Roof sensor device for vehicle and vehicle

Abstract

A roof sensor device for a vehicle and a vehicle are provided. [Solution] The roof sensor device includes a front housing 1 disposed forward in the direction of travel of the vehicle roof, and multiple front sensors disposed within the front housing, the multiple front sensors forming a front sensor assembly facing at least forward in the direction of travel of the vehicle and to both sides perpendicular to the direction of travel to collect environmental data in front of and on both sides, a rear housing 7 disposed rearward in the direction of travel of the roof, and multiple rear sensors disposed in the rear housing, the rear sensors forming a rear sensor assembly facing at least rearward in the direction of travel of the vehicle to collect rearward environmental data. This allows for more comprehensive collection of environmental data around the vehicle.

Description

[Technical Field]

[0001] FIELD Exemplary embodiments of the present disclosure relate generally to the field of vehicles, and more particularly to a roof sensor apparatus for a vehicle and a vehicle. [Background technology]

[0002] Autonomous driving technology relies on environmental data collected by numerous sensors installed in various locations on the vehicle. As autonomous driving technology advances, higher requirements are being placed on sensors. As the top of a vehicle, the roof is an important location for installing sensors. A roof sensor device must integrate a variety of sensors, provide robust mounting, effective heat dissipation, and protection from external environments (e.g., rainwater and dust). Summary of the Invention

[0003] In a first aspect of the present disclosure, there is provided a roof sensor apparatus for a vehicle, the roof sensor apparatus comprising: a front housing disposed forward in a traveling direction of a roof of the vehicle; a front sensor assembly including a front housing and a plurality of front sensors disposed in the front housing, the front sensors facing at least forward in the traveling direction of the vehicle and on both sides perpendicular to the traveling direction to collect environmental data in front of and on both sides; a rear housing disposed rearward in the traveling direction of the roof; and a rear sensor assembly including a rear housing and a plurality of rear sensors disposed in the rear housing, the rear sensors facing at least rearward in the traveling direction of the vehicle to collect rearward environmental data.

[0004] In some embodiments, the front housing includes a front portion located at the front center of the roof, a pair of front side portions including a front inclined step extending rearward from the front portion at the end of the vehicle width direction, and a front tail step extending in the direction of travel from the front inclined step.

[0005] In some embodiments, the front housing includes a front base plate that is coupled to the roof, with both ends adapted to curve from the center of the roof toward the rear of the vehicle, and a front housing that is coupled to the front base plate, forms an attachment space with the front base plate, and houses multiple front sensors.

[0006] In some embodiments, the front housing further includes a front air intake formed in a central portion of the front section to allow airflow to enter the front housing, a pair of front exhaust ports, each formed at an end of a front tail stage of the pair of front side sections, so that airflow exits the front housing, and a front air duct formed between the front base plate and the roof of the vehicle and adapted to communicate the front air intake and the pair of front exhaust ports.

[0007] In certain embodiments, the forward sensor assembly further comprises a plurality of forward heat dissipation fins disposed in the forward air duct and coupled to the forward base plate, each of the plurality of forward heat dissipation fins being coupled to at least some of the sensors in the forward sensor.

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

[0009] In some embodiments, the plurality of front sensors include a forward laser radar disposed within the mounting space and coupled to the front portion, the forward laser radar having a visual angle directed at least forward in the direction of travel, and a pair of side laser radars disposed within the mounting space and coupled to a pair of front side portions, respectively, the pair of side laser radars having visual angles directed to either side perpendicular to the direction of travel of the vehicle.

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

[0011] In some embodiments, the rear housing includes a rear portion located at a rear central portion of the roof, and a pair of rear side portions including a rear inclined step extending from the rear portion at an angle forward at the end of the vehicle width direction, and a rear tail step extending from the rear inclined step in the direction of travel.

[0012] In some embodiments, the rear sensor assembly further includes a rear base plate coupled to the roof, with both ends adapted to curve from the center of the roof toward the front of the vehicle, and a rear housing coupled to the rear base plate, forming an attachment space with the rear base plate, and accommodating the plurality of rear sensors.

