In-cabin multi-sensor integrated device and automobile

Abstract

Provided in the present disclosure are an in-cabin multi-sensor integrated device and an automobile comprising same. The device comprises a laser radar, a camera and a mounting support. The mounting support is arranged on an inner side of a windshield of the automobile. The laser radar and the camera are both connected to the mounting support. The laser radar and the camera are longitudinally arranged, and the laser radar is arranged below the camera.

Description

In-cabin multi-sensor integrated device and automobile

[0001] This application claims priority to the Chinese patent application entitled “In-cabin multi-sensor integrated device and automobile” and application number 202311143511.4 filed on September 5, 2023, and the Chinese patent application entitled “In-cabin multi-sensor integrated device and automobile” and application number 202322414698.9 filed on September 5, 2023. The contents of the priority applications are incorporated herein by reference in their entirety. Technical Field

[0002] The present disclosure relates to the field of vehicle-mounted sensors, and more particularly to an in-cabin multi-sensor integrated device and a vehicle. Background Art

[0003] With the rise of assisted and autonomous driving technologies, cars are often equipped with a variety of sensors, such as cameras and lidar, to meet diverse driving needs. Furthermore, cars are also equipped with electronic toll collection (ETC) devices and communication equipment. Among them, lidar, as a key detection component, is gaining increasing attention. Currently, the most common lidar installation method is to install it outside the vehicle's cockpit, such as on the roof. In this scenario, the lidar's viewing window is exposed to the external environment, and contamination of the lidar window will affect its detection performance. When placing lidar inside the cabin, other sensors, such as cameras, are also present. How to arrange lidar and cameras in a confined space while meeting constraints such as driver field of view verification (minimizing obstruction to the driver's field of view) and rearview mirror human-machine verification (ensuring that the mirror's installation and adjustment space are not compromised) is a pressing issue for lidar deployment inside the vehicle.

[0004] Summary of the Invention

[0005] The present disclosure provides an in-cabin multi-sensor integrated device, which adopts a longitudinal configuration of a laser radar and a camera, and can reduce obstruction to the driver's line of sight while maintaining good detection performance.

[0006] In a first aspect, the present disclosure provides an in-cabin multi-sensor integrated device. The in-cabin multi-sensor integrated device includes a laser radar, a camera, and a mounting bracket. The mounting bracket is positioned on the inboard side of a vehicle's windshield. The laser radar and the camera are both connected to the mounting bracket. The laser radar and the camera are arranged vertically, with the laser radar positioned below the camera.

[0007] Optionally, the mounting bracket includes a camera window slot, the camera window slot includes a plurality of side walls, and the reflectivity of the side walls is less than or equal to 5%.

[0008] Optionally, it is characterized in that the multiple side walls, the camera and the windshield form a closed space.

[0009] Optionally, the mounting bracket includes a laser radar window, and the laser radar is located on a side of the laser radar window away from the windshield.

[0010] Optionally, the mounting bracket further includes a window cover, and the window cover is arranged on the laser radar window.

[0011] Optionally, the mounting bracket is bonded to the inner surface of the windshield.

[0012] Optionally, the mounting bracket is fixed to the roof of the car.

[0013] Optionally, the device further includes a rearview mirror mounting bracket. The mounting bracket includes a rearview mirror mounting portion for connecting to the rearview mirror mounting bracket. The rearview mirror mounting portions are located on either side of the camera, such that the camera is disposed above the rearview mirror mounting bracket. The rearview mirror mounting bracket includes a rearview mirror interface for connecting to a rearview mirror.

[0014] Optionally, an area formed by the intersection of the windshield and the field of view of the camera at least partially overlaps with a wiping area of ​​a wiper of the car.

[0015] Optionally, an area formed by the intersection of the windshield and the field of view of the camera at least partially overlaps with a single wiping area of ​​a wiper of the vehicle.

[0016] Optionally, the area formed by the intersection of the windshield and the field of view of the laser radar is located within the wiping area of ​​the wiper of the car.

[0017] Optionally, the area formed by the intersection of the windshield and the field of view of the laser radar is located within the single wiping area of ​​the wiper of the car.

