Roof sensor device for a vehicle and vehicle

Abstract

Embodiments of the present disclosure provide a roof sensor device for a vehicle and a vehicle. The roof sensor device includes a forward sensor assembly including a front housing arranged in front of a roof of the vehicle in a traveling direction and a plurality of forward sensors arranged in the front housing, the plurality of forward sensors being arranged to at least face forward of the vehicle in the traveling direction and both sides of the vehicle perpendicular to the traveling direction to collect environmental data of the forward and both sides; and a rearward sensor assembly including a rear housing arranged behind the roof in the traveling direction and a plurality of rearward sensors arranged in the rear housing, the rearward sensors at least facing behind of the vehicle in the traveling direction to collect environmental data of the behind. Thus, the environmental data of the vicinity of the vehicle can be more comprehensively collected.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of vehicles, and particularly to roof-mounted sensor devices for vehicles and vehicles. Background Technology

[0002] Autonomous driving technology relies on environmental data collected by numerous sensors installed throughout the vehicle. As autonomous driving technology continues to develop, higher demands are placed on these sensors. The roof, being the highest point of the vehicle, is a crucial location for installing perception sensors. Roof-mounted sensor systems need to integrate multiple sensors and provide them with stable mounting, effective heat dissipation, and protection against external environmental factors such as rain and dust. Utility Model Content

[0003] In a first aspect of this disclosure, a roof-mounted sensor device for a vehicle is provided. The roof-mounted sensor device includes: a forward sensor assembly comprising a front housing disposed on the roof of the vehicle in the direction of travel and a plurality of front sensors disposed within the front housing, the plurality of front sensors being arranged at least facing forward of the vehicle in the direction of travel and to both sides perpendicular to the direction of travel to collect environmental data in front and to both sides; and a rearward sensor assembly comprising a rear housing disposed on the roof in the direction of travel and a plurality of rearward sensors disposed within the rear housing, the rearward sensors being at least facing rearward of the vehicle in the direction of travel to collect environmental data to the rear.

[0004] In some embodiments, the front housing includes: a forward portion disposed at the front center of the roof; and a pair of front side portions, including a forward inclined section extending obliquely rearward from an end of the forward portion in the width direction of the vehicle, and a front rear section extending from the forward inclined section in the direction of travel.

[0005] In some embodiments, the front housing includes: a forward base plate coupled to the roof, with both ends of the forward base plate adapted to bend from the middle of the roof toward the rear of the vehicle; and a forward outer shell coupled to the forward base plate to form a mounting space with the forward base plate to accommodate a plurality of front sensors.

[0006] In some embodiments, the front housing further includes: a forward air intake formed in the middle of the forward portion for airflow to enter the front housing; a pair of forward air outlets formed at the ends of the front rear sections of a pair of front side portions for airflow to exit from the front housing; and a forward air passage formed between the forward floor and the roof of the vehicle, and adapted to connect the forward air intake and the pair of forward air outlets.

[0007] In some embodiments, the forward sensor assembly further includes: a plurality of forward heat dissipation fins arranged in a forward air passage and coupled to a forward base plate, wherein the plurality of forward heat dissipation fins are respectively coupled to at least a portion of the sensors in the forward sensors.

[0008] In some embodiments, the plurality of front sensors include at least one of a lidar, a camera, and a microphone.

[0009] In some embodiments, the plurality of front sensors include: a forward-facing lidar disposed in the mounting space and coupled to the forward portion, the forward-facing lidar having a viewing angle at least facing forward in the direction of travel; and a pair of side lidars disposed in the mounting space and coupled to a pair of frontal sides, the pair of side lidars having viewing angles facing the sides of the vehicle perpendicular to the direction of travel.

[0010] In some embodiments, the plurality of front sensors further include: a forward-facing camera disposed within the mounting space and coupled to the forward portion, the forward-facing camera having a viewing angle facing forward in the direction of travel; and two pairs of side cameras disposed within the mounting space and coupled to a pair of frontal side portions, the viewing angles of the two pairs of side cameras facing the sides of the vehicle perpendicular to the direction of travel, and wherein the viewing angle of the first side camera in the pair of side cameras is offset forward in the direction of travel, and the viewing angle of the second side camera is offset backward in the direction of travel relative to the viewing angle of the first side camera, the viewing angles of the first side camera and the viewing angles of the second side camera partially overlap.