[0013] In some embodiments, the rear housing further includes a rear air intake port formed in a central portion of the rear section and facing forward in the direction of travel so that airflow enters the rear housing, a rear exhaust port formed in the central portion of the rear section and facing rearward in the direction of travel so that airflow exits the rear housing, and a rear air duct formed between the rear base plate and the roof of the vehicle and adapted to communicate between the rear air intake port and the rear exhaust port.

[0014] In some embodiments, the rear sensor assembly further comprises rear heat dissipation fins disposed in the rear air duct and coupled to the rear base plate, each rear heat dissipation fin coupled to at least some of the sensors in the rear sensor.

[0015] In some embodiments, the plurality of rear sensors include a rear laser radar coupled to the rear portion and facing rearward in the direction of travel, a rear camera coupled to the rear portion and facing rearward in the direction of travel, and a rear microphone coupled to the rear portion and adapted to collect at least audio information behind the vehicle.

[0016] According to some embodiments of the roof sensor device of the present disclosure, by arranging multiple sensors in the front housing and the rear housing, the multiple sensors can collect environmental data from various locations around the vehicle, thereby enabling more accurate and comprehensive acquisition of the environment around the vehicle while the vehicle is moving, and allowing the vehicle's data processing and calculation module to operate the vehicle more accurately.

[0017] In a second aspect of the present disclosure, a vehicle is provided, the vehicle comprising a roof and a roof sensor apparatus provided by the first aspect of the present disclosure.

[0018] It should be understood that the contents described in part of this disclosure do not limit the essential or important features of the embodiments of this disclosure, nor do they limit the scope of this disclosure. Other features of this disclosure will be easily understood from the following description. [Brief explanation of the drawings]

[0019] These and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description taken in conjunction with the drawings, in which like or similar reference numerals represent like or similar elements. [Figure 1] 1 shows a schematic diagram of the overall structure of a roof sensor device according to some embodiments of the present disclosure; [Figure 2] 1 shows a schematic diagram of the internal structure of a roof sensor device according to some embodiments of the present disclosure. [Figure 3] 1 shows a schematic diagram of a front portion of a roof sensor apparatus according to some embodiments of the present disclosure. [Figure 4] 1 illustrates a schematic diagram of the bottom structure of a front base plate according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, the embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the drawings show several embodiments of the present disclosure, it should be understood that the present disclosure can be realized in various forms and should not be construed as being limited to the embodiments described herein. Rather, these embodiments are provided for a clearer and more complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are merely illustrative and are not intended to limit the scope of protection of the present disclosure.

[0021] It should be noted that the titles of any sections / subsections herein are not limiting. Various embodiments are described throughout this specification, and any type of embodiment may be included in any section / subsection. Furthermore, embodiments described in any one section / subsection may be combined in any manner with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0022] In describing embodiments of the present disclosure, the term "comprises" and its synonyms should be understood as an open inclusion, i.e., "including, but not limited to." The term "based on" should be understood as "based at least in part on." The terms "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." The following may include other explicit and implicit definitions. The terms "first," "second," etc. may refer to different or the same object. The following may include other explicit and implicit definitions.

[0023] As mentioned above, roof sensors are an important component of vehicle sensors, and play an important role in acquiring data on the vehicle's surrounding environment depending on the type, number, stability of sensor operation, and coordinated placement of sensors.

[0024] Some conventional roof attachment devices do not adequately consider the accurate positioning and posture maintenance of sensors during high-speed driving or vibration environments, which can lead to unstable or misaligned sensor data. At the same time, because vehicles are prone to direct sunlight while driving, high-power sensors (especially laser radars) generate a large amount of heat during operation. This can cause the sensor's operating environment temperature to become too high, which can easily affect its normal operation.

