Vehicle with automatic drive and sensor lamp unit

Abstract

Vehicle (10) with automatic drive, comprising: a first front side window (32) disposed at an upper portion of each of the left and right side walls (20, 22); a second front side window (34) disposed on each of the left and right side walls (20, 22) at a position below a lower end of the first front side window (32) and at a front side with respect to a rear end of the first front side window (32); a sliding door (28) arranged on at least one of the side walls (20, 22) and sliding in a forward and backward direction; and a sensor lamp unit (100, 244), comprising: a passive sensor device (140) that detects an electromagnetic wave from the outside and acquires image data; an active sensor device (138) that detects a reflected wave of an electromagnetic wave that is radiated and acquires detection data; and a flashing light (136), characterized in that the passive sensor device (140), the active sensor device (138) and the indicator light (136) are arranged and oriented in an upward and downward direction and are attached to an outer surface of each of the left and right side walls (20, 22) of the vehicle, and the sensor lamp unit (100) is arranged on the side on which the sliding door (28) is arranged, at a position below the lower end of the first front side window (32), at a rear side with respect to a rear end of the second front side window (34), and at a front side with respect to a front end of the sliding door (28) when the sliding door (28) is slid forward.

Description

TECHNICAL FIELD

[0001] The present invention relates to a sensor lamp unit in an automatic drive vehicle or an automatically driving vehicle. BACKGROUND

[0002] An automated driving vehicle with an automatic driving function is generally equipped with sensor devices such as a camera, a lidar, or the like, and the vehicle drives while detecting obstacles around the vehicle.

[0003] WO 2018 / 030 285 A1 discloses a structure in which cameras are arranged in the indicator lights on the respective sides of the vehicle and lidars are arranged in the taillights at the rear of the vehicle.

[0004] The camera and the lidar have different measurement principles and can therefore obtain different information. However, since the camera and lidar are mounted at different positions in WO 2018 / 030 285 A1 described above, the fields of view of the camera and lidar differ significantly. This makes it difficult, for example, to use the acquired information integrally or complementarily. On the other hand, simply placing the camera and lidar close to each other would lead to disadvantages such as narrowing the fields of view of the camera and lidar.

[0005] WO 2019 / 111 565 A1 generally discloses an arrangement for a vehicle comprising a passive sensor device, an active sensor device, and a turn signal. However, these devices are arranged in a row at various locations on the vehicle. Regarding the prior art, reference is also made to KR 10 2011 002 631 A1, which discloses a vehicle turn signal housing in which a turn signal lamp, a camera, and an ultrasonic rangefinder are provided. CN 1 06 515 556 A discloses a side turn signal with integrated lidar and camera. Finally, US 2008 / 0 122 597 A1 discloses a school bus in which a camera with integrated lidar is mounted on the outside of the side wall.

[0006] An advantage of the present invention is that it proposes a new form of arranging a passive sensor device, such as a camera, and an active sensor device, such as a lidar, close to each other in an automatic drive vehicle or an automatically driving vehicle. SUMMARY

[0007] According to one aspect of the present invention, there is provided an automatic drive vehicle comprising: a first front side window disposed at an upper part of each of the left and right side panels; a second front side window disposed on each of the left and right side panels at a position below a lower end of the first front side window and at a front side with respect to a rear end of the first front side window; and a sliding door disposed on at least one of the side panels and sliding in a front and rear direction; and a sensor lamp unit comprising: a passive sensor device that detects an electromagnetic wave from the outside and acquires image data; an active sensor device that detects a reflected wave of an electromagnetic wave that is radiated and acquires detection data;and a turn signal lamp, wherein the passive sensor device, the active sensor device, and the turn signal lamp are arranged and aligned in an upward and downward direction and are fixed to an outer surface of each of the left and right side walls of the vehicle, and the sensor lamp unit is arranged on the side on which the sliding door is arranged, at a position below the lower end of the first front side window, at a rear side with respect to a rear end of the second front side window, and at a front side with respect to a front end of the sliding door when the sliding door is slid forward.;

[0008] According to a second aspect of the present invention, there is provided an automatic drive vehicle comprising: a first rear side window disposed at an upper part of each of the left and right side panels; a second rear side window disposed on each of the left and right side panels at a position below a lower end of the first rear side window and at a rear side with respect to a front end of the first rear side window; a sliding door disposed on at least one of the side panels and sliding in a forward and backward direction; and a sensor lamp unit comprising: a passive sensor device that detects an electromagnetic wave from the outside and acquires image data; an active sensor device that detects a reflected wave of an electromagnetic wave that is radiated and acquires detection data;and a turn signal lamp, wherein the passive sensor device, the active sensor device, and the turn signal lamp are arranged and aligned in an upward and downward direction and are fixed to an outer surface of each of the left and right side walls of the vehicle, and the sensor lamp unit is arranged on the side on which the sliding door is arranged, at a position below the lower end of the first rear side window, at a front side with respect to a front end of the second rear side window, and at a rear side with respect to a rear end of the sliding door when the sliding door is slid rearward.;

[0009] According to another aspect of the present invention, a fender having an extended portion formed in an arc shape along an outline of a wheel is disposed on the side wall below the second front side window or the second rear side window, and the sensor lamp unit is disposed above the extended portion.

[0010] According to another aspect of the present invention, an operation section for an operator within the automatic drive vehicle is arranged near the first front side window on the side wall on which the sliding door is arranged, and the sensor lamp unit is arranged at a position at least partially overlapping the operation section in the front and rear direction of the vehicle.

[0011] According to another aspect of the present invention, the passive sensor device is a camera that acquires visible image data and is arranged at a position where an outer surface of the sliding door can be captured, on a side of the automatic drive vehicle on which the sliding door is arranged.