[0011] In some embodiments, the rear housing includes: a rearward portion disposed at the rear center of the roof; and a pair of rearward side portions, including a rearward sloping section extending obliquely forward from the end of the rearward portion in the width direction of the vehicle, and a rearward tail section extending from the rearward sloping section in the direction of travel.

[0012] In some embodiments, the rearward sensor assembly further includes: a rearward base plate coupled to the roof, with both ends of the rearward base plate adapted to bend forward from the middle of the roof towards the front of the vehicle; and a rearward housing coupled to the rearward base plate to form a mounting space with the rearward base plate to accommodate a plurality of rearward sensors.

[0013] In some embodiments, the rear housing further includes: a rearward air intake formed in the middle of the rearward portion and facing forward in the direction of travel for airflow to enter the rear housing; a rearward air outlet formed in the middle of the rearward portion and facing rearward in the direction of travel for airflow to exit from the rear housing; and a rearward air passage formed between the rearward floor and the roof of the vehicle and adapted to connect the rearward air intake and the rearward air outlet.

[0014] In some embodiments, the rearward sensor assembly further includes: rearward heat dissipation fins disposed in the rearward air passage and coupled to the rearward base plate, wherein the rearward heat dissipation fins are coupled to at least a portion of the sensors in the rearward sensors.

[0015] In some embodiments, the plurality of rearward sensors include: a rearward lidar coupled to the rearward portion and facing rearward in the direction of travel; a rearward camera coupled to the rearward portion and facing rearward in the direction of travel; and a rearward microphone coupled to the rearward portion and adapted to acquire at least sound information behind the vehicle.

[0016] According to some embodiments of the present disclosure, the roof sensor device arranges multiple sensors in the front housing and the rear housing respectively, thereby enabling the multiple sensors to collect environmental data around the vehicle. This allows for more accurate and comprehensive acquisition of the environment around the vehicle during driving, so that the vehicle's data processing and calculation module can control the vehicle more accurately.

[0017] In a second aspect of this disclosure, a vehicle is provided. The vehicle includes: a roof; and a roof sensor device according to a first aspect of this disclosure.

[0018] It should be understood that the content described in this content section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0019] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0020] Figure 1 A schematic diagram of the overall structure of a roof-mounted sensor device according to some embodiments of the present disclosure is shown;

[0021] Figure 2 A schematic diagram of the internal structure of a roof-mounted sensor device according to some embodiments of the present disclosure is shown;

[0022] Figure 3 A schematic diagram of the forward portion of a roof sensor device according to some embodiments of the present disclosure is shown; and

[0023] Figure 4 A schematic diagram of the bottom structure of the forward base plate according to some embodiments of the present disclosure is shown. Detailed Implementation

[0024] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0025] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0026] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0027] As briefly mentioned above, roof-mounted sensors, as an important component of vehicle sensors, play a crucial role in acquiring data about the vehicle's surrounding environment through their types, quantities, operational stability, and collaborative configuration.

[0028] Traditional roof-mounted attachments may not adequately consider the precise positioning and attitude maintenance of sensors under high-speed driving or vibration conditions, leading to unstable or inaccurate sensor data. Furthermore, vehicles are easily exposed to direct sunlight during operation, and high-power sensors (especially LiDAR) generate significant heat during operation. This can result in excessively high ambient temperatures for the sensors, potentially affecting their normal operation.

[0029] Embodiments of this disclosure provide a roof-mounted sensor device and a vehicle for solving or at least partially solving the aforementioned problems or other potential problems existing in the conventional art. According to some embodiments of the roof-mounted sensor device of this disclosure, by arranging multiple sensors separately within the front and rear housings, the multiple sensors can collect environmental data from various locations around the vehicle. This allows for more accurate and comprehensive acquisition of the environment around the vehicle during driving, enabling the vehicle's data processing and calculation modules to more accurately control the vehicle. The multiple sensors are respectively mounted at corresponding positions in the front and rear housings and are cooled through air ducts inside the front and / or rear housings, thereby effectively reducing heat accumulation inside the roof-mounted sensor device and improving the operational stability of the multiple sensors.