[0025] Embodiments of the present disclosure provide a vehicle roof sensor device and a vehicle that solves or at least partially solves the above-mentioned problems and other potential problems existing in the prior art. According to some embodiments of the roof sensor device of the present disclosure, by arranging multiple sensors in the front and rear housings, the multiple sensors can collect environmental data from various locations around the vehicle, thereby enabling a more accurate and comprehensive acquisition of the environment around the vehicle while the vehicle is moving, and enabling the vehicle's data processing and calculation module to operate the vehicle more accurately. The multiple sensors are mounted at corresponding positions in the front and rear housings, respectively, and dissipate heat through air ducts inside the front and / or rear housings, effectively reducing heat buildup inside the roof sensor device and improving the operational stability of the multiple sensors.

[0026] FIG. 1 is a schematic diagram illustrating the overall structure of a roof sensor device according to some embodiments of the present disclosure. As shown in FIG. 1, the roof sensor device is generally disposed on a roof and includes a front sensor assembly and a rear sensor assembly arranged along the vehicle's traveling direction. The front sensor assembly is located forward of the vehicle's traveling direction and includes a plurality of front sensors. The front sensors are arranged facing at least forward of the vehicle's traveling direction and on both sides perpendicular to the traveling direction, and the front sensors are used to acquire at least environmental data located in front of the vehicle and on both sides of the vehicle while the vehicle is traveling. The rear sensor assembly is located rearward of the vehicle's traveling direction and includes a plurality of rear sensors. The rear sensors are arranged facing at least rearward of the vehicle's traveling direction to collect environmental data behind the vehicle.

[0027] In some embodiments, the front sensor assembly includes a front housing 1. A front sensor is disposed within the front housing 1. The front housing 1 is disposed in a central portion of the roof and includes a front portion 11 extending forward in the direction of travel, and a pair of front side portions 12 disposed on either side of the front portion 11. Each front side portion 12 includes a front inclined step 121 extending at an angle toward the rear of the vehicle along the vehicle width direction (i.e., a direction perpendicular to the direction of travel of the vehicle), and a front tail portion 122 spaced apart from the front inclined step 121 and the front portion 11. The pair of front side portions 12 are disposed symmetrically along the central axis of the vehicle, which gives the entire front housing 1 a substantially C-shape.

[0028] FIG. 2 is a schematic diagram of the internal structure of a roof sensor device according to some embodiments of the present disclosure. As shown in FIG. 2, referring to FIG. 1, in some embodiments, the front housing 1 is joined to a front base plate 13 and a front housing 14. The front base plate 13 is connected to the roof with fasteners such as bolts, and the front housing 14 is connected to the front base plate 13 with a snap fit. An installation space for accommodating multiple front sensors is formed between the front base plate 13 and the front housing 14. The front sensors may be fixed to the front base plate 13 with fasteners such as bolts, thereby allowing the front base plate 13 to stably support the multiple front sensors and ensure stable connection with the roof even during a vehicle collision. In some embodiments, since the front base plate 13 and the vehicle roof are connected with bolts, a seal ring may be provided between the front base plate 13 and the roof to ensure waterproof performance of the vehicle roof.

[0029] In some embodiments, the front base plate 13 may be made of a metal material, such as stainless steel or aluminum alloy, to improve the structural strength of the front housing 1. The front housing 14 may be made of a non-metallic material, such as engineering plastic, to avoid shielding or interference of the metal structure with signals from, for example, millimeter-wave radar or laser radar. In some embodiments, different types of engineering plastics, such as acrylonitrile-butadiene-styrene copolymer plastic (ABS), acrylonitrile-styrene-acrylic ester copolymer plastic (ASA), polycarbonate plastic (PC), etc., are selected to meet the specific requirements of different portions of the front housing 14. The structural characteristics of these engineering plastics may be considered when selecting a specific engineering plastic. For example, the surface flatness, strength, appearance, and weather resistance of the front housing 14 may be considered when selecting an appropriate engineering plastic, and this discussion is not included in this disclosure.

[0030] In some embodiments, the multiple front sensors may be different types of sensors, for example, the front sensors may include at least one of a laser radar, a camera, a millimeter wave radar, and a microphone.

