Vehicle sensor mounting structure

Abstract

To provide a sensor mounting structure for a vehicle capable of changing a height and having high position reproducibility of a sensor.SOLUTION: A sensor mounting structure 1 for a vehicle includes: a sensor 3 having a detecting portion 43 on top; a mounting portion 6 disposed above a vehicle 4, that has a guide portion 16 extending upward at an angle greater than zero with respect to a ground plane of the vehicle 4; a base portion 7 capable of supporting the sensor 3 and moving along the guide portion 16; and a moving device 8 for moving the base portion 7 along the guide portion 16.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sensor mounting structure for a vehicle. [Background technology]

[0002] Autonomous driving systems for vehicles require sensors to recognize the vehicle's surroundings. One example of a sensor for vehicle surrounding recognition is LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). LiDAR emits a laser in all directions on the horizontal plane and receives reflected light from objects around the vehicle to acquire data for recognizing the vehicle's surroundings. LiDAR generates a three-dimensional map of the surrounding environment from the acquired data. The autonomous driving system uses this three-dimensional map to control the vehicle's autonomous driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-050035 Summary of the Invention [Problem to be solved by the invention]

[0004] LiDAR has a detection unit that emits a laser and receives the reflected light. The LiDAR also has a vertical field of view that emits and receives laser light within a range of a predetermined angle, both positive and negative, from a reference plane, which is a plane that intersects with the detection unit and is parallel to the horizontal. The LiDAR is installed above the vehicle, for example, at a predetermined height from the roof. This reduces the extent to which the vertical field of view, especially the field of view below the reference plane, is blocked by the vehicle body, thereby reducing gaps in the 3D map, i.e., blind spots.

[0005] However, sensors installed on the roof of a vehicle may be installed at a height that exceeds the height limit of facilities such as multi-story parking garages, roads, etc. If the sensor exceeds the height limit of facilities such as multi-story parking garages, roads, etc., there is a risk that the sensor will hit the facilities and be damaged.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a sensor mounting structure for a vehicle that allows the height to be changed and has high repeatability of the sensor position. [Means for solving the problem]

[0007] In order to solve the above problems, the vehicle sensor mounting structure according to the present invention comprises: The system irradiates a field of view including a horizontal plane with light, receives the reflected light, and generates measurement information about the vehicle's surrounding environment within the field of view. The vehicle comprises a sensor having a detection unit, a mounting unit that is placed on the vehicle and has a guide unit that extends upward at a constant angle greater than zero degrees with respect to the vehicle's ground contact surface, a base that supports the sensor and is movable along the guide unit, and a moving device that moves the base along the guide unit, wherein the base can be placed at either the uppermost or lowermost end of the guide unit, and when the base is located at the uppermost end of the guide unit, the detection unit of the sensor is located above the upper end of the mounting unit, and when the base is located at the lowermost end of the guide unit, the detection unit of the sensor is positioned vertically above the mounting unit. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a sensor mounting structure for a vehicle that allows the height to be changed and has high repeatability of the sensor position. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing a fuel cell device according to an embodiment of the present invention; [Figure 2] 1 is a side view showing a fuel cell device according to an embodiment of the present invention; [Figure 3]FIG. 4 is an enlarged plan view showing an upper opposing surface, a guide portion, and a base portion located at the lowest end in the embodiment of the present invention. [Figure 4] FIG. 3 is an enlarged side view showing a mirror surface portion, a guide portion, and a base portion located at the lowest end in the embodiment of the present invention. [Figure 5] 5 is a flowchart showing a startup operation of the sensor module according to the embodiment of the present invention. [Figure 6] 6 is a flowchart showing an abnormal termination operation of the sensor module according to the embodiment of the present invention. [Figure 7] 5 is a flowchart showing a foreign matter inspection of a sensor module according to an embodiment of the present invention. [Figure 8] 6 is a flowchart showing a foreign matter removal operation of the sensor module according to the embodiment of the present invention. [Figure 9] 10 is a flowchart showing a retraction operation of the sensor module according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0011] An embodiment of a vehicle sensor mounting structure according to the present invention will be described with reference to Figures 1 to 9. In the drawings, the same or corresponding components are designated by the same reference numerals.

[0012] 1 and 2 are side views showing a sensor mounting structure for a vehicle according to an embodiment of the present invention. Specifically, Fig. 1 shows the sensor mounting structure 1 in which the sensor 3 is located on the lower side, and Fig. 2 shows the sensor mounting structure 1 in which the sensor 3 is located on the upper side.

[0013] The sensor mounting structure 1 mounts a sensor 3 included in a sensor module 2 that recognizes the vehicle's surroundings to a vehicle 4. The sensor mounting structure 1 includes the sensor 3, a mounting portion 6 that mounts the sensor 3 above the vehicle 4, specifically to the roof 5 of the vehicle 4, a platform 7 that supports the sensor 3 and allows the mounting portion 6 to move, a moving device 8 that moves the platform 7, and a proximity sensor 9 that detects when the platform 7 is located at a predetermined position. Hereinafter, "up" refers to the direction above the ground surface of the vehicle 4 (hereinafter referred to as the ground surface), and "down" refers to the opposite direction, but this does not necessarily coincide perfectly with the direction of gravity. Furthermore, "front" refers to the direction in which the sensor 3 moves upward, and "rear" refers to the opposite direction, but this is not limited to this unless otherwise specified. The top surface of the roof 5 of the vehicle 4 is, for example, parallel to the ground surface. Hereinafter, "height" refers to the length in the vertical upward direction relative to the ground surface.