[0012] According to another aspect of the present invention, the indicator light is arranged at an uppermost part, the passive sensor device is arranged at a lowermost part, and the active sensor device is arranged at an upper part adjacent to the passive sensor device.

[0013] According to another aspect of the present invention, the sensor lamp unit comprises a single housing.

[0014] According to another aspect of the present invention, an outlet opening is formed on the housing for discharging water entering through a gap between the active sensor device and the housing.

[0015] According to another aspect of the present invention, the passive sensor device is a camera that acquires visible image data for an electronic mirror in the automatic drive vehicle.

[0016] According to another aspect of the present invention, the image data acquired by the passive sensor device and the detection data acquired by the active sensor device are integrated and used for a detection process of an obstacle around the vehicle.

[0017] In the sensor-lamp unit, the passive sensor device and the active sensor device are arranged close to each other, and in both sensor devices, influences on a horizontal field of view of the sensor device by the other sensor device can be resolved or reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Embodiment(s) of the present invention will be described on the basis of the following figures, in which: Fig. 1 is a perspective view of an automatic drive vehicle of a first embodiment of the present invention in a state where a loading / unloading opening is closed; Fig. 2 is a perspective view of the automatic drive vehicle in a state where the loading / unloading opening is open; Fig. 3 is a diagram showing the interior of the automatic drive vehicle; Fig. 4 is a diagram showing the interior of the automatic drive vehicle from a different angle; Fig. 5 is a perspective view showing the external appearance of a sensor lamp unit; Fig. 6 a partial side view of the vehicle with automatic drive; Fig. 7 is a schematic sectional view along a line AA of Fig. 6; and Fig. 8 is a perspective view of an automatic drive vehicle according to another embodiment of the present invention. DESCRIPTION OF EMBODIMENTS

[0019] Embodiments of the present invention will now be described with reference to the drawings. In the explanation, a specific configuration will be described for ease of understanding. However, the specific configuration described is merely an example of the embodiments, and various other configurations are also possible.

[0020] The Fig. 1 and Fig. 2 are schematic perspective views showing an external appearance of an automatic driving vehicle 10 according to an embodiment of the present invention. In the figures, an FR axis in the coordinate system indicates a forward direction of the vehicle, an UP axis indicates an upward direction, and an LH axis indicates a leftward direction when viewed from the forward direction (the directions are similarly applicable in the other drawings).

[0021] In the present embodiment, the automatic drive vehicle 10 is considered to be a bus used by an unspecified large number of passengers. The automatic drive vehicle 10 travels, for example, within a specific location along a predefined route at a relatively low speed (e.g., 30 km / h) and stops at bus stops along the route to load and unload passengers. Fig. 1 shows the vehicle 10 with automatic drive in a driving state in which a loading / unloading opening 26 is closed. Fig. 2 shows a state in which the automatic drive vehicle 10 has stopped and the loading / unloading opening 26 is open to allow loading and unloading of passengers.

[0022] The automatic drive vehicle 10 is a four-wheeled vehicle having a pair of front wheels 12 and a pair of rear wheels 14. The vehicle body 16 has an approximately rectangular parallelepiped shape that is approximately symmetrical in the forward and backward directions and the left and right directions. Fig. 1 shows a front wall 18 and a left side wall 20 forming surfaces of the rectangular parallelepiped, and Fig. 2 additionally shows a right side wall 22. The front wall 18, the side walls 20 and 22 as well as a rear wall 23 (see Fig. 3) are largely formed with steel plates and windows made of resin plates (windows). Furthermore, pillars 24 extending upwards and downwards are arranged at four corners of the vehicle body 16 in plan view.

[0023] At a central portion of the left side wall 20, the loading / unloading opening 26 of the self-driving vehicle 10 is disposed. Near the loading / unloading opening 26 are a pair of front sliding doors 28 and a rear sliding door 30. A lower portion of the front sliding door 28 is covered with a steel plate, and a front sliding door window 28a, which is a window, is disposed at an upper portion of the front sliding door 28. Similarly, the rear sliding door 30 has a steel plate at its lower portion and a rear sliding door window 30a, which is a window, at its upper portion.When the loading / unloading opening 26 is closed, the front sliding door 28 slides rearward and the rear sliding door 30 slides forward so that a rear end surface of the front sliding door 28 and a front end surface of the rear sliding door 30 contact each other and the in . Fig. 1 is realized. When the loading / unloading opening 26 is opened, the front sliding door 28 slides forward, and a front end thereof reaches an area near the rear end of a first left front side window 32. In addition, the rear sliding door 30 slides rearward and reaches an area near the front end of the first left rear side window 40. Thereby, the Fig. 2 is realized, and passengers can board and disembark through the loading and unloading opening 26. In Fig. 2, only a floor 31 and the right side wall 22 are schematically shown on the inside of the vehicle as seen from the loading and unloading opening 26, but in reality seats for passengers or the like, which have been omitted in the illustration, are arranged (see Fig. 3 and Fig. 4). Furthermore, although not shown, a ramp is stowed beneath the floor 31, allowing the floor 31 and the ground at the loading / unloading opening 26 to be easily connected. The placement of the ramp can facilitate loading and unloading for wheelchair users, elderly passengers, disabled passengers, and the like.

[0024] On the left side panel 20, the first left front side window 32, which is a large square window, is arranged at a front part and an upper part. Through the left front side window 32, an armrest 54 and a touch panel 56, which are operation sections arranged in the vehicle, can be seen. The armrest will be described later. Below the lower end of the first left front side window 32 on the side panel 20, there is a second left front side window 34, which is a small, approximately trapezoidal window. A rear end of the second left front side window 34 is located at a front side with respect to a rear end of the first left front side window 32. On the side panel 20, at a lower part of the second left front side window 34, a fender for the left front wheel 12 is formed.An extended portion 36 is arranged on the fender, which is formed in an arc shape along an outline of the front wheel 12. The extended portion 36 refers to a portion that is slightly extended outward in the vehicle width direction compared to other general portions of the sidewall 20.