[0030] Figure 1 A schematic diagram of the overall structure of a roof-mounted sensor device according to some embodiments of the present disclosure is shown. Figure 1 As shown, the roof-mounted sensor assembly generally includes a forward sensor assembly and a rearward sensor assembly arranged on the roof along the direction of travel. The forward sensor assembly is located forward of the vehicle in the direction of travel and includes multiple front sensors. These multiple front sensors are arranged at least facing the vehicle in front of it and to its sides perpendicular to the direction of travel, so that they can be used to acquire environmental data at least in front of and to the sides of the vehicle during travel. The rearward sensor assembly is located rearward of the vehicle along the direction of travel and includes multiple rear sensors. These multiple rear sensors are at least facing rearward of the vehicle in the direction of travel to collect environmental data behind the vehicle.

[0031] In some embodiments, the forward sensor assembly includes a front housing 1. A front sensor is disposed within the front housing 1. The front housing 1 includes a forward portion 11 disposed at the center of the roof and forward along the direction of travel, and a pair of front side portions 12 disposed on either side of the forward portion 11. Each front side portion 12 includes a forward inclined section 121 extending obliquely toward the rear of the vehicle along the vehicle width direction (i.e., perpendicular to the direction of travel), and a front rear section 122 formed on the forward inclined section 121 away from the forward portion 11. The pair of front side portions 12 are symmetrically arranged along the vehicle's centerline, thereby giving the front housing 1 an overall generally C-shaped configuration.

[0032] Figure 2 A schematic diagram of the internal structure of a roof-mounted sensor device according to some embodiments of the present disclosure is shown. Figure 2 As shown and combined Figure 1In some embodiments, the front housing 1 is formed by splicing a forward base plate 13 and a forward outer shell 14. The forward base plate 13 is coupled to the vehicle roof by fasteners such as bolts, and the forward outer shell 14 is fastened to the forward base plate 13 by snap-fit ​​fasteners. An installation space is formed between the forward base plate 13 and the forward outer shell 14 to accommodate multiple front sensors. The front sensors can be fixed to the forward base plate 13 by fasteners such as bolts, so that the forward base plate 13 can provide stable support for multiple front sensors, allowing multiple front sensors to maintain a stable connection with the vehicle roof even when facing vehicle bumps. In some embodiments, since the forward base plate 13 is bolted to the vehicle roof, a sealing ring can also be provided between the forward base plate 13 and the vehicle roof to ensure the waterproof performance of the vehicle roof.

[0033] In some embodiments, the forward base plate 13 may be made of a metal material such as stainless steel or aluminum alloy, thereby improving the structural strength of the front housing 1. The forward outer shell 14 may be made of a non-metallic material, such as engineering plastics, thereby avoiding shielding or interference of signals such as millimeter-wave radar and lidar caused by the metal structure. In some embodiments, different types of engineering plastics may be selected according to the specific needs of different parts of the forward outer shell 14, such as acrylonitrile-butadiene-styrene copolymer plastic (ABS), acrylonitrile-styrene-acrylate copolymer plastic (ASA), polycarbonate plastic (PC), etc. Specific engineering plastics can be selected based on their structural characteristics, for example, considering the requirements of surface flatness, strength, appearance, and weather resistance of the forward outer shell 14, which will not be elaborated further in this disclosure.

[0034] In some embodiments, the multiple front sensors may be different types of sensors. For example, the front sensors may include at least one of LiDAR, camera, millimeter-wave radar, and microphone.

[0035] Figure 3 A schematic diagram of the forward portion of a roof-mounted sensor device according to some embodiments of the present disclosure is shown. For example... Figure 2 and Figure 3 As shown, in some embodiments, the front sensor may include a forward-facing lidar 2 and a pair of side-facing lidars 3. The forward-facing lidar 2 is located in the forward portion 11 of the front housing 1 and is bolted to the forward base plate 13. The viewing angle of the forward-facing lidar 2 is at least forward of the direction of travel. In this way, the forward-facing lidar 2 can scan the road conditions ahead of the vehicle's direction of travel, such as the direction of the road ahead, the movement of obstacles such as vehicles or pedestrians ahead, etc.