[0014] The mounting portion 6 has a lower end portion 11 fixed to the upper surface of the roof 5 of the vehicle 4, an upper end portion 12 located higher than the lower end portion 11, and an intermediate portion 13 between the lower end portion 11 and the upper end portion 12. The lower end portion 11 of the mounting portion 6 is located, for example, further rearward of the vehicle 4 than the upper end portion 12. The mounting portion 6 extends, for example, diagonally upward from the lower end portion 11 toward the front of the vehicle 4. The lower surface of the mounting portion 6 faces the roof 5, and the upper surface of the mounting portion 6 faces above the vehicle 4, just like the roof 5.

[0015] The angle A1 between the upper surface of the intermediate portion 13 of the mounting portion 6 and the upper surface of the roof 5, i.e., the angle A1 between the upper surface of the intermediate portion 13 of the mounting portion 6 and the ground surface, is greater than 0 degrees and less than or equal to 90 degrees, and is preferably equal to the vertical field of view angle α of the sensor 3, for example, 15 degrees. Specifically, the angle A1 is preferably the same as the negative vertical field of view angle α1 of the sensor 3. In this way, the mounting portion 6 extends at the angle A1 with respect to the ground surface. Furthermore, the mounting portion 6, particularly the intermediate portion 13 and the upper end portion 12, does not deform, for example, by expansion, contraction, or displacement. The mounting portion 6 has a guide portion 16 provided on the mounting portion 6 and an upper positioning portion 17 and a lower positioning portion 18 adjacent to the guide portion 16.

[0016] The guide portion 16 is provided on, for example, the upper surface of the mounting portion 6. An upper surface 19 of the guide portion 16 is a part of the upper surface of the mounting portion 6. The guide portion 16 includes, for example, a rail shape that protrudes from the lower surface of the intermediate portion 13 toward the upper surface, such as a linear guide. The guide portion 16 may also include a groove shape that is recessed from the upper surface of the intermediate portion 13 toward the lower surface, or may be a flat surface. The guide portion 16 is provided from the lower end portion 11 to the upper end portion 12 of the mounting portion 6 and extends from the lower end portion 11 toward the upper end portion 12 of the mounting portion 6. The guide portion 16 extends, for example, linearly from the lower end 21 to the upper end 22. The lower end 21 of the guide portion 16 is located, for example, rearward of the upper end 22. The guide portion 16 extends, for example, from the lower end 21 obliquely upward toward the front of the vehicle 4.

[0017] The distance from the top end 22 to the bottom end 21 of the guide 16 is, for example, 60 cm. An angle A2 between the top surface 19 of the guide 16 and the ground surface is greater than 0 degrees and not greater than 90 degrees, and is preferably equal to the vertical viewing angle α of the sensor 3, for example, 15 degrees. In particular, the angle A2 is preferably the same as the negative vertical viewing angle α1 of the sensor 3. Thus, the guide 16 extends at the angle A2 with respect to the ground surface. Also, the angle A2 is the same as the angle A1, but may be different.

[0018] The upper positioning portion 17 is disposed adjacent to the uppermost end 22 of the guide portion 16. Specifically, the upper positioning portion 17 is adjacent to the uppermost end 22 of the guide portion 16 on an extension line above the guide portion 16. The upper positioning portion 17 protrudes upward from the guide portion 16 and is positioned above the uppermost end 22 of the guide portion 16. As shown in FIG. 2 , the upper positioning portion 17 contacts the base portion 7 as it moves upward, thereby preventing further upward displacement of the base portion 7. In this manner, the base portion 7 is disposed in the area directly above the portion including the uppermost end 22 of the guide portion 16. Hereinafter, being located in the area directly above the portion including the uppermost end 22 of the guide portion 16 will be referred to as "being located at the uppermost end 22 of the guide portion 16." Additionally, being located in the area directly above the portion including the lowermost end 21 of the guide portion 16 will be referred to as "being located at the lowermost end 21 of the guide portion 16." 1, the upper positioning portion 17 includes an upper opposing surface 24 facing the lowermost end 21 of the guide portion 16. The upper opposing surface 24 is provided with an upper positioning surface 25 and a mirror surface portion 26.

[0019] FIG. 3 is an enlarged plan view showing the upper opposing surface, the guide portion, and the base portion located at the lowest end in the embodiment of the present invention.

[0020] As shown in Figures 2 and 3, the upper positioning surface 25 contacts the base portion 7 located at the uppermost end 22 of the guide portion 16. The upper positioning surface 25 is adjacent to the uppermost end 22 of the guide portion 16 on an extension line above the guide portion 16. The upper positioning surface 25 is approximately parallel to the edge of the uppermost end 22 of the guide portion 16 when viewed from above. The upper positioning surface 25 intersects with, for example, is perpendicular to, the uppermost end 22 of the guide portion 16. The lower end of the upper positioning surface 25 contacts the uppermost end 22 of the guide portion 16. The upper positioning surface 25 is arranged on the central axis C1 of the guide portion 16 and is a surface that is line-symmetrical with respect to the central axis C1 of the guide portion 16 when viewed from above, for example.

[0021] The mirror surface portion 26 is disposed away from the central axis C1 of the guide portion 16. The mirror surface portion 26 is adjacent to the upper positioning surface 25, more specifically, adjacent to the upper positioning surface 25 in a direction away from the central axis C1 of the guide portion 16.

[0022] FIG. 4 is an enlarged side view showing the mirror surface portion, the guide portion, and the base portion located at the lowest end in the embodiment of the present invention.

[0023] 3 and 4, the mirror surface 26 is disposed so as to be inclined toward the base 7 and the sensor 3 located at the lowest end 21. The mirror surface 26 is also slightly inclined downward and toward the central axis C1 of the guide unit 16. Specifically, the surface of the mirror surface 26 is inclined downward by, for example, 9 degrees with respect to the vertical direction of the ground surface, and is inclined toward the central axis C1 with respect to the upper positioning surface 25 by, for example, 6 degrees.