[0018] Optionally, the device further includes a back cover; the back cover is connected to the mounting bracket, and the laser radar and the camera are arranged in a space enclosed by the back cover and the mounting bracket.

[0019] Optionally, the back cover includes heat dissipation holes.

[0020] Optionally, the mounting bracket includes a buckle for connecting to the back cover.

[0021] Optionally, the device further comprises at least one other sensor, which is connected to the mounting bracket and is disposed on either or both sides of the camera.

[0022] Optionally, the distance between the center of the laser radar and the vertical plane where the central axis of the car is located is less than or equal to a first preset threshold.

[0023] Optionally, the distance between the center of the camera and the vertical plane where the central axis of the car is located is less than or equal to a second preset threshold.

[0024] In a second aspect, the present disclosure provides a car comprising the in-cabin multi-sensor integrated device as described above.

[0025] The in-cabin multi-sensor integrated device and vehicle provided by this application have at least the following beneficial effects:

[0026] Taking the above-mentioned in-cabin multi-sensor integrated device as an example, the mounting bracket of the in-cabin multi-sensor integrated device is set on the inside of the car's windshield, and the laser radar and camera are both connected to the mounting bracket. The laser radar and the camera are arranged longitudinally, and the laser radar is arranged below the camera. It can be seen that the overall size of the in-cabin multi-sensor integrated device is small, especially the lateral size is small. Therefore, it can avoid interference with other interior decorations in the car (such as rearview mirrors, makeup mirrors, etc.), and the driver is less obstructed. In addition, the laser radar and the camera are arranged up and down. Therefore, the laser radar and the camera can be set close to the central axis of the car to ensure that they can better monitor the situation in front of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0028] FIG1 illustrates a front view of an exemplary in-cabin multi-sensor integration device consistent with some embodiments of the present disclosure.

[0029] FIG2 illustrates a schematic cross-sectional view of an exemplary mounting bracket disposed on the interior side of a windshield, consistent with some embodiments of the present disclosure.

[0030] FIG3 illustrates a side view of an exemplary in-cabin multi-sensor integration device consistent with some embodiments of the present disclosure.

[0031] 4 illustrates a rear view of an exemplary mounting bracket consistent with some embodiments of the present disclosure.

[0032] FIG5 illustrates an oblique view of an exemplary in-cabin multi-sensor integration device consistent with some embodiments of the present disclosure.

[0033] 6 to 10 illustrate exemplary layout diagrams of exemplary in-cabin multi-sensor integration devices consistent with some embodiments of the present disclosure.

[0034] FIG. 11 illustrates an example diagram of a vehicle equipped with an exemplary in-cabin multi-sensor integration device, consistent with some embodiments of the present disclosure.

[0035] The figures are not drawn to scale or actual size and have been simplified for the sake of clarity. DETAILED DESCRIPTION

[0036] Some embodiments of the present disclosure will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, this specification cannot provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, in order to achieve specific goals, changes from one embodiment to another will occur. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content of this disclosure, some changes in design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means and should not be understood as the content of this disclosure being insufficient.

[0037] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the usual meaning understood by persons of ordinary skill in the technical field to which the present disclosure belongs. "First", "second" and similar words used in this patent application description and claims do not indicate any order, quantity or importance, but are only used to distinguish different components. "A" or "one" and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. "Include" or "comprising" and similar words mean that the elements or objects appearing before "include" or "comprising" cover the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0038] In the present disclosure, unless otherwise specified, all embodiments mentioned herein can be combined with each other to form a new technical solution. In the present disclosure, unless otherwise specified, all technical features and preferred features mentioned herein can be combined with each other to form a new technical solution.