[0036] A pair of side-facing lidar sensors 3 are located on the front rear sections 122 of a pair of front side sections 12 and coupled to the front floor plate 13. The viewing angles of the pair of side-facing lidar sensors 3 are directed towards both sides of the vehicle perpendicular to the direction of travel. In this way, the side-facing lidar sensors 3 can be used to detect objects or obstacles on the sides of the vehicle. For example, the side-facing lidar sensors 3 can detect whether there is a vehicle in the lane to the side of the vehicle, so that the vehicle can perform lane changes, steering, and other operations.

[0037] In some embodiments, the front sensor further includes a forward-facing camera 4 and two pairs of side cameras 5. The forward-facing camera 4 is located in the forward section 11 and is bolted to the forward base plate 13. The field of view of the forward-facing camera 4 faces forward in the direction of travel. In some embodiments, the forward-facing camera 4 may be arranged close to the forward-facing lidar 2 so that the image acquired by the forward-facing camera 4 is matched with the data from the forward-facing lidar 2. The vehicle's data processing and computing module can fuse the environmental data acquired by the forward-facing camera 4 and the forward-facing lidar 2 to more accurately determine the environment in front of the vehicle.

[0038] Two pairs of side cameras 5 are respectively mounted on the front rear section 122 of a pair of front side sections 12. The two pairs of side cameras 5 face the sides of the corresponding vehicles, allowing them to acquire environmental data from both sides of the vehicle. In some embodiments, each pair of side cameras 5 is arranged along the vehicle's direction of travel. The field of view of the side camera 5 located in front of the vehicle's direction of travel is at least shifted forward or tilted; the field of view of the side camera 5 located behind the vehicle's direction of travel is at least partially shifted backward, and the fields of view of the pair of side cameras partially overlap. In this way, the pair of side cameras 5 can have a larger field of view, thereby improving the comprehensiveness of environmental data acquisition.

[0039] In some embodiments, all sensors also include a forward-facing microphone 6. The forward-facing microphone 6 is arranged in the forward portion 11 of the front housing 1 and close to the forward-facing lidar 2. The area of ​​the forward-facing housing 14 corresponding to the forward-facing microphone 6 may have appropriate mesh openings to allow sound to enter the interior of the front housing 1 and be collected by the forward-facing microphone 6. The forward-facing microphone 6 can collect at least the sound information in front of the vehicle. For example, the forward-facing microphone 6 can collect sounds such as horns honking in front of the vehicle.

[0040] Because multiple front sensors (especially lidar) generate heat during operation, and the front sensor assembly is located on the roof and is exposed to sunlight, the internal temperature of the front sensor assembly tends to accumulate. Excessive internal temperature of the front sensors can affect their normal operation. Figure 4 A schematic diagram of the bottom structure of the forward base plate according to some embodiments of the present disclosure is shown. Figure 1 and Figure 4As shown, in some embodiments, the front housing 1 further includes a forward air inlet 15, a pair of forward air outlets 16, and a forward air passage 17. The forward air inlet 15 is formed in the middle of the forward portion 11 and is located in front in the direction of travel. The forward air inlet 15 is adapted to connect the inside and outside of the front housing 1, thereby facilitating air to enter the interior of the front housing 1 through the forward air inlet 15. In some embodiments, the forward air inlet 15 may be in the form of a grille, mesh, etc., thereby providing appropriate dust and water protection and reducing the entry of debris into the front housing 1. A pair of forward air outlets 16 are respectively formed at the ends of the front tail sections 122 of a pair of front side portions 12. The forward air outlets 16 are adapted to connect the inside and outside of the front housing 1, so that air can be discharged from the interior of the front housing 1. Similar to the forward air inlet 15, the forward air outlets 16 may also be in the form of a grille, mesh, etc., to reduce the entry of debris into the front housing 1. A forward air duct 17 is formed between the forward floor 13 and the roof of the vehicle, and the forward air duct 17 is connected to a forward air intake 15 and a pair of forward air outlets 16.