[0024] As shown in FIG. 1 , the lower positioning portion 18 is disposed adjacent to the lowermost end 21 of the guide portion 16. Specifically, the lower positioning portion 18 is adjacent to the lowermost end 21 of the guide portion 16 on a downward extension of the guide portion 16. The lower positioning portion 18 protrudes upward from the guide portion 16 and is located above the lowermost end 21 of the guide portion 16. The lower positioning portion 18 positions the base portion 7 at the lowermost end 21 of the guide portion 16. The lower positioning portion 18 includes a lower opposing surface 27 facing the uppermost end 22 of the guide portion 16.

[0025] The base 7 includes, for example, an insulating resin. The lower surface of the base 7 faces the upper surface 19 of the guide 16 and is in contact with the upper surface 19 of the guide 16, for example. The lower surface of the base 7 includes a groove shape recessed from the lower surface to the upper surface along the central axis C1 of the guide 16. The lower surface of the base 7 may also include a convex shape protruding from the upper surface to the lower surface in accordance with the shape of the guide 16, or may be a flat surface. The base 7 moves along the guide 16 with its lower surface in contact with the guide 16. The sensor 3 is disposed on the upper surface of the base 7. The upper surface of the base 7 is parallel to the ground surface and in contact with the lower surface of the sensor 3. The angle between the upper and lower surfaces of the base 7 is, for example, 15 degrees.

[0026] The base 7 has a front surface 31 and a rear surface 32 between its upper and lower surfaces. The front surface 31 of the base 7 faces the upper positioning portion 17, and the rear surface 32 faces the lower positioning portion 18. A base-side positioning surface 34 is provided on the front surface 31 of the base 7. The base-side positioning surface 34 intersects with, for example, is perpendicular to, the lower surface of the base 7. The base-side positioning surface 34 faces the upper positioning surface 25 and is parallel to the upper positioning surface 25. As shown in FIG. 2 , the base-side positioning surface 34 of the base 7 located at the top end 22 contacts, for example, the upper positioning surface 25 of the upper positioning portion 17. If a foreign object is sandwiched between the front surface 31 of the base 7 and the upper opposing surface 24, particularly between the base side positioning surface 34 and the upper positioning surface 25, the base side positioning surface 34 and the upper positioning surface 25 will not be able to come into contact, and the base 7 and sensor 3 may be positioned shifted from the top end 22 towards the bottom end 21.

[0027] The rear surface 32 of the base 7 faces the lower opposing surface 27 of the lower positioning portion 18 and is parallel to the lower opposing surface 27. The rear surface 32 of the base 7 located at the lowest end 21 faces, for example, adjacent to the lower opposing surface 27, specifically contacts it. The height of the front surface 31 side of the base 7 is higher than the height of the upper positioning portion 17. The distance between the upper surface of the base 7 located at the highest end 22 and the roof 5 is longer than the distance between the upper surface of the upper positioning portion 17 and the roof 5.

[0028] The space above the guide portion 16 between the front surface 31 of the base portion 7 located at the lowest end 21 and the upper opposing surface 24 of the upper positioning portion 17 is a displacement space 37 that allows movement of the base portion 7. As shown in FIGS. 1 and 3, the movement distance of the base portion 7 is the length of the displacement space 37 in the direction of the central axis C2. The length of the displacement space 37 in the direction of the central axis C2 as viewed from above, i.e., the length in the front-to-rear direction, is, for example, 50 cm. The displacement space 37 extends forward at an angle of, for example, 15 degrees relative to the ground surface. The central axis C2 of the displacement space 37 overlaps with the central axis C1 of the guide portion 16 as viewed from above.

[0029] The moving device 8 moves the platform 7 along the guide 16 and keeps the platform 7 at a predetermined position on the guide 16. The moving device 8 is powered by, for example, a control device of an automatic driving system. The moving device 8 includes, for example, a motor (not shown), a linear motion mechanism (not shown) that converts the rotational motion of the motor into linear motion to move the platform 7 linearly, and a braking device (not shown). The linear motion mechanism connected to the platform 7 converts the rotational motion of the motor, which has an upper limit on torque, into linear motion to move the platform 7 along the guide 16. The moving device 8 applies a positive or negative voltage to the motor, changing the rotation direction of the motor and the linear motion mechanism to move the platform 7 upward or downward. The braking device, for example, prevents the motor from rotating when in an off state where no voltage is applied, thereby keeping the platform 7 stopped at a predetermined position on the guide 16, and allows the motor to rotate when in an on state where voltage is applied.

[0030] The proximity sensor 9 is a proximity sensor that detects the approach of a detection object such as metal. The proximity sensor 9 is provided, for example, within the guide 16 and faces the upper surface of the guide 16. The proximity sensor 9 has an upper proximity sensor 38 that detects when the base 7 is located at the uppermost end 22 of the guide 16 and a lower proximity sensor 39 that detects when the base 7 is located at the lowermost end 21 of the guide 16. The upper proximity sensor 38 is provided, for example, near the uppermost end 22 of the guide 16, and the lower proximity sensor 39 is provided, for example, near the lowermost end 21. The upper proximity sensor 38 detects a detection object provided, for example, at the bottom of the base 7, thereby detecting that the base 7 is located at the uppermost end 22 and generating an upper detection signal d1. The lower proximity sensor 39 detects a detection object, for example, at the bottom of the base 7, thereby detecting that the base 7 is located at the lowermost end 21 and generating a lower detection signal d2.

[0031] The sensor module 2 is, for example, a LiDAR-type sensor module, which measures the field of view in all directions on the horizontal plane and over a vertical viewing angle α, and performs three-dimensional mapping of the environment surrounding the vehicle 4 on which it is installed. In addition to the sensor 3 that performs measurements, the sensor module 2 also includes a control unit (not shown) that performs three-dimensional mapping.