[0031] FIG. 3 is a schematic diagram of a front portion of a roof sensor apparatus according to some embodiments of the present disclosure. As shown in FIGS. 2 and 3, in some embodiments, the front sensor may include a forward laser radar 2 and a pair of side laser radars 3. The forward laser radar 2 is located in the front portion 11 of the front housing 1 and is connected to a front base plate 13 by bolts. The visual angle of the forward laser radar 2 faces at least forward in the traveling direction. In this way, the forward laser radar 2 can scan road conditions ahead in the traveling direction of the vehicle, such as the direction of the road ahead and the movement of obstacles such as vehicles or pedestrians ahead.

[0032] The pair of side laser radars 3 are respectively located in the front tail sections 122 of the pair of front side sections 12 and are coupled to the front base plate 13. The viewing angles of the pair of side laser radars 3 are oriented to both sides perpendicular to the vehicle's traveling direction. In this manner, the side laser radars 3 can detect objects or obstacles on the sides of the vehicle. For example, the side laser radars 3 can detect whether a vehicle is present in the lane on the side of the vehicle, allowing the vehicle to perform operations such as lane changes and steering.

[0033] In some embodiments, the front sensor further includes a forward camera 4 and two pairs of side cameras 5. The forward camera 4 is located on the front section 11 and is connected to a front base plate 13 by bolts. The viewing angle of the forward camera 4 faces forward in the direction of travel. In some embodiments, the forward camera 4 may be located close to the forward laser radar 2 so that images acquired by the forward camera 4 match the data from the forward laser radar 2. The vehicle's data processing and calculation module can fuse the environmental data acquired by the forward camera 4 and the forward laser radar 2 to more accurately determine the environment in front of the vehicle.

[0034] Two pairs of side cameras 5 are mounted on the front tail sections 122 of the pair of front side sections 12, respectively. Each pair of side cameras 5 faces a corresponding side edge of the vehicle, and each pair of side cameras 5 can capture environmental data on both sides of the vehicle. In some embodiments, each pair of side cameras 5 is arranged along the vehicle's traveling direction. The viewing direction of the side camera 5 located in front of the vehicle's traveling direction is at least shifted or tilted forward, and the viewing direction of the side camera 5 located behind the vehicle's traveling direction is at least partially shifted backward, and the viewing ranges of the pair of side cameras 5 partially overlap. In this way, each pair of side cameras 5 can have a wider viewing range, improving the comprehensiveness of environmental data collection.

[0035] In some embodiments, all the sensors further include a front microphone 6. The front microphone 6 is disposed in the front portion 11 of the front housing 1, and is disposed adjacent to the front laser radar 2. An appropriate mesh is opened in the area of ​​the front housing 14 corresponding to the front microphone 6 so that sound can enter the inside of the front housing 1, and the sound is collected by the front microphone 6. The front microphone 6 may collect at least sound information in front of the vehicle. For example, the front microphone 6 can collect sounds such as the sound of a horn in front of the vehicle.

[0036] Multiple front sensors (especially laser radar) generate heat during operation. Because the front sensor assembly is located on the roof and is exposed to direct sunlight, the temperature inside the front sensor assembly is likely to concentrate. If the internal temperature of the front sensor assembly becomes too high, the normal operation of the front sensors is likely to be affected. FIG. 4 shows a schematic diagram of the bottom structure of a front base plate according to some embodiments of the present disclosure. As shown in FIGS. 1 and 4 , in some embodiments, the front housing 1 further includes a front air intake 15, a pair of front exhaust vents 16, and a front air duct 17. The front air intake 15 is formed in the center of the front portion 11, forward in the direction of travel. The front air intake 15 communicates between the inside and outside of the front housing 1 and is adapted to facilitate the flow of air into the interior of the front housing 1 through the front air intake 15. In some embodiments, the front air intake 15 may be in the form of a grid, mesh, or the like, which provides appropriate dustproofing and waterproofing and reduces the intrusion of foreign objects into the front housing 1. A pair of front exhaust ports 16 are formed at the ends of the front tail stages 122 of the pair of front side portions 12, respectively. The front exhaust ports 16 communicate between the inside and outside of the front housing 1 and are adapted to discharge air from the inside of the front housing 1. Like the front air intake ports 15, the front exhaust ports 16 may be in the form of a grid, mesh, or the like to reduce the intrusion of foreign matter into the front housing 1. A front air duct 17 is formed between the front base plate 13 and the roof of the vehicle, and the front air duct 17 communicates with the front air intake ports 15 and the pair of front exhaust ports 16, respectively.