[0041] During vehicle operation, air can enter the housing through the forward air intake 15 and exit through the forward air outlet 16 via the forward air passage 17. The heat inside the front housing 1 can be carried away by the air, thereby reducing the internal temperature of the forward sensor assembly.

[0042] In some embodiments, the forward sensor assembly further includes a plurality of forward heat dissipation fins 18. The plurality of forward heat dissipation fins 18 directly or indirectly couple at least some of the multiple front sensors, thereby enhancing the heat dissipation capability of the corresponding sensors. For example, the plurality of forward heat dissipation fins 18 may be arranged corresponding to multiple lidars (e.g., one forward lidar 2 and a pair of side-facing lidars 3), with the forward heat dissipation fins 18 positioned on the side of the forward base plate 13 away from the lidars and aligned with the lidars along the height direction. The forward heat dissipation fins 18 are bolted to the forward base plate 13, and the heat generated during lidar operation can be conducted to the forward heat dissipation fins 18 via the forward base plate 13. In some embodiments, a thermally conductive material, such as phase change pad thermal grease, may be filled between the lidar and the forward base plate 13, and between the forward heat dissipation fins 18 and the forward base plate 13, thereby improving the heat transfer efficiency from the lidar to the forward heat dissipation fins 18.

[0043] Return to reference Figure 1 ,like Figure 1As shown, in some embodiments, the rearward sensor assembly includes a rear housing 7 coupled to the top of the vehicle and positioned rearward relative to the front housing 1 in the direction of travel. The rear housing 7 includes a rearward portion 71 and a pair of rearward side portions 72. The rearward portion 71 is located in the middle of the roof and near the rear of the roof, and the pair of rearward side portions 72 are coupled to opposite ends of the rearward portion 71 in the width direction of the vehicle. The rearward side portions 72 include a rearward sloping section 721 coupled to the rearward portion 71 and a rearward tail section 722 coupled to the rearward sloping section 721. The rearward sloping section 721 extends at least in the width direction and slopes forward towards the front of the vehicle, and the rearward tail section 722 is positioned at one end of the rearward sloping section 721 away from the rearward portion and extends forward. The rearward portion 71 and the pair of rearward side portions 72 give the rear housing 7 a generally C-shaped overall form. In some embodiments, the front housing 1 and the rear housing 7 can be arranged symmetrically, which can facilitate the installation of the roof sensor device and improve the overall smoothness of the vehicle appearance, thereby reducing the vehicle's wind resistance.

[0044] In some embodiments, the rearward sensor assembly further includes a rearward base plate and a rearward housing coupled to the rearward base plate. The rearward base plate is coupled to the vehicle roof by fasteners such as bolts, and the rearward housing covers the rearward base plate to form a mounting frame between the rearward base plate and the rearward housing for accommodating the rearward sensor. In some embodiments, the rearward base plate and the rearward housing can be connected by snap-fit. Similar to the connection structure between the frontward base plate 13 and the vehicle roof described above, a sealing ring can also be used to achieve a waterproof seal between the rearward base plate and the vehicle roof to ensure the waterproof structure of the roof. In some embodiments, similar to the frontward sensor assembly, the rearward base plate can be made of metal, and the rearward housing can be made of non-metallic material, which will not be described in detail here.

[0045] In some embodiments, the rearward sensor includes a rearward lidar 8, a rearward camera 9, and a rearward microphone. The rearward lidar 8 is disposed in the rearward portion 71 and coupled to the rearward base plate. The field of view of the rearward lidar 8 faces the rear of the vehicle in the direction of travel to acquire environmental data behind the vehicle. The rearward camera 9 is also disposed in the rearward portion 71 and coupled to the rearward base plate. The field of view of the rearward camera 9 faces the rear of the vehicle in the direction of travel. The environmental data acquired by the rearward camera 9 can be fused with the environmental data acquired by the rearward lidar 8 to help the vehicle's data processing and calculation module more accurately determine the situation behind the vehicle. The rearward microphone is disposed in the rearward portion 71 of the rear housing 7 and close to the rearward lidar 8. The area of ​​the rear housing corresponding to the rearward microphone may have appropriate mesh openings to allow sound to enter the interior of the rear housing and be acquired by the rearward microphone. The rearward microphone can acquire at least the sound information behind the vehicle. For example, the rearward microphone can acquire the horn sounds of vehicles behind.