[0025] The word "first" in the first left front side window 32 and the word "second" in the second left front side window 34 are used only to identify these elements and do not indicate a particular order of precedence. Furthermore, the term "left front" means that the window is the first side window or the second side window located on a left and front side of the automatic drive vehicle 10. In this specification, similar to the term "left front," other positions may be referred to as "front," "rear," "left rear," or the like.

[0026] In addition, as described in the Fig. 1 and Fig. 2, the first side window (e.g., the first left front side window 32) and the second side window (e.g., the second left front side window 34) may be formed as separate side windows, or alternatively, they may be formed as a connected side window. When the side windows are formed as a connected window, a portion in the upper section is referred to as the first side window, and a portion projecting downward from the lower portion of the first side window is referred to as the second side window.

[0027] On the left side wall 20 there is an area 38 (see also Fig. 6), defined at a front side relative to the front end of the front sliding door 28 in the opened state, below the lower end of the first left front side window 32, at a rear side relative to the rear end of the second left front side window 34, and above the extended portion 36 of the fender. The area 38 in the side wall 20 is formed from a flat outer surface made of a steel plate, and a sensor lamp unit 100 is arranged on the outer surface. The sensor lamp unit 100 consists of a turn signal lamp section 130, a lidar section 132, and a camera section 134. The sensor lamp unit 100 is a component in which the sensor and the lamp are combined, and is therefore given this name. The sensor lamp unit 100 will be described in detail later.

[0028] The structure of a rear part of the left side wall 20 is similar to the structure of the front part of the side wall 20. Specifically, the first left rear side window 40 is arranged at a rear part and an upper part of the side wall 20, and a second left rear side window 42 is arranged below the first left rear side window 40. An extended portion 44 of the fender is also arranged below the second left rear side window 42. In the Fig. 1 and Fig. 2, the second left rear side window 42 is formed longer in the forward and rearward directions than the second left front side window 34. For this reason, there is no area in the rear part of the side wall 20 that corresponds to the area 38 of the front part, and the sensor lamp unit 100 is not arranged in the rear part.

[0029] Although not shown, the loading / unloading opening 26, the front sliding door 28, and the rear sliding door 30 are not provided on the right side panel 22, and a steel plate and a resin plate are provided instead of these elements. The structure of the right side panel 22 is substantially similar to that of the left side panel 20 except for these elements. That is, on the right side panel 22, a first right front side window, a second right front side window, and an extended portion of a front fender are provided at the front part, and a first right rear side window, a second right rear side window, and an extended portion of a rear fender are provided at the rear part.Furthermore, on the front part of the right side wall 22, the sensor lamp unit 100 is arranged similarly to that on the left side wall 20 at a position symmetrical in the left and right directions with respect to the left side wall 20.

[0030] Next, the interior of the automatic drive vehicle 10 will be described with reference to the Fig. 3 and Fig. 4. The Fig. 3 and Fig. 4 are perspective views schematically illustrating the layout of a vehicle cabin of the automatic drive vehicle 10. As described above, the automatic drive vehicle 10 is used as a bus, and therefore, the floor 31 in the center of the vehicle cabin is a space for passengers who can ride the vehicle while standing, or a space for placing a wheelchair for passengers on the wheelchair. Additionally, passenger seats 50 are arranged near the front wall 18, the rear wall 23, and the right side wall 22.

[0031] In the vehicle 10 with automatic drive, a driver's seat 52 for an operator is arranged. The driver's seat 52 is a folding seat, and in Fig. 3, the driver's seat 52 is opened and placed in a state that allows sitting on the seat. The driver's seat 52 is located near an area between the rear end of the first left front side window 32 and the front end of the front sliding door 28 in the closed state.

[0032] The armrest 54 is arranged on a left front side of the driver's seat 52 so that the operator sitting on the driver's seat 52 can rest their arm for operation. The armrest 54 is located near the lower end and rear end of the first left front side window 32.

[0033] At a front end of the armrest 54 is the touch panel 56, which extends upward and forward from an upper surface of the armrest 54. Buttons are arranged on the touch panel 56, through which the operator can execute a drive control command, such as starting and stopping in the automatic drive mode, and additionally buttons are arranged for sending commands to various devices (a turn signal, a horn, a headlight, an air conditioner, a windshield wiper, or the like) in the automatic drive vehicle 10. The operator sits in the driver's seat 52 and operates the touch panel 56 with his hand while resting his arm on the armrest 54, so that the operator can command the drive control and input commands to various devices.

[0034] A cover 60 is provided on the upper side of the armrest 54, and a storage compartment 58 is formed under the cover 60. The storage compartment 58 accommodates a mechanical operation section for inputting driving commands by the operator in a manual driving mode of the automatic drive vehicle 10. In a state where the cover 60 is closed, the upper surface of the armrest 54 is flat. When the cover 60 is opened and the mechanical operation section is pulled upward, the mechanical operation section is set on the upper side of the armrest 54.

[0035] Additionally, a mechanical emergency stop button 62 is provided on the top of the armrest 54 for inputting an emergency stop command for the automatic drive vehicle 10 through manual operation. The mechanical button refers to a physically present button, not a button displayed by a program such as the touch panel 56. When the operator presses the emergency stop button 62, the emergency stop button 62 transmits an emergency stop signal converted into an electrical signal to a drive control device to stop the automatic drive vehicle 10.

