.

[0011] Optionally, according to one embodiment of this disclosure, both the side lidar and the top lidar are capable of achieving a horizontal detection range of at least 120 degrees.

[0012] Optionally, according to one embodiment of this disclosure, the side lidar is arranged on the boundary of the horizontal detection range of the top lidar, and the horizontal detection ranges of the side lidar and the top lidar overlap.

[0013] Alternatively, according to one embodiment of this disclosure, the outer contour of the optical surface of the side lidar is aligned with the gap between the fender and the front door.

[0014] Alternatively, according to one embodiment of this disclosure, the optical surface of the side lidar is made of glass.

[0015] Optionally, according to one embodiment of the present disclosure, the fender is configured with a receiving portion that is aligned with the outline of the recess, and the side lidar is disposed within the receiving portion.

[0016] Optionally, according to one embodiment of this disclosure, the vehicle-mounted lidar system further includes a decorative element disposed within the receiving portion, and the optical surface of the side lidar is disposed within the decorative element.

[0017] According to another aspect of this disclosure, a vehicle is provided, wherein the vehicle includes any of the aforementioned vehicle-mounted lidar systems. Attached Figure Description

[0018] Referring to the accompanying drawings, the above and other features of this disclosure will become apparent, wherein,

[0019] Figure 1 A three-dimensional schematic diagram of the layout of an in-vehicle lidar system according to the present disclosure is shown;

[0020] Figure 2 A detailed diagram of the arrangement of a side-mounted lidar according to the present disclosure is shown;

[0021] Figure 3 A detailed diagram of the arrangement of another side-mounted lidar according to this disclosure is shown;

[0022] Figure 4 A wireframe diagram showing the arrangement of a side-mounted lidar according to the present disclosure is shown; and

[0023] Figure 5 A schematic diagram of the horizontal detection range of a vehicle-mounted lidar system according to the present disclosure is shown. Detailed Implementation

[0024] It is readily understood that, based on the technical solutions of this disclosure, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this disclosure. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solutions of this disclosure and should not be considered as the entirety of this disclosure or as limitations or restrictions on the technical solutions of this disclosure.

[0025] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used for descriptive and distinguishing purposes only and should not be construed as indicating or implying the relative importance of the corresponding components.

[0026] Figure 1 A three-dimensional schematic diagram of the layout of an in-vehicle lidar system according to the present disclosure is shown; Figure 2 A detailed diagram of the arrangement of a side-mounted lidar according to the present disclosure is shown. Figure 2 The complete curved cylindrical surface is also schematically drawn to illustrate that the optical surface of the side lidar is part of this complete curved cylindrical surface.

[0027] The vehicle-mounted lidar system includes at least two side lidars 1 and at least one top lidar 2. The side lidars 1 are respectively arranged on both sides of the vehicle body and the optical axis of the side lidars 1 is oriented towards the rear side of the vehicle (e.g., turning 30 degrees rearward based on the width direction of the vehicle). The horizontal detection range of the side lidars 1 covers at least the rear side of the vehicle and at least partially covers the front side of the vehicle. The top lidar 2 is arranged on the top of the vehicle body and the optical axis of the top lidar 2 is oriented towards the front of the vehicle. The optical surface of the side lidars 1 is constructed as a straight cylindrical surface or a curved cylindrical surface.

[0028] It should be understood that the horizontal detection range of a lidar system can also be called its horizontal field of view. Therefore, side lidar can detect the area behind and to the side of a vehicle, while both side and top-mounted lidars can detect the area in front of and to the sides. This achieves a large detection range, even approaching 360-degree environmental perception, in a cost-effective manner, significantly improving detection comprehensiveness, driving safety, and the performance of driver assistance systems. Those skilled in the art can flexibly choose the specific number, placement, specifications, and shape of the lidar system according to actual requirements. For example, one top-mounted lidar combined with two side lidars can achieve the purpose of this solution. Furthermore, the vertical field of view, or the detection range in the height direction, of a lidar system is generally sufficient for vehicle operating conditions. It should also be understood that covering the area behind and to the side of a vehicle does not strictly require perfect coverage or complete coverage of the entire area; rather, it is sufficient to cover the area behind and to the side of the vehicle in practical use.

[0029] It should also be understood that the straight cylindrical surface or curved cylindrical surface mentioned in the text can be understood as a cylindrical surface or a barrel surface, respectively. A straight cylindrical surface refers to the outer circumferential shape of a cylinder that is straight in the vertical direction, while having curvature on the circumference of its cross-section (or horizontal direction). A curved cylindrical surface or barrel surface refers to the outer circumferential surface of a (curved) cylinder that has curvature not only in the horizontal direction but also in the vertical direction. The horizontal curvature allows the lidar to detect objects at a wider angle; the vertical curvature satisfies aesthetic requirements, giving the surrounding parts a certain degree of curvature.