[0032] The lower surface of the sensor 3 is arranged parallel to the ground surface. A detection unit 43 is provided on the upper part of the sensor 3. The detection unit 43 is arranged parallel to the lower surface of the sensor 3, i.e., the ground surface, and is provided around the entire periphery of the side of the sensor 3, i.e., in all directions. Similarly, an optical center 44, located approximately in the center of the detection unit 43, is arranged parallel to the ground surface and is provided around the entire periphery of the side of the sensor 3. As shown in FIGS. 1 and 2, the detection unit 43 irradiates a laser L1, for example, emitted in a pulsed manner, over a field of view that is the range of a vertical field of view α and in all directions of a reference plane that passes through the optical center 44, and receives scattered light that is reflected from the laser L1 to generate measurement information. Note that FIGS. 1 and 2 show only the lasers L1 that pass through the upper and lower ends of the field of view.

[0033] The top of the sensor 3 disposed on the base 7 located at the top end 22 of the guide section 16 is located higher than the top of the upper positioning section 17. "Top" refers to the part farthest from the vehicle installation surface, i.e., the part located highest. Furthermore, the optical center 44 of the sensor 3 located at the top end 22 of the guide section 16 is located higher than the top of the upper positioning section 17. The top of the sensor 3 disposed on the base 7 located at the bottom end 21 of the guide section 16 is located lower than the top of the upper positioning section 17. Furthermore, the optical center 44 of the sensor 3 located at the bottom end 21 of the guide section 16 is located lower than the top of the upper positioning section 17 of the mounting section 6.

[0034] The difference between the distance from the roof 5 to the optical center 44 of the sensor 3 located at the lowest end 21 and the distance from the center of the platform-side positioning surface 34 is, for example, 15 cm. The distance between the underside of the sensor 3 and the optical center 44 is, for example, 38 mm, and the height of the sensor 3 is, for example, 73 mm. The difference between the distance from the roof 5 to the top of the sensor 3 located at the highest end 22 and the distance from the roof 5 to the top of the sensor 3 located at the lowest end 21 is, for example, 13 cm. The overall height of the vehicle 4 is the distance between the ground surface and the top of the sensor 3 when the sensor 3 is located at the highest end 22, and the distance between the ground surface and the top of the upper positioning unit 17 when the sensor 3 is located at the lowest end 21. The sensor 3 is measured at the highest end 22 of the guide unit 16 and retracted or measured at the lowest end 21.

[0035] During the measurement operation of the sensor 3, the detection unit 43 emits a laser L1 into the field of view and receives scattered light. When the sensor 3 is located at the top end 22, the field of view of the detection unit 43 in all directions and at a vertical field of view angle α includes the surrounding environment of the vehicle 4. In addition, in this case, the field of view of the detection unit 43 in the forward direction and at a vertical field of view angle α does not include, for example, the top of the mounting unit 6, and blind spots caused by the vehicle 4 are minimized. The field of view of the detection unit 43 in the rearward direction and at a vertical field of view angle α is unlikely to include the mounting unit 6, whose upper surface extends at an angle A1 relative to the ground surface, and the guide unit 16, whose upper surface extends at an angle A2, and the blind spots caused by the vehicle 4 are minimized. Therefore, the sensor 3 located at the top end 22 accurately measures the surroundings of the vehicle 4 used in the autonomous driving system, and the control unit can perform highly accurate three-dimensional mapping.

[0036] When the sensor 3 is positioned at the lowest end 21, the field of view of the detection unit 43 in the forward direction and at the vertical viewing angle α includes, for example, the upper surface of the middle portion 13 and upper end portion 12 of the mounting portion 6, the guide portion 16, and the displacement space 37. Therefore, while the detection unit 43 can measure these, it has difficulty measuring the surrounding environment of the vehicle 4. Furthermore, the mirror surface 26 also includes the field of view of the detection unit 43 in the forward direction and at the vertical viewing angle α. As shown in FIGS. 3 and 4 , the laser beam L1 incident on the mirror surface 26 is reflected, passes through the displacement space 37, and is irradiated onto the front surface 31 of the base 7. The scattered light thus generated passes through the displacement space 37, is reflected by the mirror surface 26, and enters the detection unit 43. Note that FIGS. 3 and 4 only show the optical path of the laser beam L1 irradiated from the detection unit 43 along the reference plane and incident on the center of the mirror surface 26.

[0037] The optical path of the laser L1 reflected by the mirror surface 26—that is, the length of the laser L1 irradiated from the detection unit 43, reflected by the mirror surface 26, and reaching the front surface of the base 7—is approximately twice the length of the displacement space 37 along the central axis C1. This value, twice the length of the displacement space 37 along the central axis C1, is preferably greater than the minimum measurement distance, which defines the minimum distance that the detection unit 43 can measure. In this case, if there is no foreign object in the displacement space 37, the detection unit 43 measures the front surface 31 of the base 7, particularly the base-side positioning surface 34, using the mirror image of the mirror surface 26. If there is a foreign object in the optical path of the laser L1 within a range from the detection unit 43 that is shorter than the minimum measurement distance, the detection unit 43 cannot measure the optical path blocked by the foreign object and generates measurement information that includes the missing portion. Furthermore, if there is a foreign object in the optical path of the laser L1 within a range from the detection unit 43 that is shorter than the minimum measurement distance, the detection unit 43 generates measurement information that includes measurement information about the foreign object. In this way, by obtaining measurement information that includes measurement information of defects or foreign objects, the control unit of the sensor module 2 can detect foreign objects in the displacement space 37. Furthermore, by obtaining measurement information that does not include measurement information of defects or foreign objects and includes measurement information of the front surface 31 of the base 7, the control unit of the sensor module 2 can determine that a foreign object in the displacement space 37 has not been detected.

[0038] The measurement information generated by the detection unit 43 includes, for example, the number and coordinate values ​​of points that receive scattered light within the field of view, and the time from irradiation with the laser L1 to reception of the scattered light. The control unit processes the measurement information to perform three-dimensional mapping of the area around the vehicle 4 and foreign object inspection P1 of the displacement space 37.