[0039] In the present disclosure, the terms "or" and "and / or" describe the association relationship between related objects and represent a non-exclusive inclusion. For example, "A and / or B" and "A or B" may include: only "A" exists, only "B" exists, and "A" and "B" exist at the same time, where "A" and "B" can be singular or plural. For another example, "A, B and / or C" and "A, B or C" may include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" exist at the same time, "A" and "C" exist at the same time, "B" and "C" exist at the same time, and "A", "B" and "C" exist at the same time, where "A", "B" and "C" can be singular or plural. In addition, the symbol " / " in the present disclosure indicates that there is an "or" relationship between the related objects before and after the symbol. In the present disclosure, the term "at least one A or B" has the same meaning as the above-mentioned "A or B". The term "at least one A, B or C" has the same meaning as the above-mentioned "A, B or C".

[0040] The following describes in detail the in-cabin multi-sensor integration device provided according to some embodiments of the present disclosure with reference to the accompanying drawings.

[0041] FIG1 shows a front view of an exemplary in-cabin multi-sensor integrated device 100 consistent with some embodiments of the present disclosure. FIG2 shows a schematic cross-sectional view of an exemplary mounting bracket consistent with some embodiments of the present disclosure disposed on the inboard side of a windshield. FIG3 shows a side view of an exemplary in-cabin multi-sensor integrated device consistent with some embodiments of the present disclosure. FIG4 shows a rear view of an exemplary mounting bracket consistent with some embodiments of the present disclosure. FIG5 shows an oblique view of an exemplary in-cabin multi-sensor integrated device consistent with some embodiments of the present disclosure.

[0042] 1-5 , the apparatus 100 may illustratively include a laser radar 110, a camera 120, and a mounting bracket 130. Referring to FIG1 and FIG2 , the mounting bracket 130 may be disposed on the interior side of a vehicle's windshield 10. The mounting bracket 130 may include a first surface 131 facing the laser radar 110 and the camera 120, and a second surface 132 facing the windshield 10 (see FIG1 , FIG4 , and FIG5 ).

[0043] The laser radar 110 and the camera 120 can be connected to a mounting bracket 130. In some embodiments, the mounting bracket 130 may include one or more first fixing mechanisms 111. The one or more laser radars 110 and the mounting bracket 130 may be fixedly connected via the one or more first fixing mechanisms 111. The mounting bracket 130 may also include one or more second fixing mechanisms 121. The camera 120 and the mounting bracket 130 may be fixedly connected via the one or more second fixing mechanisms 121. The camera 120 may be a monocular camera or a multi-camera camera.

[0044] In some embodiments, referring to Figures 2 and 4 , the first fixing mechanism 111 or the second fixing mechanism 121 can be a protrusion provided on the first surface 131 of the mounting bracket 130. In this manner, the laser radar 110 and / or the camera 120 can be connected to the mounting bracket 130 via bolts. For example, threaded holes can be provided on the first fixing mechanism 111 or the second fixing mechanism 121 of the mounting bracket 130, and fixing holes for passing bolts can be provided on the laser radar 110 and / or the camera 120. The laser radar 110 and / or the camera 120 are connected to the mounting bracket 130 via bolts.

[0045] In some embodiments, the laser radar 110 and / or the camera 120 can also be connected to the mounting bracket 130 by a snap connection. For example, a card slot (or snap) can be provided on the mounting bracket 130, and a snap (or card slot) for engaging with the card slot (or snap) can be provided on the laser radar 110 and / or the camera 120. Thus, the connection between the laser radar 110 and / or the camera 120 and the mounting bracket 130 is achieved by the rebound force of the snap and the geometric structure of the card slot. In some embodiments, at least one of the laser radar 110 or the camera 120 can also be connected to the mounting bracket 130 by welding or bonding. The present disclosure does not limit the connection method of the laser radar 110 and the camera 120 to the mounting bracket 130, and the accompanying drawings only show examples of the connection method.