[0030] Compared to free-form surfaces (irregular surfaces), straight or curved cylindrical surfaces offer a more harmonious and aesthetically pleasing appearance, are easier to process and manufacture, and can facilitate the optimization of laser beam emission and reception angles, meet the requirements of lidar signal transmission and reception, and satisfy the optical performance of lidar, thereby further improving detection effectiveness. These factors contribute to both performance and aesthetic advantages for the entire lidar system.

[0031] Furthermore, for top-mounted lidar, a watchtower design could be considered, offering a wide field of view and observation range, and being less affected by ground debris, water, mud splashes, or other contaminants. In addition, the watchtower's layout is compact and aesthetically pleasing, without disrupting the vehicle's overall design.

[0032] Figure 3 A detailed diagram of the arrangement of another side-mounted lidar according to this disclosure is shown.

[0033] The side lidar 1 is mounted on the exterior rearview mirror mounting bracket 3 of the vehicle 100. This technical solution provides an example of the layout of side lidar. This layout makes full use of the existing space of the exterior rearview mirror mounting bracket without creating an additional burden, and has a compactness and high space utilization rate. Furthermore, the side lidar can be embedded, that is, the optical surface of the side lidar can be integrated into or flush with the surface of the exterior rearview mirror mounting bracket, so the overall appearance of the vehicle is not affected. In addition, the exterior rearview mirror mounting bracket is usually positioned high, which can avoid the impact of splashed dirt. In addition, since the exterior rearview mirror and its bracket are usually located on the side of the vehicle, it can well match the design of the side lidar being set on the side of the vehicle body with the optical axis oriented towards the rear side. Moreover, since the exterior rearview mirror is located at the outer overhang protrusion of the vehicle body, the detection angle to the rear of the vehicle can be increased, that is, the detection blind spot can be reduced, so that the total detection angle of the three lidars is infinitely close to 360 degrees.

[0034] Figure 4 A wireframe diagram showing the arrangement of a side-mounted lidar according to the present disclosure is shown.

[0035] Combination Figure 1 , Figure 2 and Figure 4 As can be seen, the side lidar 1 is arranged on the fender 4 of the vehicle 100, and the front door 5 of the vehicle 100 is constructed with a recess 51, so that the horizontal detection range of the side lidar 1 can cover the side and rear of the vehicle.

[0036] This solution provides an alternative layout for side-mounted lidar. The fender can be understood as a panel installed near the vehicle's wheels, primarily serving to protect the wheels from impacts and to prevent dirt, stones, and other debris kicked up by the wheels from landing on the vehicle body and other vehicles. The fender is sometimes also referred to as the leaf spring.

[0037] Considering that the optical axis of the side-mounted lidar points to the rear, a recessed section is constructed in the front door panel next to the fender. This provides detection space for the lidar, reduces obstruction of the lidar's detection range by the door, and ensures its detection effect. In addition to enabling effective lidar placement, this technical solution also enhances the overall aesthetics of the vehicle.

[0038] In other embodiments, side-mounted lidar can be installed on the front sides of the vehicle, such as near the headlights or on the left and right front bumpers. This arrangement enables effective detection of the vehicle's front sides, helping to identify potential hazards in advance while the vehicle is in motion. Alternatively, by utilizing the mounting position of the vehicle's exterior rearview mirrors and placing the side-mounted lidar on or near them, the field of view of the rearview mirrors can be fully utilized, expanding the lidar's detection range. This improves the vehicle's perception capabilities without affecting the normal use of the rearview mirrors.

[0039] Depending on the specific design and layout of the vehicle, side-mounted lidar can also be installed on the side skirts or side panels, enabling effective detection of the vehicle's lower sides and helping to detect and avoid low obstacles in a timely manner while the vehicle is in motion. Alternatively or supplementarily, side-mounted lidar can also be placed at the rear or rear-side of the vehicle to achieve detection of the vehicle's rear-side area.

[0040] Those skilled in the art should understand that when selecting a layout method, it is necessary to comprehensively consider factors such as the specific application scenario of the vehicle, design requirements, and cost budget.

[0041] In some embodiments of this disclosure, both the side lidar 1 and the top lidar 2 are capable of achieving a horizontal detection range of at least 120 degrees.