[0039] In foreign body inspection P1, the control unit uses measurement information from the detection unit 43 to check for the presence or absence of foreign bodies in the displacement space 37 in order to accurately position the base 7 and sensor 3 at the top end 22. In foreign body inspection P1, information processing P2 is performed using measurement information (hereinafter also referred to as reference information) of the displacement space 37 in a normal state measured in advance by the sensor 3 located at the bottom end 21. The normal state displacement space 37 is, for example, a displacement space 37 without foreign bodies. The reference information does not include measurement information for defects or foreign bodies, but includes measurement information for the front surface 31 of the base 7. In the normal state displacement space, the base 7 can move normally, and the base 7 and sensor 3 are accurately positioned at the top end 22.

[0040] Information processing P2 links corresponding points between the reference information and the measurement information of the displacement space 37 measured by the sensor 3 located at the bottom end 21 during foreign object inspection P1, and calculates the difference, such as coordinate values, between these linked corresponding points. If the difference between the linked corresponding points is within an allowable range, the displacement space 37 is in a normal state. If the difference between the linked corresponding points exceeds the allowable range, there is a possibility that a foreign object exists in the displacement space 37 that prevents the platform 7 from being placed at the top end 22.

[0041] The control unit of the sensor module 2 is, for example, an application installed in a control device (not shown) of an autonomous driving system of the vehicle 4. The control device of the autonomous driving system is electrically connected to the sensor 3, the proximity sensor 9, the moving device 8, and the like, for example, via cables or the like. A storage unit (memory) of the control device of the autonomous driving system stores a program used in the operation of the sensor module 2, reference information, the top end movement time required for the platform 7 to be able to sufficiently move from the bottom end 21 to the top end 22 by the moving device 8, and the bottom end movement time t1 required for the platform 7 to be able to sufficiently move from the top end 22 to the bottom end 21 by the moving device 8.

[0042] The control unit controls the sensor 3, the proximity sensor 9, the moving device 8, and the control unit of the autonomous driving system by reading and executing a program stored in the memory unit of the control unit of the autonomous driving system. The control unit causes the sensor 3 to measure the surroundings of the vehicle 4 and transmit the measurement information to the control unit. Specifically, the control unit transmits a measurement command r1 and receives the measurement information from the sensor 3. The control unit transmits three-dimensional information of the surrounding environment of the vehicle 4, generated by three-dimensional mapping using the measurement information, to the control unit of the autonomous driving system.

[0043] The control unit causes the proximity sensor 9 to detect whether the platform 7 is approaching and transmits a detection signal generated by the proximity sensor 9 to the control unit. Specifically, the control unit transmits a detection command to the upper proximity sensor 38, and receives an upper detection signal d1 from the upper proximity sensor 38 when the upper proximity sensor 38 detects the platform 7 through its detection operation. The control unit also transmits a detection command to the lower proximity sensor 39, and receives a lower detection signal d2 from the lower proximity sensor 39 when the lower proximity sensor 39 detects the platform 7 through its detection operation. The control unit then causes the movement device 8 to move or stop the platform 7. Specifically, the control unit transmits an upward movement command r4, a downward movement command r5, and a stop command r6 to the movement device 8. The control unit of the sensor module 2 also transmits an abnormality signal r9 to the control device of the autonomous driving system when it detects an abnormality in the sensor mounting structure 1, and transmits a foreign object removal signal r11 when it detects a foreign object in the displacement space 37.

[0044] The operation of the sensor module 2 according to the embodiment of the present invention will be described below.

[0045] The control unit of the sensor module 2 performs a startup operation when the autonomous driving system is started, a measurement operation such as performing three-dimensional mapping during autonomous driving, and a retraction operation to retract the sensor 3 to the lowest end 21 of the guide unit 16.

[0046] FIG. 5 is a flowchart showing the startup operation of the sensor module according to the embodiment of the present invention.

[0047] First, in the start-up operation, the automatic driving system is activated by an operation such as starting the engine by the operator, and the automatic driving system activates the control unit of the sensor module 2. The control unit of the sensor module 2 places the sensor 3, proximity sensor 9, and moving device 8 in a powered or power-enabled state. The control unit sends a detection command to the lower proximity sensor 39, and the lower proximity sensor 39 performs a detection operation.

[0048] When the lower proximity sensor 39 detects an object to be detected on the platform 7, that is, when the platform 7 is positioned at the lowest end 21, it transmits a lower detection signal d2 to the control unit, and when it does not detect an object to be detected on the platform 7, that is, when the platform 7 is not positioned at the lowest end 21, it does not transmit the lower detection signal d2 to the control unit. The control unit determines whether or not it receives the lower detection signal d2 from the lower proximity sensor 39 (step S1). If it receives the lower detection signal d2, the control unit performs a foreign object inspection P1 (step S2). If it does not receive the lower detection signal d2, the control unit transmits a detection command to the upper proximity sensor 38 to cause it to perform a detection operation, and determines whether or not it receives an upper detection signal d1 from the upper proximity sensor 38 (step S3).

[0049] If the control unit receives the upper detection signal d1, the control unit confirms that the base 7 and sensor 3 are already positioned at the uppermost end 22. In this case, the sensor 3 can perform highly accurate measurements at the uppermost end 22, which is the measurement position. Therefore, the control unit ends the start-up operation and moves on to the measurement operation. If the control unit does not receive the upper detection signal d1, the base 7 and sensor 3 may not be positioned at either the uppermost end 22 or the lowermost end 21. In this case, there may be a malfunction in the moving device 8 or the proximity sensor 9, etc. Therefore, the control unit moves on to the abnormal termination operation P3.

[0050] FIG. 6 is a flowchart showing an abnormal termination operation of the sensor module according to the embodiment of the present invention.