[0046] The laser radar 110 and camera 120 can be configured longitudinally, with the laser radar 110 positioned below the camera 120. Referring to Figures 1 and 2, in this disclosure, the term "longitudinal" may refer to a direction perpendicular to the vehicle chassis (e.g., the y-direction shown in Figure 1). Positioning the laser radar 110 below the camera 120 means that the laser radar 110's y-direction coordinate is smaller than the camera 120's y-direction coordinate. It should be noted that the longitudinal configuration of the laser radar 110 and camera 120 means that the laser radar 110 and camera 120 have different y-direction coordinates. Their x-direction coordinates can be the same or different, and their z-direction coordinates can be the same or different. Compared to a lateral configuration of the laser radar 110 and camera 120 (e.g., the x-direction shown in Figure 1), the longitudinal configuration of the laser radar 110 and camera 120 can significantly reduce the lateral size of the in-cabin multi-sensor integrated device 100, thereby minimizing lateral obstruction of the driver's field of view. At the same time, this also helps to avoid the in-cabin multi-sensor integrated device 100 from interfering laterally with other components in the vehicle (for example, a makeup mirror located between the main driver's seat and the windshield 10, or a makeup mirror located between the co-driver's seat and the windshield 10, etc.).

[0047] Referring to FIG. 5 , in some embodiments, the mounting bracket 130 may include a camera window slot 140 . The camera window slot 140 may be disposed on a second surface 132 of the mounting bracket 130 facing the windshield 10 . The camera window slot 140 may include a plurality of sidewalls 141 and one or more openings 142 . The one or more openings 142 may serve as light-through holes for the camera 120 , and the number of openings 142 may correspond to the mesh size of the camera 120 . For example, if the camera 120 is a trinocular camera, the camera window slot 140 may include three openings 142 corresponding to the trinocular cameras, as shown in FIG. 4 and FIG. 5 . The present disclosure does not limit the openings 142 or the mesh size of the camera 120 . In some embodiments, the multiple openings 142 of the camera window slot 140 may be replaced with a single window. This single window serves as the entire light-through hole for the camera 120 , regardless of the mesh size of the camera 120 .

[0048] The sidewalls 141 may have a reflectivity of 5% or less. In some embodiments, the reflectivity of the sidewalls 141 can be reduced by using matte materials, anti-reflective coatings, spark patterns, or serrated structures. This reduces the chances of reflections from the sidewalls 141 affecting detection by the camera 120.

[0049] In some embodiments, the multiple sidewalls 141, the camera 120, and the windshield 10 can enclose an enclosed space. For example, when the mounting bracket 130 is positioned inside the vehicle's windshield 10, the second surface 132 of the mounting bracket 130 can be in close contact with the windshield 10. In this way, the multiple sidewalls 141, the camera 120, and the windshield 10 can form an enclosed space, serving as a keep-out zone (KOZ) for the camera 120. The camera 120 is typically used for functions such as driver assistance systems, intelligent driving assistance, and driving recording. To ensure the proper operation of these systems, the camera 120 typically maintains a clear field of view and an unobstructed operating environment. Within the vehicle interior, if an object is present in the field of view between the camera 120 and the windshield 10 (e.g., the field of view corresponding to the KOZ), it can affect the camera 120's detection of objects within the corresponding field of view outside the vehicle, thereby posing a potential safety risk. By enclosing the KOZ of camera 120 with multiple sidewalls 141, camera 120, and windshield 10, objects can be prevented from entering the KOZ of camera 120 and interfering with the camera 120's detection of objects outside the vehicle. Furthermore, enclosing the KOZ of camera 120 can prevent reflections from affecting camera 120 and prevent the camera from capturing scenes inside the vehicle, ensuring stable capture of scenes outside the vehicle. This can also reduce the potential for overexposure outside the vehicle, which can result in a clear interior when the light intensity differs significantly from inside the vehicle.

[0050] In some embodiments, the mounting bracket 130 may include a baffle 150 located between the laser radar 110 and the windshield 10. A laser radar window 151 may be formed on the baffle 150. The laser radar 110 is located on the side of the laser radar window 151 away from the windshield 10. The shape and size of the laser radar window 151 can be determined based on the field of view of the laser radar 110 so that the laser radar window 150 does not block the field of view of the laser radar 110. The baffle 150 can be used to block a portion of ambient light or stray light (for example, reflected light that is not from the field of view of the laser radar 110), thereby reducing or preventing this portion of ambient light or stray light from entering the receiving unit of the laser radar 110 to affect the detection performance.