[0042] It should be understood that a wider horizontal detection range means that the lidar can cover a wider area of ​​the surrounding environment, thereby providing more comprehensive environmental perception information and enabling vehicles to detect potential hazards in advance, which can significantly improve vehicle safety and reduce traffic accidents. This type of lidar can be considered a wide-angle lidar. A lidar system using this type of lidar can achieve a near 360-degree overall detection range. In other embodiments, lidars with other detection angles, such as 180 degrees or 60 degrees, can also be selected, and their layout can be set according to their detection range to comprehensively achieve a larger detection range. Those skilled in the art can select lidars of various specifications based on factors such as performance and cost, system design requirements, and application scenario needs. For example, for a lidar with a 120-degree horizontal field of view, combined with the various technical solutions of this disclosure, it is already able to cover most of the key areas during vehicle operation, meeting aesthetic and driving requirements while controlling costs. Not to mention, lidar can also be used in conjunction with or integrated with other sensors (such as cameras, millimeter-wave radar, etc.). In this case, a 120-degree horizontal field of view is a suitable choice, which can provide sufficient detection range and complement other sensors well.

[0043] Conversely, on the one hand, a larger detection angle for a side-mounted lidar may affect its integration into the vehicle's exterior design. For example, if a single lidar is configured to have a detection range of approximately 180 degrees, its optical surface window is essentially a 50% cylindrical surface, which has a certain impact on its integration into the vehicle's exterior design. A lidar with a 120-degree detection range, however, can achieve a cylindrical surface closer to 20%.

[0044] On the other hand, if the side-mounted LiDARs are arranged facing directly to the side, they are mainly responsible for detecting the sides of the vehicle, making it difficult to detect the rear. Even with one top-mounted LiDAR and two side-mounted LiDARs on the vehicle body, the maximum detection angle coverage is only 300 degrees. If 360-degree detection coverage is required, another LiDAR needs to be installed at the rear of the vehicle, which reduces economic efficiency. This technical solution, however, can achieve 360-degree detection of the vehicle with three LiDARs, while also seamlessly integrating into the vehicle's exterior design.

[0045] Figure 5 A schematic diagram of the horizontal detection range of a vehicle-mounted lidar system according to the present disclosure is shown.

[0046] The side lidar 1 is arranged on the boundary of the horizontal detection range of the top lidar 2, and the horizontal detection ranges of the side lidar 1 and the top lidar 2 overlap.

[0047] This technical solution maximizes the detection capabilities of each lidar, resulting in a larger overall detection range. Furthermore, the overlapping area of ​​the lidars ensures that the entire system has no blind spots in that region, guaranteeing continuous detection and allowing a seamless transition from the detection area of ​​the top-mounted lidar to the detection area of ​​the side lidars. For example, the overlapping area corresponds to a detection range between 1 and 10 degrees.

[0048] from Figure 2 It is also evident that the outer contour of the optical surface of the side lidar 1 is aligned with the gap between the fender 4 and the front door 5. Therefore, when viewed from the side of the vehicle in a frontal projection direction, the optical surface of the side lidar blends seamlessly with the front door, creating a continuous visual appearance. This allows the side lidar to integrate better with the vehicle's exterior, reducing any abruptness and enhancing the overall aesthetics of the vehicle. It is also understandable that, since door gaps are generally vertically extending, the outer contour of the side lidar's optical surface refers to the vertically extending outer contour portion on one side.

[0049] Alternatively, the optical surface of the side-mounted lidar 1 can be made of glass. Glass has excellent impact resistance, especially since the side-mounted lidar is located on the lower side of the vehicle and is easily struck by small stones from the road surface. This solution is suitable for addressing such risks. Glass also protects internal components from external dust, moisture, and other impurities, and has good weather resistance and corrosion resistance, adapting to various harsh environments and ensuring stable operation of the lidar under various weather and road conditions, thereby extending the lidar's service life.

[0050] On the other hand, this scheme is well-suited to designs with straight or curved cylindrical surfaces. This is because straight or curved cylindrical surfaces are regular shapes, facilitating the calculation of lidar specifications and thus simplifying glass manufacturing, better meeting the requirements of optical glass manufacturing. Furthermore, glass possesses high transmittance and excellent optical properties, such as flatness and uniformity, ensuring minimal loss of the laser beam emitted by the lidar during propagation, thereby improving the lidar's detection accuracy and range.

[0051] Other options may also use materials such as silicone or plastic. Those skilled in the art can select the appropriate material based on the specific application scenario or budget.

[0052] Combination Figure 2 The fender 4 can also be configured with a receiving portion, which is aligned with the outline of the recess 51. The side lidar 1 is arranged in the receiving portion, making the installation of the lidar more compact and optimizing the spatial layout of the vehicle body.