[0051] In the abnormal termination operation P3, the control unit sends an abnormality signal r9 to the control device of the automatic driving system (step S4). The control device of the automatic driving system notifies the operator of the abnormality in the sensor mounting structure 1, so that the operator can confirm the abnormality in the sensor mounting structure 1 themselves or contact a support center to deal with the abnormal termination. The control unit ends the start-up operation.

[0052] FIG. 7 is a flowchart showing foreign matter inspection of a sensor module according to an embodiment of the present invention.

[0053] Meanwhile, in foreign substance inspection P1, the control unit first sends a measurement command r1 to the sensor 3 (step S21). The control unit then performs information processing P2 (step S22). The control unit then determines whether the difference between the linked corresponding points is within the allowable range (step S23). If the control unit determines that the difference between the corresponding points is within the allowable range, the foreign substance inspection P1 is completed and terminated. If the control unit determines that the difference between the corresponding points exceeds the allowable range, the control unit then performs foreign substance removal operation P4.

[0054] FIG. 8 is a flowchart showing a foreign matter removal operation of the sensor module according to the embodiment of the present invention.

[0055] In the foreign object removal operation P4, the control unit sends a foreign object removal signal r11 to the control device of the automatic driving system (step S5), and the control device notifies the operator that foreign object removal is necessary. When the operator removes the foreign object and performs a restart operation, the control unit receives a restart signal d5 generated by the control device (step S6). The control unit again performs the start-up operation from the beginning (step S1) and performs a foreign object inspection P1 of the displacement space 37 (step S2).

[0056] As shown in FIG. 5, when foreign substance inspection P1 is completed and terminated, the control unit sends an upward movement command r4 to the movement device 8 (step S7). Upon receiving the upward movement command r4, the movement device 8 applies a positive voltage to the motor and turns on the brake. The base 7 begins to move from the bottom end 21 to the top end 22. When the base-side positioning surface 34 of the base 7 contacts the upper positioning surface 25 of the upper positioning unit 17, the base 7 and sensor 3 are positioned at the top end 22 of the guide unit 16. At this point, further upward movement of the base 7 is prevented by the upper positioning unit 17, and the motor rotation, which has exceeded the torque upper limit, is stopped. Therefore, the base 7 remains in contact with the upper positioning surface 25, and the base 7 and sensor 3 remain positioned at the top end 22.

[0057] When the top end movement time has elapsed since the transmission of the upward movement command r4, the control unit transmits a stop command r6 to the movement device 8 (step S8). Upon receiving the stop command r6, the movement device 8 stops applying voltage to the motor and turns off the braking device. The platform 7 is fixed at the current position of the guide unit 16. If the platform 7 has moved to the top end 22 of the guide unit 16 without any problems, it is fixed at the top end 22.

[0058] Next, the control unit sends a detection command to the upper proximity sensor 38. The upper proximity sensor 38 sends an upper detection signal d1 based on the detection content. The control unit determines whether or not it receives the upper detection signal d1 from the upper proximity sensor 38 (step S9). If the control unit does not receive the upper detection signal d1, the platform 7 and sensor 3 may not be located at the top end 22 even after passing through the displacement space 37, which is assumed to be in a normal state, even if they move over the top end movement time, and there may be a malfunction in the movement device 8 or the proximity sensor 9. Therefore, the control unit proceeds to an abnormal termination operation P3. If the control unit receives the upper detection signal d1, the control unit has confirmed that the platform 7 and sensor 3 are correctly located at the top end 22, and therefore terminates the start-up operation and proceeds to a measurement operation.

[0059] During measurement, the sensor 3 located at the top end 22 continuously measures the surroundings of the vehicle 4 and transmits the measurement information, and the control unit that receives the measurement information continuously performs three-dimensional mapping to generate the three-dimensional information. The control device of the autonomous driving system continuously receives the three-dimensional information and always controls the driving of the vehicle 4 based on the latest three-dimensional information.

[0060] FIG. 9 is a flowchart showing the retraction operation of the sensor module in the embodiment of the present invention.

[0061] In the avoidance operation, for example, when the control device of the autonomous driving system is not itself controlling the operation of the vehicle 4, if the operator operates the sensor 3 to avoid the vehicle 4, the control unit sends a detection command to the upper proximity sensor 38. The upper proximity sensor 38 sends an upper detection signal d1 based on the detection content. The control unit determines whether or not it receives the upper detection signal d1 from the upper proximity sensor 38 (step S11). If the control unit does not receive the upper detection signal d1, it sends a detection command to the lower proximity sensor 39 to cause it to perform a detection operation, and determines whether or not it receives a lower detection signal d2 from the lower proximity sensor 39 (step S12).

[0062] If the control unit does not determine that the lower side detection signal d2 has been received, the base 7 and sensor 3 are likely not located at either the uppermost end 22 or the lowermost end 21, so the control unit proceeds to abnormal termination operation P3. If the control unit determines that the lower side detection signal d2 has been received, the base 7 and sensor 3 are already located at the lowermost end 21, so the control unit terminates the retraction operation.

[0063] On the other hand, if the control unit determines that it has received an upper detection signal d1 (step S11), the control unit confirms that the sensor 3 and the platform 7 are located at the top end 22, and sends a downward movement command r5 to the movement device 8 (step S13). Upon receiving the downward movement command r5, the movement device 8 applies a negative voltage to the motor and turns on the braking device. The platform 7 begins to move from the top end 22 to the bottom end 21. Next, the control unit sends a detection command to the lower proximity sensor 39, and determines whether it has received a lower detection signal d2 from the lower proximity sensor 39 (step S14).