[0046] In some embodiments, the rearward sensor assembly also includes a heat dissipation structure. The rear housing 7 further includes a rearward air inlet 73, a rearward air outlet, and a rearward air passage. The rearward air inlet 73 is formed in the middle of the rearward portion 71 and is positioned facing forward of the vehicle. The rearward air inlet 73 connects the inside and outside of the rearward housing, allowing air to enter the interior of the rearward housing via the rearward air inlet 73. The rearward air outlet is formed in the middle of the rearward portion 71 and is positioned facing rearward of the vehicle. Air inside the rearward housing can be exhausted through the rearward air outlet. The rearward air passage is formed between the rearward floor and the vehicle roof. The rearward air passage communicates with both the rearward air inlet 73 and the rearward air outlet. Air can enter the rearward air passage from the rearward air inlet 73 and flow within the rearward air passage, thereby carrying away heat from inside the rear housing 7 through the rearward air outlet.

[0047] In some embodiments, a pair of auxiliary air intakes 74 are also provided on the rear housing 7. The pair of auxiliary air intakes 74 are respectively arranged on the rear tail sections 722 of a pair of rear side portions 72, and the auxiliary air intakes 74 face forward in the direction of vehicle travel. A rearward air passage communicates with the auxiliary air intakes 74. Air can enter the rearward air passage through the auxiliary air intakes 74 and be discharged through the rearward air outlet. In this way, the airflow within the rear housing 7 can be increased, improving heat dissipation efficiency.

[0048] In some embodiments, the rearward sensor assembly further includes rearward heat dissipation fins. The rearward heat dissipation fins are disposed within a rearward air duct and coupled to a rearward base plate. The mounting position of the rearward heat dissipation fins can be matched with at least a portion of the rearward sensor. For example, the rearward heat dissipation fins can be aligned with the rearward lidar 8 in the height direction. Heat generated by the rearward lidar 8 can be conducted to the rearward heat dissipation fins through the rearward base plate. Similar to the heat dissipation structure of the front heat dissipation fins 18, the thermal conductivity between the rearward lidar 8 and the rearward heat dissipation fins can be improved by filling the space between the rearward base plate and the rearward lidar 8, and between the rearward heat dissipation fins and the rearward base plate, with thermally conductive material.

[0049] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A roof-mounted sensor device for a vehicle, characterized in that, include: A forward sensor assembly includes a front housing (1) disposed on the roof of the vehicle in the direction of travel and a plurality of front sensors disposed in the front housing (1), the plurality of front sensors being arranged at least toward the front of the vehicle in the direction of travel and to both sides perpendicular to the direction of travel, to collect environmental data in the front and the sides. as well as The rearward sensor assembly includes a rear housing (7) disposed on the roof behind the vehicle in the direction of travel and a plurality of rearward sensors disposed in the rear housing (7), the rearward sensors being at least oriented toward the vehicle behind it in the direction of travel to collect environmental data in the rear.

2. The roof-mounted sensor device according to claim 1, characterized in that, The front housing (1) includes: The forward portion (11) is arranged at the front center of the roof; and A pair of front side portions (12), and including a front inclined section (121) extending obliquely rearward from the end of the forward portion (11) in the width direction of the vehicle, and a front rear section (122) extending from the front inclined section (121) in the direction of travel.

3. The roof-mounted sensor device according to claim 2, characterized in that, The front housing (1) includes: A forward-facing floor plate (13) is coupled to the roof, and both ends of the forward-facing floor plate (13) are adapted to bend from the middle of the roof toward the rear of the vehicle. The forward housing (14) is coupled to the forward base plate (13) to form an installation space with the forward base plate (13) to accommodate the plurality of front sensors.