[0051] In some embodiments, the mounting bracket 130 may further include a window cover. The window cover may be disposed over the laser radar window 151 to block dust and other foreign matter. The window cover is made of a light-transmitting material that at least allows the detection light emitted by the laser radar to pass through.

[0052] Similar to the camera 120, the field of view area between the laser radar 110 and the windshield 10 inside the car can also be defined as the KOZ of the laser radar 110, and it is also desirable to be enclosed to prevent objects from entering the KOZ of the laser radar 110 and interfering with the detection of the laser radar 110. However, since the field of view angle of the laser radar 110 is generally large (for example, a field of view angle of 120° in the x-direction and 90° in the y-direction), the KOZ of the laser radar 110 inside the car will also be relatively large. The in-cabin multi-sensor integrated device 100 disclosed in the present invention can have an open design for the field of view area between the laser radar 110 and the windshield 10 to avoid blocking the driver's line of sight. Since the laser radar 110 can provide accurate distance information for the sensed object, it is possible to determine whether the object is inside or outside the vehicle based on the distance information of the object. In other words, if an object enters the KOZ of the LiDAR 110, the LiDAR 110 can determine that the object is inside the vehicle based on the object's distance information, thereby removing the object from the range of potential obstacles that could collide with the vehicle. Alternatively, the LiDAR 110 can notify the occupants of the vehicle to remove the object from the LiDAR 110's KOZ to ensure detection of objects outside the vehicle. The camera 120 typically struggles to provide accurate distance information for detected objects. Therefore, compared to the KOZ of the LiDAR 110, protecting the KOZ of the camera 120 to maintain a clear field of view and an undisturbed working environment is a higher priority. The in-cabin multi-sensor integrated device 100 disclosed herein positions the camera 120 above the LiDAR 1100, placing the camera 120 closer to the upper portion of the windshield 10, thereby minimizing obstruction to the driver's field of view by the KOZ enclosing the camera 120.

[0053] In some embodiments, the mounting bracket 130 can be bonded to the inner surface of the windshield 10 . For example, an adhesive can be applied to the second surface 132 of the mounting bracket 130 , and then the second surface 132 of the mounting bracket 130 can be attached to the inner surface of the windshield 10 .

[0054] In some embodiments, the mounting bracket 130 may also be fixed to the roof of the car to improve the stability of the multi-sensor integrated device 100 in the cabin.

[0055] In some embodiments, the in-cabin multi-sensor integrated device 100 may further include a rearview mirror mounting bracket 160. In these embodiments, the mounting bracket 130 may include a rearview mirror mounting portion 136 for connecting to the rearview mirror mounting bracket 160. The rearview mirror mounting portion 136 may be located on both sides of the camera 120, such that the camera 120 is disposed above the rearview mirror mounting bracket 160.

[0056] In some embodiments, referring to FIG. 4 , for example, the rearview mirror mounting portion 136 can be a protrusion provided on the first surface 131 of the mounting bracket 130. In this manner, the rearview mirror mounting bracket 160 can be connected to the mounting bracket 130 via bolts or other connectors. For example, a threaded hole can be provided on the rearview mirror mounting portion 136 of the mounting bracket 130, and a fixing hole for passing a bolt can be provided on the rearview mirror mounting bracket 160, thereby connecting the rearview mirror mounting bracket 160 to the mounting bracket 130 via the bolts.

[0057] In some embodiments, the rearview mirror mounting bracket 160 can be connected to the mounting bracket 130 via a snap-fit ​​connection. For example, a snap-fit ​​slot (or snap-fit) can be provided on the mounting bracket 130, and a snap-fit ​​(or snap-fit ​​slot) can be provided on the rearview mirror mounting bracket 160 for engaging with the snap-fit ​​slot (or snap-fit). The snap-fit's resilience and the snap-fit ​​slot's geometric structure enable the connection between the rearview mirror mounting bracket 160 and the mounting bracket 130. In some embodiments, the rearview mirror mounting bracket 160 and the mounting bracket 130 can also be connected via welding or bonding. Note that this disclosure does not limit the connection method between the rearview mirror mounting bracket 160 and the mounting bracket 130; the accompanying drawings merely illustrate examples of the connection method.