[0064] When the control unit determines that it has received the lower detection signal d2, it confirms that the platform 7 and sensor 3 are located at the lowest end 21 and transmits a stop command r6 (step S15). Upon receiving the stop command r6, the travel device 8 stops applying voltage to the motor, turns off the braking device, and fixes the platform 7 and sensor 3 on the lowest end 21 of the guide unit 16. This completes the retraction of the sensor 3, and the control unit ends the retraction operation. At this time, the overall height of the vehicle 4 is reduced by, for example, the height of the sensor 3 compared to the overall height of the vehicle 4 when the sensor 3 is located at the uppermost end 22. By performing this retraction operation, the sensor mounting structure 1 reduces the overall height of the vehicle 4, allowing it to use facilities with vehicle height restrictions, and prevents the sensor 3 from colliding with the facilities and being destroyed.

[0065] On the other hand, if the control unit determines that it has not received the lower detection signal d2 (step S14), it determines whether the bottom-end movement time t1 has elapsed since the transmission of the downward movement command r5 (step S16). If the control unit determines that the bottom-end movement time t1 has elapsed, there may be a malfunction in the movement device 8 or the proximity sensor, so the control unit proceeds to abnormal termination operation P3. If the control unit determines that the bottom-end movement time t1 has not elapsed, the control unit again transmits a detection command to the lower proximity sensor 39 and determines whether it has received the lower detection signal d2 (step S14), and repeats these steps until the retraction operation is completed and terminated or until it proceeds to abnormal termination operation P3.

[0066] The sensor mounting structure 1 for a vehicle according to this embodiment includes a sensor 3 having a detection unit 43 at an upper portion, a mounting unit 6 that is disposed on the vehicle 4 and has a guide unit 16 that extends upward at an angle A2 greater than zero degrees with respect to the ground surface, a base unit 7 that supports the sensor 3 and is movable along the guide unit 16, and a movement device 8 that moves the base unit 7 along the guide unit 16. Therefore, in the sensor mounting structure 1, the base unit 7 and the sensor 3 are moved up and down as appropriate along the guide unit 16 by the movement device 8. Therefore, when the vehicle 4 uses equipment with height restrictions, for example, the sensor 3 can be temporarily retracted downward to temporarily lower the overall height of the vehicle 4, and it is possible to prevent the sensor 3 from colliding with the equipment and being damaged.

[0067] Furthermore, the sensor mounting structure 1 moves the sensor 3 up and down as needed along the guide 16 of the mounting portion 6, which does not deform, for example, by expansion, contraction, or displacement. Therefore, the sensor mounting structure 1 positions the base 7 and sensor 3, which are movable on the guide 16, with good repeatability, for example, at an upper measurement position and a lower retreat position. In other words, the sensor mounting structure 1 can achieve good repeatability of the position of the sensor 3. Furthermore, the sensor mounting structure 1 makes it easier for the surrounding environment of the vehicle 4 to be included in the field of view of the sensor 3, for example, when the sensor 3 is located at a measurement position above the guide 16, thereby improving measurement accuracy. Furthermore, because the moving device changes the position of the base 7 and sensor 3, the operator can avoid the trouble of having to get out of the vehicle and manually change the position of the sensor 3.

[0068] Furthermore, in the vehicle sensor mounting structure 1 according to this embodiment, when the base 7 is located at the top end 22 of the guide 16, the top of the sensor 3 is positioned higher than the top of the mounting portion 6. The sensor mounting structure 1 positions the base 7 and the sensor 3 at the top end 22, which is the end of the guide 16, and therefore has good repeatability in positioning the sensor 3 at the top end 22. Furthermore, the sensor mounting structure 1 positions the sensor 3 at the top end 22, which is the measurement position, higher than the mounting portion 6. This prevents the mounting portion 6 from entering the field of view of the sensor 3 located at the top end 22, creating a blind spot, thereby improving measurement accuracy. Furthermore, the sensor mounting structure 1 allows the sensor 3 to be positioned lower than the top end 22 of the guide 16, thereby reducing the overall height of the vehicle 4.

[0069] Furthermore, in the vehicle sensor mounting structure 1 according to this embodiment, when the base 7 is located at the lowest end 21 of the guide section 16, the top of the sensor 3 is positioned lower than the top of the mounting section 6. In the sensor mounting structure 1, the base 7 and the sensor 3 are positioned at the lowest end 21, which is the end of the guide section 16, and therefore the position of the sensor 3 at the lowest end 21 is easily repeatable. In addition, in the sensor mounting structure 1, the top of the sensor 3, which is located at the lowest end 21, which is the retracted position, is positioned lower than the top of the mounting section 6, and therefore the overall height of the vehicle 4 can be reduced without the sensor 3 protruding from the mounting section 6.

[0070] Furthermore, the mounting portion 6 in this embodiment has an upper positioning portion 17 that determines the position of the base portion 7 at the uppermost end 22 of the guide portion 16. Therefore, the sensor mounting structure 1 can accurately position the base portion 7 and the sensor 3 at the uppermost end 22 using the upper positioning portion 17, thereby improving the position repeatability of the sensor 3.

[0071] Furthermore, the upper positioning portion 17 in this embodiment has an upper positioning surface 25 facing the bottom end 21 of the guide portion 16, and is provided adjacent to the top end 22 of the guide portion 16. Therefore, in the sensor mounting structure 1, the upper positioning surface 25 of the upper positioning portion 17 comes into contact with the front surface 31 of the base portion 7 located at the top end 22. With such a reliable and simple structure, the sensor mounting structure 1 can accurately position the base portion 7 and the sensor 3 at the top end 22.

[0072] Furthermore, the upper positioning portion 17 in this embodiment has a mirror surface portion 26 facing the bottom end 21 of the guide portion 16. In this sensor mounting structure 1, for example, a displacement space 37 on the guide portion 16 and the mirror surface portion 26 are included in the field of view of the sensor 3 when the sensor mounting structure 1 is located, for example, below the guide portion 16. Therefore, in the sensor mounting structure 1, the sensor 3 can measure the displacement space 37 via the mirror surface portion 26.