4. The roof-mounted sensor device according to claim 3, characterized in that, The front housing (1) further includes: A forward air inlet (15) is formed in the middle of the forward portion (11) to allow airflow to enter the front housing (1). A pair of forward air outlets (16) are respectively formed at the ends of the front tail sections (122) of the pair of front sides (12) to allow airflow to exit from the front housing (1); and A forward air passage (17) is formed between the forward floor (13) and the roof of the vehicle and is adapted to connect the forward air intake (15) and the pair of forward air outlets (16).

5. The roof-mounted sensor device according to claim 4, characterized in that, The forward sensor assembly also includes: Multiple forward heat dissipation fins (18) are arranged in the forward air passage (17) and coupled to the forward base plate (13). The multiple forward heat dissipation fins (18) are respectively coupled to at least a portion of the sensors in the front sensors.

6. The roof-mounted sensor device according to claim 3, characterized in that, The plurality of front sensors include at least one of: lidar, camera, and microphone.

7. The roof-mounted sensor device according to claim 6, characterized in that, The plurality of front sensors include: A forward-facing lidar (2) is arranged within the mounting space and coupled to the forward-facing section (11), the viewing angle of the forward-facing lidar (2) being at least forward of the direction of travel; and A pair of side-facing lidars (3) are arranged in the installation space and coupled to the pair of front side sections (12) respectively. The viewing angles of the pair of side-facing lidars (3) are respectively directed toward the two sides of the vehicle perpendicular to the direction of travel.

8. The roof-mounted sensor device according to claim 7, characterized in that, The plurality of front sensors also include: A forward-facing camera (4) is arranged within the mounting space and coupled to the forward-facing portion (11), the viewing angle of the forward-facing camera (4) facing forward in the direction of travel; and Two pairs of side cameras (5) are arranged within the mounting space and coupled to the pair of front side sections (12), respectively. The viewing angles of the two pairs of side cameras (5) are respectively directed towards the sides of the vehicle perpendicular to the direction of travel. The first side camera (5) of the pair of side cameras (5) has its viewing angle shifted forward in the direction of travel, and the second side camera (5) has its viewing angle shifted backward in the direction of travel relative to the first side camera (5). The viewing angles of the first side camera (5) and the second side camera (5) partially overlap.

9. The roof-mounted sensor device according to any one of claims 1, 2, and 4-8, characterized in that, The rear housing (7) includes: The rear section (71) is arranged at the rear center of the roof; and A pair of rear side portions (72), and including a rear inclined section (721) extending obliquely forward from the rear portion (71) at the end in the width direction of the vehicle, and a rear tail section (722) extending from the rear inclined section (721) in the direction of travel.

10. The roof-mounted sensor device according to claim 9, characterized in that, The rear sensor assembly also includes: A rearward floor plate, coupled to the roof, and both ends of the rearward floor plate are adapted to bend from the middle of the roof toward the front of the vehicle; The rear housing is coupled to the rear base plate to form an installation space with the rear base plate to accommodate multiple rear sensors.

11. The roof-mounted sensor device according to claim 10, characterized in that, The rear housing (7) also includes: A rearward air inlet (73) is formed in the middle of the rearward portion (71), and the rearward air inlet (73) faces forward in the direction of travel to allow airflow to enter the rear housing (7). A rearward air outlet is formed in the middle of the rearward portion (71), and the rearward air outlet faces the rear of the direction of travel to allow airflow to exit from the rear housing (7); and A rearward air passage is formed between the rearward floor and the roof of the vehicle and is adapted to connect the rearward air intake (73) and the rearward air outlet.

12. The roof-mounted sensor device according to claim 11, characterized in that, The rear sensor assembly also includes: Rearward heat dissipation fins are arranged in the rearward air passage and coupled to the rearward base plate. The rearward heat dissipation fins are coupled to at least some of the sensors in the rear sensors.

13. The roof-mounted sensor device according to claim 9, characterized in that, The plurality of backward sensors include: A rearward lidar (8) is coupled to the rearward portion (71) and faces the rear of the direction of travel; A rear-facing camera (9) is coupled to the rear-facing portion (71) and faces rearward in the direction of travel; and A rear-facing microphone is coupled to the rear-facing portion (71) and is adapted to acquire sound information at least from the rear of the vehicle.

14. A vehicle, characterized in that, include: Car roof; as well as The roof sensor device according to any one of claims 1-13.

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