[0036] As described, the armrest 54 and the touch panel 56 are sections in which buttons to be operated by the operator or the like are arranged, and can be referred to as an operation section in the automatic drive vehicle 10. As described below, the sensor lamp unit 100 is mounted at a location that overlaps the operation section in the forward and backward directions of the vehicle.

[0037] On the right and front side of the touch panel 56 is a display 64 that shows information about the automatic drive vehicle 10. The display 64 is arranged so that it is located on the right side of the touch panel 56, as seen from the operator sitting in the driver's seat 52. In the Fig. In the example configuration shown in Figure 4, a display on the display 64 is divided into three areas in the upward and downward directions. An upper area 64a and a middle area 64b serve as electronic mirrors. For example, an image in front of the vehicle or an image behind the vehicle is switchably displayed on the upper area 64a. The image behind the vehicle and images of the vehicle sides are combined and displayed on the middle area 64b. The images of these electronic mirrors are captured by cameras mounted on the automatic drive vehicle 10, and the image on the vehicle side is captured by a camera installed in the camera section 134 of the sensor lamp unit 100 described above. Information such as a vehicle speed, an outside temperature, a nearest bus stop, or the like is displayed on a lower area 64c of the display 64.

[0038] The automatic driving function of the automatic drive vehicle 10 will now be briefly described. The automatic drive vehicle 10 can be driven in a variety of driving modes, including an automatic driving mode and a manual driving mode. The automatic driving mode is a driving mode in which driving control is primarily performed by a computer. Driving control includes gear shift control, vehicle speed control, or steering control. Vehicle speed control includes starting control, stopping control, and acceleration / deceleration control of the automatic drive vehicle 10. In the automatic driving mode, the detection results of various sensors, including the sensors arranged on the sensor lamp unit 100, are used by the computer to control the driving of the automatic drive vehicle 10.In automatic driving mode, for example, the control related to passenger loading and unloading, such as opening and closing the loading / unloading opening 26 and placing and stowing the ramp, can also be performed automatically. Also, in automatic driving mode, the operator driving the automatic drive vehicle 10 can operate the touch panel 56, which constitutes the operating section, to command, for example, the start of travel from a stopped state or the control related to passenger loading and unloading. Alternatively, a management sensor at a remote location can execute the command to start travel and the command to control passenger loading and unloading instead of the operator.

[0039] The manual drive mode is a mode in which the automatic drive vehicle 10 is not automatically driven, and the operator of the automatic drive vehicle 10 controls the driving of the automatic drive vehicle 10. The operator performs the manual driving operation of the automatic drive vehicle 10 through the mechanical operation section removed from the armrest 54.

[0040] The operator refers to a person who drives the automatic drive vehicle 10 and exercises control over the automatic drive vehicle 10. In the automatic drive mode, driving is primarily controlled by the control center or the automatic drive vehicle 10 itself, and therefore there are few opportunities for the operator to control driving. However, the operator can command operations such as starting the vehicle or stopping the vehicle and can be considered to assume control of the automatic drive vehicle 10. In the manual drive mode, the operator acts as a driver who directly executes the driving operation of the automatic drive vehicle 10 and actively intervenes in the control of the automatic drive vehicle 10.

[0041] In the present embodiment, a configuration is considered in which the automatic drive vehicle 10 is an electric vehicle having a drive motor supplied with electric power from a battery. The battery is a secondary battery that can be charged and discharged and is periodically charged by external electric power. The electric vehicle includes a hybrid electric vehicle equipped with an engine and the drive motor as power units. Furthermore, the electric vehicle includes hydrogen-powered automobiles in which the drive motor is driven by electric power generated by a fuel cell.

[0042] Next, the sensor lamp unit 100 is described with reference to the Fig. 5 to 7. Fig. 5 is a schematic perspective view for explaining an external appearance of the sensor lamp unit 100. Fig. 6 is a partial side view of the vehicle 10 with automatic drive. Fig. 7 is a sectional view along a line AA in Fig. 6.

[0043] The sensor lamp unit 100 has a housing 102 made of a resin. The housing 102 includes a tube wall 104 formed in an approximately circular tubular shape, an upper wall 106 positioned at an upper end of the tube wall 104, and a lower wall 108 positioned at a lower end of the tube wall 104, as well as two partition walls 110 and 112 positioned at intermediate portions of the tube wall 104 in the upstream and downstream directions. Alternatively, a flat portion may be provided on the tube wall 104 for surface contact with the side wall 20. The interior of the housing 102 is divided into three parts by the partition walls 110 and 112. An uppermost part of the housing 102 is the indicator section 130, in which a indicator or indicator light 136 is housed, an intermediate part is the lidar section 132, in which a lidar 138 is installed, and a lowermost part is the camera section 134, in which a camera 140 is installed.

[0044] The turn signal light 136 is a light used to indicate direction when the vehicle 10 with automatic drive is turning left or right and consists, for example, of an LED that emits orange light. The turn signal light 136 is also used to illuminate hazard warning lights.

[0045] The lidar 138 is an abbreviation for Laser Imaging Detection and Ranging and is an active sensor device that emits an electromagnetic wave belonging to the wavelength of light (ultraviolet radiation, visible light, and infrared radiation) and detects a wave reflected from an obstacle to obtain detection data such as the distance to the obstacle and the direction of the obstacle. Some lidars acquire two-dimensional or three-dimensional image data as detection data by spatially scanning the electromagnetic wave. Laser light with aligned phases is used as the electromagnetic wave. The lidar 138 includes a light-emitting device such as a semiconductor laser, a scanning mechanism such as a mirror, a light-receiving device, a signal processing circuit, or the like. As shown in Fig. 7, a tip of the lidar 138 is fitted into a through hole 114 formed in the tube wall 104 of the housing 102.