[0073] Furthermore, the sensor 3 in this embodiment performs foreign object inspection P1 on the guide portion 16 via the mirror surface 26 when the base portion 7 is located at the lowest end 21 of the guide portion 16. Therefore, when the base portion 7 is located at the lowest end 21 of the guide portion 16, the sensor 3 efficiently includes the displacement space 37 on the guide portion 16, which is expanded to its maximum extent, within its field of view. Therefore, the sensor module 2 can perform foreign object inspection P1 with high accuracy. Moreover, because the sensor 3 measures the displacement space 37 via the mirror surface 26, it can perform foreign object inspection P1 with high accuracy. Furthermore, because the operator performs foreign object inspection P1 of the displacement space 37 of the sensor mounting structure 1 inside the vehicle, the operator can avoid the trouble of having to go outside the vehicle to perform a foreign object inspection in person.

[0074] Furthermore, the sensor 3 in this embodiment performs a foreign object inspection P1 on the guide portion 16 when the base portion 7 is located at the lowest end 21 of the guide portion 16. Therefore, when the base portion 7 is located at the lowest end 21 of the guide portion 16, the sensor 3 efficiently includes the displacement space 37 above the guide portion 16, which is expanded to its maximum extent, in its field of view. This allows the sensor module 2 to perform the foreign object inspection P1 with high accuracy. Furthermore, because the operator performs the foreign object inspection P1 of the displacement space 37 of the sensor mounting structure 1 inside the vehicle, the operator can avoid the trouble of having to go outside the vehicle to perform the foreign object inspection themselves.

[0075] Furthermore, the guide unit 16 in this embodiment is inclined with respect to the ground surface at the same angle as the vertical field of view angle α of the detection unit 43. Therefore, the sensor 3 at the measurement position above the guide unit 16 is prevented from having the mounting unit 6 intrude into its field of view, improving the measurement accuracy of the environment around the vehicle 4. The sensor 3 at the retracted position below the guide unit 16 is more likely to have the displacement space 37 above the guide unit 16 in its field of view, improving the measurement accuracy of the displacement space 37.

[0076] Therefore, according to the vehicle sensor mounting structure 1 of this embodiment, the height can be changed and the position repeatability of the sensor can be improved. [Explanation of symbols]

[0077] 1...vehicle sensor mounting structure, 2...sensor module, 3...sensor, 4...vehicle, 5...roof, 6...mounting portion, 7...base portion, 8...moving device, 9...proximity sensor, 11...lower end portion, 12...upper end portion, 13...middle portion, 16...guide portion, 17...upper positioning portion, 18...lower positioning portion, 19...upper surface, 21...lowest end, 22...upper end, 24...upper opposing surface, 25...upper positioning surface, 26...mirror portion, 27...lower opposing surface, 31...front surface, 32...rear surface, 34...base side positioning surface, 37...displacement space, 38...upper proximity sensor, 39...lower proximity sensor sensor, 43...detection unit, 44...optical center, A1...angle, A2...angle, C1, C2...center axis, d1...upper detection signal, d2...lower detection signal, d5...restart signal, L1...laser, P1...foreign substance inspection, P2...information processing, P3...abnormal termination operation, P4...foreign substance removal operation, r1...measurement command, r4...upward movement command, r5...downward movement command, r6...stop command, r9...abnormal signal, r11...foreign substance removal signal, S1 to S9...step, S11 to S16...step, S21 to S23...step, t1...bottom end movement time, α, α1...vertical field of view

Claims

1. A sensor having a detection unit that irradiates a field of view including a horizontal plane with light, receives the reflected light, and generates measurement information about the surrounding environment of a vehicle that falls within the field of view; a mounting portion disposed on the vehicle and having a guide portion extending upward at a constant angle greater than zero degrees with respect to the ground contact surface of the vehicle; a base portion that supports the sensor and is movable along the guide portion; a moving device that moves the platform along the guide portion, the platform portion can be disposed at each of the uppermost end and the lowermost end of the guide portion, A sensor mounting structure for a vehicle in which, when the base portion is located at the uppermost end of the guide portion, the detection portion of the sensor is located above the upper end of the mounting portion, and when the base portion is located at the lowermost end of the guide portion, the detection portion of the sensor is located at a height position that overlaps with the mounting portion.

2. 2. The sensor mounting structure according to claim 1, wherein when the base portion is located at the uppermost end of the guide portion, the top of the sensor is located higher than the top of the mounting portion.

3. 3. The sensor mounting structure according to claim 1, wherein when the base portion is located at the lowest end of the guide portion, the top of the sensor is located below the top of the mounting portion.

4. the mounting portion has a positioning portion provided adjacent to the uppermost end of the guide portion and preventing further upward displacement of the base portion located at the uppermost end, When the base portion is positioned at the uppermost end of the guide portion, the top of the sensor is positioned above the top of the positioning portion, 4. The sensor mounting structure according to claim 3, wherein when the base portion is located at the lowest end of the guide portion, the top of the sensor is located below the top of the positioning portion.

5. The sensor mounting structure according to claim 4 , wherein the positioning portion has a positioning surface facing the lowermost end of the guide portion and is provided adjacent to the uppermost end of the guide portion.

6. 6. The sensor mounting structure according to claim 4, wherein the positioning portion has a mirror surface portion facing the lowermost end of the guide portion.

7. 7. The sensor mounting structure according to claim 6, wherein the sensor inspects the guide portion for foreign matter through the mirror surface portion when the base portion is located at the lowest end of the guide portion.

8. 7. The sensor mounting structure according to claim 1, wherein the sensor inspects for foreign matter on the guide portion when the base portion is located at the lowest end of the guide portion.

9. 9. The sensor mounting structure according to claim 1, wherein the guide portion is inclined with respect to the ground surface of the vehicle at the same angle as the vertical viewing angle of the detection portion.

Images