Electric vehicles

Abstract

To prevent a reduction in obstacle detection accuracy.SOLUTION: An electric vehicle 1 comprises: a vehicle body frame 110; a three-dimensional sensor 30A installed at a location which is an upper section U and a front section F of the electric vehicle 1; and a pair of two-dimensional front sensors 30B and 30C installed at locations on the vehicle body frame 110 respectively close to right and left front wheels 2R and 2L. The three-dimensional sensor 30A acquires three-dimensional position data in a field of view from the front section F of the electric vehicle 1 and the two-dimensional front sensors 30B and 30C detect a road surface state in a near field.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an electric vehicle. [Background technology]

[0002] Conventionally, a technology has been known in which a 3D LiDAR mounted on the body (operation panel) of a senior car detects the terrain under the user's feet at close range and detects the presence of obstacles at long range (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-74816 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology disclosed in Patent Document 1, the obstacle detection sensor was attached to the vehicle body, so when the wheels were turned by the steering mechanism, the direction in which the wheels were moving and the direction in which the obstacle detection sensor was pointing did not match, resulting in a problem of reduced accuracy in detecting obstacles.

[0005] Therefore, the present invention has been made in consideration of the above-mentioned problems, and has an object to provide an electric vehicle that can prevent a decrease in the accuracy of obstacle detection. [Means for solving the problem]

[0006] An electric vehicle according to one embodiment includes a three-dimensional sensor provided above and in front of the electric vehicle, and a pair of forward two-dimensional sensors provided on the vehicle body near the left and right front wheels, respectively. The three-dimensional sensor acquires three-dimensional position data of a field of view in front of the electric vehicle, and the forward two-dimensional sensor detects road conditions in the near distance. The vehicle includes a lower brace provided in front of and below the electric vehicle, and a pair of front two-dimensional sensor brackets extending outward in a vehicle width direction from the lower brace, and each of the pair of front two-dimensional sensors is attached to each of the pair of front two-dimensional sensor brackets. The gist of the present invention is as follows. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of an overall configuration of an electric vehicle 1 according to an embodiment. [Diagram 2] FIG. 2 is a cross-sectional view taken along line XX in FIG. [Diagram 3] FIG. 3 is a diagram for explaining an example of a lower part of the front portion of the electric vehicle 1 according to one embodiment. [Figure 4] FIG. 4 is a diagram for explaining an example of a lower part of the rear portion of the electric vehicle 1 according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. In the following description of the drawings, the same or similar parts are given the same or similar reference numerals. However, it should be noted that the drawings are schematic and the ratios of the dimensions are different from the actual ones. Therefore, the specific dimensions should be determined with reference to the following description. In addition, the drawings may include parts with different dimensional relationships and ratios. In this specification and the drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid repeated explanations, and elements not directly related to the present invention are not illustrated.

[0009] An electric vehicle 1 according to one embodiment of the present invention will be described below with reference to Fig. 1 to Fig. 4. Here, Fig. 1 is a diagram showing an example of the overall configuration of the electric vehicle 1 according to this embodiment, Fig. 2 is a cross-sectional view taken along line XX in Fig. 1 (with an operation unit 5 including a handle removed), Fig. 3 is a diagram for explaining an example of the lower part of the front part of the electric vehicle 1 according to this embodiment, and Fig. 4 is a diagram for explaining an example of the lower part of the rear part of the electric vehicle 1 according to this embodiment.

[0010] For example, the electric vehicle 1 according to this embodiment may be what is called a senior car, an autonomous driving electric vehicle, a small electric vehicle, or the like.

[0011] As shown in FIG. 1, the electric vehicle 1 of this embodiment includes a body frame 110, a seat 10, a battery 20, a three-dimensional sensor 30A, a pair of front two-dimensional sensors 30B / 30C, a stereo camera 30D, a basket 40, electronic devices 60, fins 60A, and a base bracket 70.

[0012] A pair of left and right front wheels 2R / 2L and a rear wheel 3 are supported by a body frame 110 via suspensions (not shown). Except for a portion thereof, the body frame 110 is covered by a resin cover including a front cover 51, a leg shield 50, a floor 52, a rear cover 53, etc. An operation unit 5 having a handle and instruments is provided on the upper end of a steering shaft 110B of the body frame 110.

[0013] 1, the front cover 51 is provided below D of the basket 40, the leg shield 50 is provided behind B of the basket 40, and the rear cover 53 is provided below D of the seat 10. The floor 52 is provided below D of the rear cover 53 and extends from a connection portion with the front cover 51 to the rear end of the electric vehicle 1.

[0014] The seat 10 is provided at the rear portion of the vehicle body frame 110, and has a backrest 11 and armrests 12. A passenger sits on the seat 10 and places his / her feet on the floor 52.

[0015] The battery 20 is provided below D or behind B the seat 10. For example, as shown in FIG.

[0016] 1 and 2, the basket 40 is provided in front F of the electric vehicle 1, i.e., in a front portion of the body frame 110. The basket 40 has a front surface 40F which is the surface on the front F side and a rear surface 40B which is the surface on the rear B side. Here, the rear surface 40B of the basket 40 also serves as the surface on the front F side of the leg shield 50.