[0046] The camera 140 is a passive sensor device that receives an electromagnetic wave of a wavelength belonging to visible light to acquire visible image data. The camera 140 includes an optical mechanism, such as a lens, an image sensor, such as a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor, a signal processing circuit, or the like. As shown in Fig. 5, a through hole 116 is formed on the tube wall 104 of the housing 102, into which a lens 140a of the camera 140 is inserted.

[0047] In the sensor lamp unit 100, the turn signal section 130, the lidar section 132, and the camera section 134 are arranged in an upward and downward direction. When these elements are arranged in an upward and downward direction, in addition to suppressing the widening in the forward and backward directions of the vehicle, the following advantages can be achieved.

[0048] The turn signal portion 130 is disposed at the uppermost part of the sensor lamp unit 100. Since the turn signal portion 130 is disposed at the uppermost part, an advantage can be achieved in which the light of the turn signal 136 can be easily seen and recognized by vehicles and pedestrians around the vehicle.

[0049] The lidar section 132 and the camera section 134 are arranged adjacent to each other in the up-and-down directions, so that the lidar 138 and the camera 140 do not block each other's horizontal field of view. Therefore, the lidar 138 and the camera 140 can easily detect the obstacle around the vehicle, which is necessary for the automatic driving of the vehicle 10.

[0050] On the other hand, since the lidar section 132 is disposed at the intermediate portion, the lidar 138 has an upward field of view partially restricted by the turn signal section 130 disposed at the upper portion, and a downward field of view partially restricted by the camera section 134 disposed at the lower portion. However, even if part of the sky and part of the ground cannot be viewed, this generally does not affect the travel of the automatic drive vehicle 10.

[0051] Since the camera section 134 is arranged at the lowest part, the camera 140 has a field of view in the upward direction, which is partially restricted by the turn signal section 130 and the lidar section 132 at the upper part. However, even if part of the sky cannot be seen, this does not affect the travel of the automatic drive vehicle 10. Rather, the camera section 134 arranged at the lowest part has the advantage that the camera 140 can easily image an area near a lower part of the loading / unloading opening 26. For example, when the camera 140 images a road surface with high precision to detect a puddle or bump, the automatic drive vehicle 10 can stop at a position where loading and unloading of passengers can be facilitated, or at a position where the placement of the ramp is facilitated. In addition, for example,By imaging the steps of the passenger getting on or off, or the wheelchair getting on or off, with high precision using the camera 140, it is easy to check whether the loading and unloading of passengers is carried out safely or not.

[0052] The lidar section 132 and the camera section 134 are arranged close to each other at the intermediate part and the lowest part, respectively. For this reason, the lidar 138 and the camera 140 can detect each obstacle around the vehicle from approximately the same angle, and the data detected by the lidar 138 and the data detected by the camera 140 can be easily used integrally or complementarily. As examples of the integral obstacle detection process, there can be exemplified a method of overlapping the detection data obtained by the lidar 138 and the image data obtained by the camera 140 to improve resolution, a method of detecting a feature of the obstacle (e.g., whether the obstacle is a person or an object, whether it is hard or soft, etc.), and a method of obtaining a 3D image by utilizing the slight difference in viewing angles. As examples of a complementary or complementary method,An example of a complementary process is a configuration in which, if the lidar 138 or the camera 140 fails, the data from the other lidar 138 or the camera 140 is used instead.

[0053] The integral or complementary use of the data from the lidar 138 and the data from the camera 140 also compensates for the disadvantages of the lidar 138 and the camera 140. Since the lidar 138 requires a step to emit the electromagnetic wave, the lidar 138 tends to have lower temporal resolution and spatial resolution compared to the camera 140. Therefore, by combining the data from the camera 140 with the data from the lidar 138, a method can be enabled that compensates for the low temporal and spatial resolution of the lidar 138. On the other hand, at night or the like, the amount of light is reduced, and the imaging precision of the camera 140 is correspondingly reduced. However, since the lidar 138 emits lasers, the lidar 138 can image at night with a similar precision to that during the day.By combining the data from the lidar 138 with the data from the camera 140, a method can be enabled that compensates for the reduction in the imaging precision of the camera 140.

[0054] As in Fig. 6, the sensor lamp unit 100 is arranged in the area 38. Specifically, the sensor lamp unit 100 is arranged in an area located at the front with respect to the front end of the front sliding door 28 in the open state, below the lower end of the first left front side window 32, at the rear with respect to the rear end of the second left front side window 34, and above the extended portion 36 of the fender. The sensor lamp unit 100 is attached to the outer surface of the side wall 20 and extends outward from the side wall 20 (see also Fig. 7). Near this area, the extended portion 36 located below the sensor lamp unit 100 is also extended toward an outer side relative to the other general elements of the side wall 20. For this reason, both the sensor lamp unit 100 and the extended portion 36 are in a state of expansion toward the outer side. This is effective, for example, for a vehicle, a motorcycle, a bicycle, a pedestrian, or the like passing by the automatic drive vehicle 10 to recognize an expansion of the vehicle width due to the sensor lamp unit 100 and the extended portion 36. Furthermore, by concentrating the width-extended portions, a sophisticated design impression can be achieved.In the present embodiment, a thickness of the extended portion 36 is smaller than a thickness of the sensor lamp unit 100, and there is only a very small influence of the extended portion 36 on the field of view of the camera 140.