[0037] When the vehicle is moving, air enters the housing through the front air intake 15 and flows out through the front air duct 17 and the front exhaust 16. This allows the heat inside the front housing 1 to be carried away by the air, thereby achieving the effect of lowering the internal temperature of the front sensor assembly.

[0038] 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 are directly or indirectly coupled to at least some of the plurality of forward sensors to enhance the heat dissipation capability of the corresponding sensors. Exemplarily, the plurality of forward heat dissipation fins 18 may be arranged corresponding to each of the plurality of laser radars (e.g., one forward laser radar 2 and a pair of side laser radars 3). The forward heat dissipation fins 18 are arranged on the side of the forward base plate 13 away from the laser radars and aligned in the height direction with the laser radars. The forward heat dissipation fins 18 are connected to the forward base plate 13 with bolts, so that heat generated during operation of the laser radars can be transferred to the forward heat dissipation fins 18 via the forward base plate 13. In some embodiments, a thermally conductive material, such as a phase-change pad thermally conductive silicone grease, may be filled between the laser radars and the forward base plate 13 and between the forward heat dissipation fins 18 and the forward base plate 13, thereby improving the efficiency of heat transfer from the laser radars to the forward heat dissipation fins 18.

[0039] Returning to FIG. 1 , in some embodiments, the rear sensor assembly includes a rear housing 7, which is coupled to the top of the vehicle and disposed rearward of the front housing 7 in the direction of travel. The rear housing 7 includes a rear portion 71 and a pair of rear side portions 72. The rear portion 71 is located toward the rear of the roof in the center of the roof, and the pair of rear side portions 72 are coupled to both ends of the rear portion 71 in the vehicle width direction. The rear side portions 72 include a rear inclined section 721 coupled to the rear portion 71 and a rear tail section 722 coupled to the rear inclined section 721. The rear inclined section 721 extends at least in the width direction and is inclined toward the front of the vehicle, and the rear tail section 722 is disposed at one end of the rear inclined section 721 away from the rear section and extends forward. The rear portion 71 and the pair of rear side portions 72 form a substantially C-shape for the entire rear housing 7. In some embodiments, the front housing 1 and rear housing 7 may be symmetrically arranged to facilitate installation of the roof sensor device while improving the overall appearance of the vehicle and further reducing wind resistance of the vehicle.

[0040] In some embodiments, the rear sensor assembly further includes a rear base plate and a rear housing coupled to the rear base plate. The rear base plate is coupled to the vehicle roof with fasteners such as bolts, and the rear housing is placed over the rear base plate to form a mounting frame for accommodating the rear sensor between the rear base plate and the rear housing. In some embodiments, the rear base plate and the rear housing may be connected using a snap fit. Similar to the connection structure between the front base plate 13 and the roof described above, a seal ring may be used between the rear base plate and the roof to ensure a waterproof structure of the roof. In some embodiments, similar to the front sensor assembly, the rear base plate may be made of a metal material and the rear housing may be made of a non-metallic material, which will not be described in this disclosure.

[0041] In some embodiments, the rear sensor includes a rear laser radar 8, a rear camera 9, and a rear microphone. The rear laser radar 8 is disposed on the rear portion 71 and coupled to the rear base plate. The rear laser radar 8 has a field of view facing rearward in the direction of vehicle travel and acquires environmental data behind the vehicle. Similarly, the rear camera 9 is disposed on the rear portion 71 and coupled to the rear base plate. The field of view of the rear camera 9 faces rearward in the direction of vehicle travel. The environmental data collected by the rear camera 9 is fused with the environmental data collected by the rear laser radar 8, allowing the vehicle's data processing and calculation module to more accurately determine the rearward situation of the vehicle. The rear microphone is disposed on the rear portion 71 of the rear housing 7 and is positioned adjacent to the rear laser radar 8. An appropriate mesh may be formed in the area of ​​the rear housing corresponding to the rear microphone so that sound can enter the interior of the rear housing and be collected by the rear microphone. The rear microphone can collect at least sound information behind the vehicle. For example, the rear microphone can collect the sound of a vehicle horn or the like from a vehicle behind.