[0017] Between the front F side surface and the rear B side surface of the leg shield 50, a steering shaft 110B is provided extending in the vertical direction.

[0018] The electronic device 60 performs arithmetic processing on the data acquired by the sensors 30A to 30C and the stereo camera 30D. The electronic device 60 has a CPU and a GPU capable of performing such arithmetic processing.

[0019] As shown in FIG. 2, the electronic device 60 is provided between the front surface 40F of the basket 40 and the rear surface B of the basket 40.

[0020] 2, electronic device 60 may be provided inside basket 40 along rear surface 40B that stands at rear B of basket 40. Also, as shown in FIG. 2, a partition wall 40W that separates storage space 401 for baggage and storage space 402 for electronic device 60 may be provided inside basket 40.

[0021] As shown in FIG. 2, the fins 60A are provided on the rear surface of the electronic device 60, extend in the vehicle width direction W, and are arranged in a plurality of rows in the vertical direction.

[0022] As shown in FIG. 2, the base bracket 70 may be attached to the vehicle body frame 110 (specifically, the chassis frame 110A) adjacent to the bottom surface of the basket 40.

[0023] 1, three-dimensional sensor 30A is provided above U and forward F of electric vehicle 1. Here, three-dimensional sensor 30A acquires three-dimensional position data of the visual field range forward F of electric vehicle 1.

[0024] 1, the front two-dimensional sensor 30B is provided on the vehicle body frame 110 near the right front wheel 2R, and the front two-dimensional sensor 30C is provided on the vehicle body frame 110 near the left front wheel 2L. Here, the pair of front two-dimensional sensors 30B / 30C detects road surface conditions in the short distance.

[0025] According to this configuration, the three-dimensional sensor 30A can be used to detect the road surface shape such as the sidewalk, and obstacles on the road (pedestrians, utility poles, etc.) at a distance greater than the road surface condition detection distance of the forward two-dimensional sensors 30B / 30C.

[0026] Furthermore, with this configuration, by arranging the front two-dimensional sensors 30B / 30C in the vicinity of the left and right front wheels 2R / 2L, the detection accuracy of the road surface conditions can be improved even when the front wheels 2R / 2L are turning.

[0027] Here, the three-dimensional sensor 30A is provided at a position higher than the center of the electric vehicle 1 in the height direction, and the forward two-dimensional sensors 30B / 30C are provided at a position lower than the center of the electric vehicle 1 in the height direction.

[0028] The three-dimensional sensor 30A may be a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) or a stereo camera. The forward two-dimensional sensors 30B / 30C may be a laser sensor or an infrared sensor.

[0029] As shown in FIG. 2, the vehicle body frame 110 has a chassis frame 110A that extends in the upward direction U in the front portion of the electric vehicle 1.

[0030] As shown in FIGS. 1 and 2, the electric vehicle 1 may further include a three-dimensional sensor bracket 100.

[0031] 2, the three-dimensional sensor bracket 100 extends forward F and upward U, is connected to the chassis frame 110A, and holds the three-dimensional sensor 30A. As shown in FIG. 2, the three-dimensional sensor 30A is disposed near the tip of the three-dimensional sensor bracket 100.

[0032] With this configuration, even if there is a basket 40 in front F of the electric vehicle 1, the three-dimensional sensor 30A can be held on the highly rigid body frame 110, and the three-dimensional sensor 30A can be positioned further forward F, thereby improving the accuracy of obstacle detection.

[0033] Furthermore, with this configuration, since the three-dimensional sensor bracket 100 extends upward U, it is easy to put luggage in and take it out of the basket 40.

[0034] Here, as shown in Fig. 2, the electric vehicle 1 may further include a brace 90. As shown in Fig. 2, the brace 90 may extend in the vehicle width direction W and be attached to the chassis frame 110A adjacent to the rear surface 40B of the basket 40.

[0035] As shown in FIG. 2, the three-dimensional sensor bracket 100 may be attached to a brace 90 to hold the three-dimensional sensor 30A.

[0036] As shown in FIG. 2, the three-dimensional sensor bracket 100 is disposed above the opening of the basket 40 at a position U, and extends from the rear surface 40B of the basket 40 to near the front surface 40F.

[0037] As shown in FIG. 3, the electric vehicle 1 may further include a pair of front two-dimensional sensor brackets 150A / 150B and a lower brace 160.

[0038] As shown in Fig. 3, the lower brace 160 may be provided forward F and below D of the electric vehicle 1. As shown in Fig. 3, the pair of front two-dimensional sensor brackets 150A / 150B may extend outward in the vehicle width direction W from the lower brace 160.

[0039] As shown in FIG. 3, the front two-dimensional sensor 30B may be attached to a front two-dimensional sensor bracket 150A, and the front two-dimensional sensor 30C may be attached to a front two-dimensional sensor bracket 150B.

[0040] Specifically, as shown in FIG. 3, the front two-dimensional sensor brackets 150A / 150B may each have an arm 151A / 151B and a holder 152A / 152B.