[0055] Arranging the sensor lamp unit 100 in the area 38 is also useful to secure a large area for the first left front side window 32 and the second left front side window 34. For example, a case can be assumed in which Fig. 6, the sensor lamp unit 100 is arranged at the position of the second left front side window 34. In this case, in order to ensure a mounting height of the sensor lamp unit 100, the lower end of the first left front side window 32 must be shifted upward, and as a result, the first left front side window 32 must be made smaller. In addition, the second left front left side window 34 may be arranged for structural reasons in the vehicle, as shown in Fig. 3, cannot be shifted forward. Therefore, the second left front left side window 34 must also be made smaller. However, the area 38 is located in an area closer to the rear than to the center of the fender arch (and the extended portion 36), and the distance in the upward and downward directions from the extended portion 36 is large. Thus, a space for the placement of the sensor lamp unit 100 can be more easily secured.

[0056] The sensor lamp unit 100 at least partially overlaps the armrest 54 and the touch panel 56, which are the operating sections, when viewed in the front and rear directions of the vehicle. For this reason, the operator's field of vision is blocked by the armrest 54 and the touch panel 56, and it is difficult for the operator to see an area below the front sliding door 28 or an area below the front wheel 12 through the first left front side window 32. Although the second left front side window 34 is arranged below the first left front side window 32, the second left front side window 34 is small and cannot sufficiently expand the operator's field of vision. However, in the automatic drive vehicle 10, due to the sensor lamp unit 100, detailed image information around the sensor lamp unit 100 can be acquired.Specifically, the data imaged by the camera 140 on the electronic mirror is displayed on the display 64, and the operator can fully appreciate the situation outside the vehicle while sitting in the driver's seat 52. If the operator feels there is a problem with the image of the electronic mirror, they can get up from the driver's seat 52 and look outside through the first left front side window 32 or the second left front side window 34.

[0057] As in the Fig. 5 and Fig. 6, in the sensor-lamp unit 100, the lens 140a of the camera 140 is mounted slightly rearward with respect to the exact lateral direction. In the example configuration of the Fig. 5 and Fig. 6, the lens 140a is directed rearward by approximately 20 to 30 degrees from the exact lateral direction, as viewed from a center of the circular tube of the housing 102 of the sensor lamp unit 100. One reason for this configuration is that a camera (not shown) is mounted on the front wall 18 of the auto-drive vehicle 10. Since the image of the auto-drive vehicle 10 can be captured with this camera, the camera 140 of the sensor lamp unit 100 does not need to capture the image of the front of the vehicle. Another reason for the configuration is to enable the camera 140 to more completely image the area near the loading / unloading opening 26.By orienting the lens 140a slightly rearward with respect to the precise lateral direction, the loading / unloading opening 26 can be placed near the center of the field of view of the camera 140, which enables precise imaging of the loading / unloading opening 26.

[0058] The sensor-lamp unit 100 is adjusted so that the image by the camera 140 and the detection by the lidar 138 are not blocked by the front sliding door 28. As in Fig. 6, the front sliding door 28 (and the rear sliding door 30) protrudes outwardly relative to the other general surfaces of the side wall 20. However, the sensor lamp unit 100 is thicker than the front sliding door 28, and an outer end of the sensor lamp unit 100 extends to an outer side relative to the outer surface of the front sliding door 28. In the Fig. In the example configuration shown in Figure 7, the sensor lamp unit 100 has a thickness twice or greater than that of the front sliding door 28. For this reason, even in a state where the front sliding door 28 is opened and the front sliding door 28 is brought to a position closest to the sensor lamp unit 100, sufficient fields of view for the camera 140 and the lidar 138 on the rear side in the horizontal direction can be ensured. Furthermore, the camera 140 can image the outer surfaces of the front sliding door 28 and the rear sliding door 30 regardless of the opening / closing state of the front sliding door 28 and the rear sliding door 30. Thus, the safety inspection around the loading / unloading opening 26 can be performed with high precision.

[0059] As in Fig. As shown in Fig. 7, the sensor lamp unit 100 is fixed to the outer surface of the side wall 20. The fixing is carried out, for example, by screwing the housing 102 of the sensor lamp unit 100 to the side wall 20. In reality, the side wall 20 is formed by a steel plate, a resin plate, or the like with a certain thickness, and the screw or nut is not exposed in the vehicle cabin.

[0060] The housing 102 is made of a resin and is, for example, a single container formed by first molding two semicircular tube members (a mold in which a circular tube is cut in a plane near a central axis) in resin and then joining the two semicircular tube members by welding. The flashing light 136, the lidar 138, and the camera 140 are fixed to the single housing 102. The housing 102 has through holes 114 and 116 formed toward an outer side. The tip of the lidar 138 is inserted into the through hole 114. The lens 140a of the camera 140 is inserted into the through hole 116. Of these through holes, the through hole 116 is relatively small, so that by waterproofing or waterproofing treatment, almost no space remains through which rain or the like can enter the housing.On the other hand, since the through hole 114 is relatively large, even if the waterproofing treatment is applied, there is a possibility that water may penetrate through a gap with the lidar 138. In view of this, a water drainage structure is arranged in the housing 102 on the lower partition wall 112 of the lidar section 132 and on the bottom wall 108 at a lower part of the camera section 134.

[0061] Specifically, an upper surface of the partition wall 112 is formed in an inclined shape, higher on the through-hole 114 side and lower on the side wall 20 side. At a position where the height of the upper surface of the partition wall 112 is the lowest, an outlet port 118 is formed in the partition wall 112. With this configuration, the water that penetrates through the gap between the through-hole 114 and the lidar 138 flows and falls to the camera section 134 through the outlet port 118. In addition, an upper surface of the lower wall 108 is formed in a shape that is higher on the through-hole 116 side and lower on the side wall 20 side. At a position where the upper surface of the lower wall 108 is the lowest, an outlet port 120 is formed in the lower wall 108.With this configuration, although unlikely, the water entering through the gap between the through-hole 116 and the lens 140a can be discharged to the outside through the outlet port 120. Furthermore, the water flowing from the lidar section 132 through the outlet port 118 can also be discharged to the outside through the outlet port 120.