[0058] The rearview mirror mounting bracket 160 may include a joint portion for connecting to the rearview mirror mounting portion 136 and a bridge portion extending around the space occupied by the camera 120. On the bridge portion, the rearview mirror mounting bracket 160 may include a rearview mirror interface 161 for connecting to a rearview mirror (not shown in the drawings). When the rearview mirror is connected, the laser radar 110 is located in the area between the windshield 10 and the rearview mirror.

[0059] In this way, the in-cabin multi-sensor integrated device 100 disclosed herein can be positioned in the area between a conventional interior rearview mirror assembly and the windshield of a vehicle, replacing the conventional interior rearview mirror assembly. The interior rearview mirror can be directly integrated into the in-cabin multi-sensor integrated device 100, eliminating the need for a separate area on the windshield or vehicle roof for an independent rearview mirror mounting bracket. Furthermore, this approach minimizes obstruction of the driver's view by the in-cabin multi-sensor integrated device 100 in the longitudinal direction (e.g., the y-direction in Figures 1 or 2). The rearview mirror's mounting position within the vehicle cannot be arbitrarily changed, and various sensors typically avoid the mounting area of ​​the rearview mirror assembly (including the rearview mirror and rearview mirror mounting bracket) to avoid interference. For example, cameras and lidar sensors are positioned between the rearview mirror and the windshield. This arrangement can significantly obstruct the driver's view and may occupy a significant amount of interior space, causing the various sensors to interfere with other interior features. The present disclosure utilizes the area between the rearview mirror mounting bracket and the windshield to house the camera 120. The longitudinally arranged LiDAR 110 and camera 120 enable a design that allows for the in-cabin placement of the LiDAR and camera while minimizing obstruction of the driver's line of sight in both the longitudinal (e.g., y-direction in Figures 1 or 2) and lateral (e.g., x-direction in Figures 1 or 2) directions. Furthermore, by securing the rearview mirror mounting bracket to both sides of the camera and extending around it, the in-cabin layout of the multi-sensor integrated device 100 can be made more compact without affecting the installation and adjustment of the rearview mirror.

[0060] The in-cabin multi-sensor integrated device 100 is positioned on the inside of a vehicle's windshield 10. Dirt on the windshield 10 can affect the detection performance of the laser radar 110 and / or camera 120 for external objects. The present disclosure arranges the laser radar 110 and / or camera 120 so that the area formed by their field of view intersecting the windshield 10 at least partially overlaps with the wiper area of ​​the vehicle. The wipers are used to clean dirt from the windshield 10, thereby reducing the impact of dirt on the performance of the laser radar 110 and / or camera 129. The "scratching area" in this disclosure refers to the area that is scraped by any number (single or multiple) of wipers. As described above, the longitudinal configuration of the laser radar 110 and camera 120 in the present disclosure can significantly reduce the lateral size of the in-cabin multi-sensor integrated device 100, thereby increasing the proportion of the camera 120's field of view and the area formed by the laser radar 110's field of view intersecting the windshield 10 that is covered by the wiper area. Compared with the horizontal configuration of the laser radar 110 and the camera 120, the longitudinal configuration can more easily meet the requirements of the laser radar 110 and the camera 120 for wiper coverage, and better improve the sensor performance of the entire vehicle. That is, the wipers can be used to clean dirt to ensure the accuracy of the detection performance of the camera 120 and the laser radar 110.

[0061] 6 to 10 show exemplary layout diagrams of exemplary in-cabin multi-sensor integrated devices consistent with some embodiments of the present disclosure. In some embodiments, referring to FIG6 to 10 , a windshield 10 of a car may have one or more wiper wiping areas 60 .