[0041] As shown in FIG. 3, the arms 151A / 151B are portions that extend outward in the vehicle width direction W from the lower brace 160, and the holding portions 152A / 152B may be portions that hold the front two-dimensional sensors 30B / 30C, respectively.

[0042] According to this configuration, the front two-dimensional sensors 30B / 30C can be held with increased rigidity. Also, according to this configuration, the front two-dimensional sensors 30B / 30C can be disposed further outward in the vehicle width direction W, thereby improving the accuracy of obstacle detection.

[0043] As shown in FIG. 4, the electric vehicle 1 may further include a rear two-dimensional sensor 170 and a rear two-dimensional sensor bracket 180.

[0044] As shown in Fig. 4, the rear two-dimensional sensor 170 detects at least one of a road condition and an obstacle behind the electric vehicle 1 at a rear B of the electric vehicle 1 when the electric vehicle 1 is reversing. As shown in Fig. 4, the rear two-dimensional sensor bracket 180 is provided in a rear portion of the body frame 110 so as to extend rearward B. Here, the rear two-dimensional sensor bracket 180 may be attached to the rear portion of the body frame 110.

[0045] As shown in FIG. 4, the rear two-dimensional sensor 170 may be attached to a rear two-dimensional sensor bracket 180 .

[0046] According to this configuration, it is possible to increase the rigidity and hold rear two-dimensional sensor 170. Furthermore, according to this configuration, rear two-dimensional sensor 170 can be disposed further rearward B, thereby improving the accuracy of obstacle detection.

[0047] 1 and 2, a stereo camera 30D that detects at least one of structures and obstacles around the electric vehicle 1 may be attached to the three-dimensional sensor bracket 100. Here, as shown in FIG. 2, the stereo camera 30D may be disposed closer to the tip of the three-dimensional sensor bracket 100 than the sensor 30A.

[0048] A control function (not shown) of the electric vehicle 1 may detect the orientation and current position of the electric vehicle 1 from the detection results of the stereo camera 30D and preset surrounding environment information.

[0049] According to this configuration, the orientation and current position of the electric vehicle 1, which are information required when the electric vehicle 1 is autonomously driven, can be detected.

[0050] Although the present invention has been described in detail using the above-mentioned embodiment, it is clear to those skilled in the art that the present invention is not limited to the embodiment described in the present specification. The present invention can be implemented in modified and altered forms without departing from the spirit and scope of the present invention defined by the description of the claims. Therefore, the description in this specification is intended to be illustrative and does not have any limiting meaning on the present invention. [Industrial Applicability]

[0051] According to the present embodiment, it is possible to provide an electric vehicle that can prevent a decrease in the accuracy of obstacle detection. [Explanation of symbols]

[0052] 1. Electric vehicles 2R, 2L...front wheel 5…Operation unit 10…Seating seat 11...Backrest 12…Armrest 20…Battery 30A...3D sensor 30B, 30C...Front 2D sensor 30D...Stereo camera 40…Basket 40F…Front of basket 40B…Rear of basket 40W…Partition wall 50…Leg shield 51…Front cover 52…Floor 53…Rear cover 60...Electronic equipment 70…Base bracket 90…Brace 100...3D sensor bracket 110…Vehicle frame 110A…Chassis frame 110B…Steering shaft 150A, 150B...Front 2D sensor bracket 151A, 151B…Arm 152A, 152B...Holding part 160…Lower brace 170...Rear 2D sensor 180…Rear 2D sensor bracket

Claims

1. An electric vehicle, The vehicle frame, A three-dimensional sensor provided above and in front of the electric vehicle; a pair of front two-dimensional sensors provided on the body frame near the left and right front wheels, The three-dimensional sensor acquires three-dimensional position data of a field of view in front of the electric vehicle, The forward two-dimensional sensor detects road conditions in the near distance, A lower brace provided in front of and below the electric vehicle; a pair of front two-dimensional sensor brackets extending outward in a vehicle width direction from the lower brace; An electric vehicle, wherein each of the pair of front two-dimensional sensors is attached to each of the pair of front two-dimensional sensor brackets.

2. the vehicle body frame has a chassis frame extending upward in a front portion of the electric vehicle, A basket provided in front of the electric vehicle; The electric vehicle according to claim 1 , further comprising: a three-dimensional sensor bracket extending forward and upward, connected to the chassis frame, and holding the three-dimensional sensor.

3. a rear two-dimensional sensor disposed at the rear of the electric vehicle and configured to detect at least one of a road condition and an obstacle when the electric vehicle is moving backward; a rear two-dimensional sensor bracket extending rearward in a rear portion of the vehicle body frame, 3. The electric vehicle according to claim 1, wherein the rear two-dimensional sensor is attached to a rear two-dimensional sensor bracket.

4. The three-dimensional sensor is a LiDAR, a stereo camera that detects at least one of a structure and an obstacle around the electric vehicle is attached to the three-dimensional sensor bracket; 3. The electric vehicle according to claim 2, wherein a direction and a current position of the electric vehicle are detected from a detection result of the stereo camera and preset surrounding environment information.

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