[0062] In Fig. 7, for ease of explanation, the outlet openings 118 and 120 are shown with a very simple structure. In reality, however, in order to prevent the intrusion of rainwater carried by wind or rainwater splashed by a nearby vehicle from the lower side of the lower wall 108, a backflow prevention mechanism is preferably arranged at the outlet opening 120. As an example of the backflow prevention mechanism, a configuration can be considered in which a plate, which has the function of reflecting the backflowing rainwater, is arranged on an upper side with respect to an upper end of the outlet opening 120.As another example of the backflow prevention mechanism, a configuration may be considered in which, when water does not enter through the gap between the through-hole 116 and the lens 140a, the outlet port 118 and the outlet port 120 are connected by a tube, pipe, or the like. If the tube or pipe is thin to a certain extent, the possibility of the splashed water entering the lidar section 132 can be minimized. In addition, by flowing through the tube or pipe, further penetration of the water entering the lidar section 132 into the camera section 134 can be prevented.

[0063] Although the representation in Fig. 7, a through hole is formed on the housing 102 on the side panel 20 side, and a through hole is also formed at the corresponding position on the side panel 20. Through these through holes, the turn signal lamp 136, the lidar 138, and the camera 140 are connected via cables to an ECU (electronic control unit), a battery, or the like located inside the vehicle. The through hole is located between the housing 102 and the side panel 20, and normal waterproofing or waterproofing can prevent rainwater or the like from entering the through hole.

[0064] In the above description, a configuration in which two sensor devices, namely the lidar 138 and the camera 140, are arranged in the sensor lamp unit 100 next to the turn signal lamp 136, is exemplified. The lidar 138 is an example of an active sensor device. The active sensor device is a device that emits an electromagnetic wave, detects a reflected wave, and acquires detection data. The wavelength of the electromagnetic wave is not particularly limited. As an active sensor device other than the lidar 138, a millimeter-wave radar that emits a millimeter wave and detects the reflected wave can be exemplified. A millimeter-wave radar is a radar that uses an electromagnetic wave at a millimeter wavelength with a wavelength of 1 mm ~ 10 mm (a frequency of 30 ~ 300 GHz).Millimeter-wave radar detects the distance and direction of an obstacle by detecting the reflected wave, which is a reflection of the emitted electromagnetic wave, from an obstacle. Millimeter-wave radar consists of a millimeter-wave transmitting and receiving antenna, a millimeter-wave signal processing circuit, and the like. Although millimeter-wave radar has the characteristic of being unaffected by fog, rain, snow, and the like, millimeter-wave radar also has poor detection accuracy for styrene foam and the like, which have low electromagnetic wave reflectivity.

[0065] The camera 140 is an example of a passive sensor device that uses visible light. The passive sensor device of this type is a device that does not emit an electromagnetic wave and detects an external electromagnetic wave to acquire image data. The wavelength of the electromagnetic wave is not particularly limited. As passive sensor devices other than the camera 140, an infrared camera that acquires infrared image data and an ultraviolet camera that acquires ultraviolet image data can be exemplified. Alternatively, the passive sensor device may be a stereo camera with two imaging sections that acquires three-dimensional image data by utilizing viewing angles.

[0066] Alternatively, in addition to an active sensor device and a passive sensor device, an identical or different active sensor device or an identical or different passive sensor device can be arranged in the sensor-lamp unit 100. Alternatively, in addition to an active sensor device and a passive sensor device, a further sensor, such as a temperature sensor, a microphone, or the like, can be arranged in the sensor-lamp unit 100.

[0067] In the above description, the front sliding door 28 has a configuration in which, when the front sliding door 28 is slid forward and the loading / unloading opening 26 is set in the open state, the front end of the front sliding door 28 reaches an area near the rear end of the first left front side window 32 and near the sensor lamp unit 100. However, the structure of the door may be appropriately changed. For example, the front sliding door 28 may have a configuration in which, when the front sliding door 28 is slid forward, the front end overlaps the first left front side window 32, or a configuration in which, when the front sliding door 28 is slid forward, the front end is positioned at the rear with respect to the rear end of the first left front side window 32. Alternatively, the front sliding door 28 may be constructed as a single sliding door instead of in pairs with the rear sliding door 30.Alternatively, for example, a sliding door and a loading / unloading opening may be arranged, in which, when the sliding door is slid forward, the loading / unloading opening 26 is brought into the closed state, and when the sliding door is slid rearward, the loading / unloading opening 26 is brought into the open state. A sliding door may be used in which the sliding door is positioned near the sensor lamp unit 100 when the sliding door is slid forward. Alternatively, a folding door may be used instead of the sliding door.

[0068] In the above description, the sensor lamp unit 100 is described as being located on both sides of the front portion of the automatic drive vehicle 10. Alternatively, the sensor lamp unit 100 may be mounted at other locations. Fig. Figure 8 is a perspective view of an automatic drive vehicle 200 of an alternative embodiment. Fig. 8 corresponds to Fig. 2, and the same or corresponding structures are designated by the same reference numerals. In the Fig. 8 shown vehicle 200 with automatic drive, in contrast to the one in Fig.2, the sensor lamp unit 100 is not disposed at the front of the vehicle. In the automatic vehicle 200, a second left rear side window 242 is disposed, which has a smaller shape than the second left rear side window 42 of the automatic vehicle 10 and whose front end is positioned further rearward than the front end of the second left rear side window 42 of the automatic vehicle 10. The second left rear side window 242 has a shape and size that are symmetrical in the forward and rearward directions with the second left front side window 34. A sensor lamp unit 244 is disposed between the second left rear side window 242 and the rear sliding door 30.In the sensor lamp unit 244, the camera is oriented slightly toward the front with respect to the precise lateral direction, so that the rear sliding door 30 can be easily imaged. Similarly, in the automatic drive vehicle 200, the sensor lamp unit 244 is also arranged at a rear portion on the right side wall 22.