[0053] Here, the outlines of the housing and the recess refer to the lateral outlines where they transition; aligning these outlines ensures visual harmony. The design of the housing allows for better integration of the side lidar into the overall vehicle appearance and also works in conjunction with the recess. Furthermore, by embedding the lidar into the housing within the fender, wind resistance during vehicle operation can be reduced, improving fuel economy or the driving range of electric vehicles.

[0054] To further enhance the aesthetics, the vehicle-mounted LiDAR system may also include a decorative element 6 disposed within the receiving portion, with the optical surface of the side LiDAR 1 disposed within the decorative element 6. In this regard, the outer contour of the decorative element may also be aligned with the gap between the fender and the front door panel, and may also be aligned with the outer contour of the receiving portion.

[0055] In addition to their decorative function, decorative components can also be seen as support components for mounting side-mounted lidar, or as protective components for protecting lidar.

[0056] The disclosed lidar system has also been experimentally verified. The experiment was conducted based on the laser reflection situation when detecting a vehicle located 35m behind the vehicle in an adjacent lane. The experimental objects, from left to right, are side lidars with elliptical, cylindrical, and curved optical surfaces, respectively. The results show that the performance of the elliptical lidar is lower than that of the cylindrical and curved side lidars, while the cylindrical and curved side lidars have similar high performance. Thus, the lidar system of this disclosure can cover a near 360-degree detection area of ​​a vehicle with, for example, three lidars, while seamlessly integrating into the vehicle's exterior design, ensuring functionality, meeting economic requirements, and maintaining the aesthetic appeal of the overall vehicle design.

[0057] It should be understood that the vehicle-mounted lidar system of this disclosure can be installed in various vehicles, including gasoline vehicles, diesel vehicles, passenger cars, trucks, buses, hybrid vehicles, pure electric vehicles, etc. Therefore, the subject matter of this disclosure is also intended to protect various vehicles equipped with the vehicle-mounted lidar system of this disclosure.

[0058] It should be understood that all the above preferred embodiments are exemplary and not restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of this disclosure should be within the legal protection scope of this disclosure.

Claims

1. A vehicle-mounted lidar system, characterized in that, The vehicle-mounted lidar system includes at least two side lidars (1) and at least one top lidar (2). The side lidars (1) are respectively arranged on both sides of the vehicle body and the optical axis of the side lidars (1) is oriented towards the rear side of the vehicle. The horizontal detection range of the side lidars (1) covers at least the rear side of the vehicle and at least partially covers the front side of the vehicle. The top lidar (2) is arranged on the top of the vehicle body and the optical axis of the top lidar (2) is oriented towards the front of the vehicle. The optical surface of the side lidars (1) is constructed as a straight cylindrical surface or a curved cylindrical surface.

2. The vehicle-mounted lidar system according to claim 1, characterized in that, The side lidar (1) is mounted on the exterior rearview mirror mounting bracket (3) of the vehicle (100).

3. The vehicle-mounted lidar system according to claim 1, characterized in that, The side lidar (1) is arranged on the fender (4) of the vehicle (100), and the front door (5) of the vehicle (100) is constructed with a recess (51) so that the horizontal detection range of the side lidar (1) can cover the rear side of the vehicle.

4. The vehicle-mounted lidar system according to claim 1, characterized in that, Both the side-mounted lidar (1) and the top-mounted lidar (2) are capable of achieving a horizontal detection range of at least 120 degrees.

5. The vehicle-mounted lidar system according to claim 1, characterized in that, The side lidar (1) is arranged on the boundary of the horizontal detection range of the top lidar (2), and the horizontal detection ranges of the side lidar (1) and the top lidar (2) overlap.

6. The vehicle-mounted lidar system according to claim 3, characterized in that, The outer contour of the optical surface of the side lidar (1) is aligned with the gap between the fender (4) and the front door (5).

7. The vehicle-mounted lidar system according to claim 1, characterized in that, The optical surface of the side lidar (1) is made of glass.

8. The vehicle-mounted lidar system according to claim 3, characterized in that, The fender (4) is provided with a receiving portion that is aligned with the outline of the recess (51), and the side lidar (1) is arranged in the receiving portion.

9. The vehicle-mounted lidar system according to claim 8, characterized in that, The vehicle-mounted lidar system also includes a decorative element (6), which is arranged within the receiving portion, and the optical surface of the side lidar (1) is arranged within the decorative element (6).

10. A vehicle (100), characterized in that, The vehicle includes an onboard lidar system according to any one of claims 1 to 9.

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