[0042] In some embodiments, the rear sensor assembly also includes a heat dissipation structure. The rear housing 7 further includes a rear air intake port 73, a rear exhaust port, and a rear air duct. The rear air intake port 73 is formed in a central portion of the rear portion 71, and is positioned facing the front of the vehicle. The rear air intake port 73 can communicate between the inside and outside of the rear housing so that air enters the interior of the rear housing through the rear air intake port 73. The rear exhaust port is formed in a central portion of the rear portion 71, and is positioned facing the rear of the vehicle. Air within the rear housing may be exhausted through the rear exhaust port. The rear air duct is formed between the rear base plate and the roof of the vehicle. The rear air duct is connected to the rear air intake port 73 and the rear exhaust port. Air enters the rear air duct from the rear air intake port 73, flows into the rear air duct, and can send heat from the interior of the rear housing 7 to the rear exhaust port.

[0043] In some embodiments, the rear housing 7 is further provided with a pair of auxiliary air intake ports 74. The pair of auxiliary air intake ports 74 are respectively disposed in the rear tail sections 722 of the pair of rear side portions 72, and the auxiliary air intake ports 74 face forward in the direction of vehicle travel. The rear air duct is connected to the auxiliary air intake ports 74. Air can enter the rear air duct through the auxiliary air intake ports 74 and then be discharged from the rear exhaust port. In this way, the flow rate of gas within the rear housing 7 can be increased, improving heat dissipation efficiency.

[0044] In some embodiments, the rear sensor assembly further includes a rear heat dissipation fin. The rear heat dissipation fin is disposed in the rear air duct and coupled to the rear base plate. The mounting position of the rear heat dissipation fin may coincide with at least some of the sensors in the rear sensor. For example, the rear heat dissipation fin may be aligned vertically with the rear laser radar 8. Heat generated in the rear laser radar 8 can be conducted to the rear heat dissipation fin through the rear base plate. Similar to the heat dissipation structure of the front heat dissipation fin 18, the heat conduction capability between the rear laser radar 8 and the rear heat dissipation fin can be improved by filling a thermally conductive material between the rear base plate and the rear laser radar 8 and between the rear heat dissipation fin and the rear base plate.

[0045] Although the above describes each implementation of the present disclosure, the above description is illustrative, not exhaustive, and is not limited to each of the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of each of the described implementations. The terminology used in this specification is intended to best interpret the principles, practical applications, or improvements in technology in the marketplace of each implementation, or to enable those skilled in the art to understand each of the implementations disclosed in this specification.

Claims

1. A roof sensor device for a vehicle, comprising: a front sensor assembly including a front housing (1) disposed in front of a roof of the vehicle in a traveling direction, and a plurality of front sensors disposed in the front housing (1), the plurality of front sensors being disposed to face at least forward in the traveling direction of the vehicle and on both sides perpendicular to the traveling direction, so as to collect environmental data in front of and on both sides; a rear housing (7) disposed rearward of the roof in the traveling direction; and a rear sensor assembly including a plurality of rear sensors disposed in the rear housing (7), the rear sensors facing at least rearward in the traveling direction of the vehicle and configured to collect rear environmental data. A roof sensor device for a vehicle.

2. The front housing (1) a front portion (11) disposed at the front center of the roof; a pair of front side portions (12) including a front inclined step (121) extending from the front portion (11) at an end in the width direction of the vehicle at an incline rearward, and a front tail step (122) extending from the front inclined step (121) in the traveling direction; 2. The roof sensor device according to claim 1.

3. The front housing (1) a front base plate (13) connected to the roof, the front base plate (13) having both ends adapted to curve from the center of the roof toward the rear of the vehicle; a front housing (14) coupled to the front base plate (13), forming an installation space with the front base plate (13), and accommodating the plurality of front sensors; 3. The roof sensor device according to claim 1 or 2.