[0069] In the above description, the sensor lamp unit 100 is described as having a single housing 102 (i.e., an integrally molded housing or a housing formed to be difficult to separate by integration by welding, an adhesive, or the like). With this configuration, for example, waterproof performance or the like can be improved. Alternatively, the sensor lamp unit 100 may be manufactured in a separable form, such as a sensor lamp unit 100 formed by screwing together a housing having the flashing lamp 136, a housing having the lidar 138, and a housing having the camera 140. In this case, maintenance of the flashing lamp 136 can be facilitated.

[0070] In the above description, the automatic drive vehicle 10 is considered to be a bus. However, the use of the automatic drive vehicle 10 is not particularly limited. For example, the automatic drive vehicle 10 can be used as a movable business space or a shop for a store that displays and sells various goods, or for a restaurant that prepares and serves food and beverages. Alternatively, the automatic drive vehicle 10 can be used as an office for office work, customer meetings, or the like. Furthermore, the use of the automatic drive vehicle 10 is not limited to the business field, and the automatic drive vehicle 10 can be used, for example, as a means of transportation for a private individual.In addition, the driving pattern and vehicle speed of the automatic drive vehicle 10 can be changed appropriately.

Claims

[1] Vehicle (10) with automatic drive, comprising: a first front side window (32) disposed at an upper portion of each of the left and right side walls (20, 22); a second front side window (34) disposed on each of the left and right side walls (20, 22) at a position below a lower end of the first front side window (32) and at a front side with respect to a rear end of the first front side window (32); a sliding door (28) arranged on at least one of the side walls (20, 22) and sliding in a forward and backward direction; and a sensor lamp unit (100, 244), comprising: a passive sensor device (140) that detects an electromagnetic wave from the outside and acquires image data; an active sensor device (138) that detects a reflected wave of an electromagnetic wave that is radiated and acquires detection data; and a flashing light (136), characterized by , that the passive sensor device (140), the active sensor device (138) and the indicator light (136) are arranged and oriented in an upward and downward direction and are attached to an outer surface of each of the left and right side walls (20, 22) of the vehicle, and the sensor lamp unit (100) is arranged on the side on which the sliding door (28) is arranged, at a position below the lower end of the first front side window (32), at a rear side with respect to a rear end of the second front side window (34), and at a front side with respect to a front end of the sliding door (28) when the sliding door (28) is slid forward. [2] Vehicle (10) with automatic drive, comprising: a first rear side window (40) disposed at an upper portion of each of the left and right side walls (20, 22); a second rear side window (242) disposed on each of the left and right side walls (20, 22) at a position below a lower end of the first rear side window (40) and at a rear side with respect to a front end of the first rear side window (40); a sliding door (30) arranged on at least one of the side walls (20, 22) and sliding in a forward and backward direction; and a sensor lamp unit (100, 244), comprising: a passive sensor device (140) that detects an electromagnetic wave from the outside and acquires image data; an active sensor device (138) that detects a reflected wave of an electromagnetic wave that is radiated and acquires detection data; and a flashing light (136), characterized by , that the passive sensor device (140), the active sensor device (138) and the indicator light (136) are arranged and oriented in an upward and downward direction and are attached to an outer surface of each of the left and right side walls (20, 22) of the vehicle, and the sensor lamp unit (244) is arranged on the side on which the sliding door (30) is arranged, at a position below the lower end of the first rear side window (40), at a front side with respect to a front end of the second rear side window (242) and at a rear side with respect to a rear end of the sliding door (30) when the sliding door (30) is slid rearward. [3] Automatic drive vehicle (10) according to claim 1 or 2, wherein a fender having an extended portion (36, 44) formed in an arc along an outline of a wheel (12, 14) is arranged on the side wall (20, 22) below the second front side window (34) or the second rear side window (242), and the sensor-lamp unit (100, 244) is arranged above the extended section (36, 44). [4] Automatic drive vehicle (10) according to claim 1, wherein an operating section (54, 56) for an operator within the vehicle (10) with automatic drive is arranged near the first front side window (32) on the side wall (20, 22) on which the sliding door (28) is arranged, and the sensor lamp unit (100) is arranged at a position that at least partially overlaps the operating section (54, 56) in the forward and backward directions of the vehicle. [5] The automatic drive vehicle (10) of claim 1 or 2, wherein the passive sensor device (140) is a camera that acquires visible image data and is arranged at a position at which an outer surface of the sliding door (28, 30) can be captured, on a side of the automatic drive vehicle (10) on which the sliding door (28, 30) is arranged. [6] Automatic drive vehicle (10) according to claim 1 or 2, wherein the indicator light (136) is arranged on an uppermost part, the passive sensor device (140) is arranged at a lowermost part, and the active sensor device (138) is arranged at an upper part adjacent to the passive sensor device (140). [7] The automatic drive vehicle (10) of claim 1 or 2, wherein the sensor lamp unit (100, 244) comprises a single housing (102). [8] The automatic drive vehicle (10) of claim 7, wherein an outlet opening (118, 120) for discharging water entering through a gap between the active sensor device (138) and the housing (102) is formed on the housing (102). [9] The automatic drive vehicle (10) of claim 1 or 2, wherein the passive sensor device (140) is a camera that acquires visible image data for an electronic mirror (64a, 46b) in the automatic drive vehicle (10). [10] The automatic drive vehicle (10) according to claim 1 or 2, wherein the image data obtained by the passive sensor device (140) and the detection data obtained by the active sensor device (138) are integrated and used for a detection process of an obstacle around the vehicle.

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