4. The front housing (1) a front intake port (15) formed in the middle of the front part (11) for allowing airflow to enter the front housing (1); a pair of forward exhaust ports (16) formed at the ends of the forward tail stages (122) of the pair of forward side portions (12), respectively, for allowing airflow to flow out of the front housing (1); a front air duct (17) formed between a front base plate (13) and the roof of the vehicle, the front air duct (17) adapted to communicate the front air intake (15) with the pair of front exhaust ports (16); 3. The roof sensor device according to claim 2.

5. The forward sensor assembly The vehicle further includes a plurality of front heat dissipation fins (18) disposed in the front air duct (17) and coupled to the front base plate (13), each of the front heat dissipation fins (18) being coupled to at least some of the sensors in the front sensor.

5. The roof sensor device according to claim 4.

6. the plurality of front sensors include at least one of a laser radar, a camera, and a microphone; 4. The roof sensor device according to claim 3.

7. The plurality of front sensors include: a forward laser radar (2) disposed in the mounting space and coupled to the forward portion (11), the forward laser radar (2) having a visual angle directed at least forward in the traveling direction; a pair of side laser radars (3) disposed in the mounting space and coupled to the pair of front side portions (12), respectively, with their viewing angles directed to both sides perpendicular to the traveling direction of the vehicle; 7. The roof sensor device according to claim 6.

8. The plurality of front sensors include: a front camera (4) disposed in the mounting space and coupled to the front part (11), the front camera (4) having a viewing angle facing forward in the traveling direction; and two pairs of side cameras (5) arranged in the mounting space and coupled to the pair of front side portions (12), the two pairs of side cameras (5) having viewing angles facing to both sides perpendicular to the traveling direction of the vehicle, The viewing angle of a first side camera (5) of the pair of side cameras (5) is shifted forward in the traveling direction, the viewing angle of a second side camera (5) relative to the first side camera (5) is shifted backward in the traveling direction, and the viewing angle of the first side camera (5) and the viewing angle of the second side camera (5) partially overlap.

8. The roof sensor device according to claim 7.

9. The rear housing (7) a rear portion (71) disposed at a rear central portion of the roof; a pair of rear side portions (72) including a rear inclined step (721) extending from the rear portion (71) at an end in the width direction of the vehicle at an incline toward the front, and a rear tail step (722) extending from the rear inclined step (721) in the traveling direction; 9. The roof sensor device according to claim 1, 2, or 4 to 8.

10. The rear sensor assembly a rear base plate coupled to the roof, the rear base plate having opposite ends adapted to curve from a center of the roof toward the front of the vehicle; a rear housing coupled to the rear base plate, forming an installation space with the rear base plate, and accommodating a plurality of rear sensors; 10. The roof sensor device according to claim 9.

11. The rear housing (7) a rear air intake (73) formed in the middle of the rear portion (71) and facing forward in the traveling direction so that airflow enters the rear housing (7); a rear exhaust port formed in a central portion of the rear portion (71) and facing rearward in the traveling direction so that airflow flows out from the rear housing (7); a rear air duct formed between the rear base plate and a roof of the vehicle, the rear air duct adapted to communicate between the rear air intake (73) and the rear air exhaust (74); 11. The roof sensor device according to claim 10.

12. The rear sensor assembly further comprising rear heat dissipation fins disposed in the rear air duct and coupled to the rear base plate, each rear heat dissipation fin coupled to at least some of the sensors in the rear sensor; 12. The roof sensor device according to claim 11.

13. The plurality of rear sensors include: a rear laser radar (8) coupled to the rear portion (71) and facing rearward in the direction of travel; a rear camera (9) coupled to the rear portion (71) and facing rearward in the direction of travel; a rear microphone coupled to the rear portion (71) and adapted to collect at least sound information behind the vehicle; 10. The roof sensor device according to claim 9.

14. A vehicle, The roof and The roof sensor device according to any one of claims 1 to 13, A vehicle characterized by:

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