[0062] In some embodiments, as shown in Figures 6 to 10 , the area formed by the intersection of the windshield 10 and the field of view of the camera 120 at least partially overlaps with one or more wiping zones 60 of the vehicle's wipers. This allows the vehicle's wipers to clean corresponding areas of the windshield 10, helping to ensure the detection accuracy of the camera 120. In some embodiments, as shown in Figure 7 , the area formed by the intersection of the windshield 10 and the field of view of the camera 120 at least partially overlaps with a single wiping zone of the vehicle's wipers, thereby reducing obstruction of the camera 120's field of view when the wipers are in operation. The area formed by the intersection of the windshield 10 and the field of view of the camera 120 overlaps with the area scraped only by a single wiper, and does not overlap with the overlapping areas of multiple wiping zones 60. This reduces the impact of the wipers on the camera 120.

[0063] In some embodiments, as shown in Figures 6 to 10 , the area formed by the intersection of the windshield 10 and the field of view of the LiDAR 110 at least partially overlaps with one or more scraping areas 60 of the vehicle's windshield wipers. This allows the vehicle's wipers to clean corresponding areas of the windshield 10, helping to ensure the detection accuracy of the LiDAR 110. In some embodiments, as shown in Figures 9 and 10 , the area formed by the intersection of the windshield 10 and the field of view of the LiDAR 110 at least partially overlaps with the single scraping area of ​​the vehicle's wipers, thereby reducing obstruction of the LiDAR 110's detection beam when the wipers are in operation. As used herein, a "single scraping area" refers to an area scraped only by a single wiper. The area formed by the intersection of the windshield 10 and the field of view of the LiDAR 110 overlaps with the area scraped only by a single wiper, and does not overlap with the overlapping areas of multiple scraping areas 60. This reduces the impact of the wipers on the LiDAR 110.

[0064] In some embodiments, referring to FIG. 10 , the area formed by the intersection of the windshield 10 and the field of view of the camera 120 overlaps with the single scraping area of ​​the car's wiper, and the area formed by the intersection of the windshield 10 and the field of view of the lidar 110 overlaps with the single scraping area of ​​the car's wiper, so as to reduce the impact of the wiper on the camera 120 and the lidar 110.

[0065] In some embodiments, the in-cabin multi-sensor integrated device 100 may further include a rear cover (not shown in the figures). The rear cover may be connected to the mounting bracket 130. The lidar 110 and camera 120 may be disposed within the space enclosed by the rear cover and the mounting bracket 130. The rear cover prevents the sensors from being exposed, improving the aesthetics of the in-cabin multi-sensor system. Furthermore, the rear cover and the aforementioned window cover enclose the camera, lidar, and other sensors, reducing the ingress of dust and other foreign matter into the in-cabin multi-sensor integrated device.

[0066] In some embodiments, the back cover may include one or more heat dissipation holes for dissipating heat from components (e.g., the laser radar 110, the camera 120, etc.) disposed in the space enclosed by the back cover and the mounting bracket 130.

[0067] In some embodiments, the rear cover may include a through hole, which may expose at least the rearview mirror interface 161 on the rearview mirror mounting bracket 160 for mounting the rearview mirror.

[0068] In some embodiments, the mounting bracket 130 may further include one or more third fixing mechanisms 180. The back cover and the mounting bracket 130 may be fixedly connected by one or more third fixing mechanisms 180. For example, the back cover and the mounting bracket 130 may be connected by a snap. Referring to Figure 4, the third fixing mechanism 180 may be a snap provided on the first surface 131 of the mounting bracket 130, and a slot for engaging with the snap is provided on the back cover. The connection between the back cover and the mounting bracket 130 may be achieved by the resilience of the snap and the geometric structure of the slot. For another example, the back cover and the mounting bracket 130 may be connected by bolting, welding or bonding. The present disclosure does not limit the connection method between the back cover and the mounting bracket 130, and the accompanying drawings only show examples of the connection method.

[0069] In some embodiments, the in-cabin multi-sensor integrated device 100 further includes at least one other sensor 190. Referring to Figures 1 and 5 , the at least one other sensor 190 can be positioned on either or both sides of the camera 120. To this end, the mounting bracket 130 can include one or more mounting holes 191 for mounting the other sensor 190. The other sensor 190 can be fixedly connected to the mounting bracket 130 via the mounting holes 191. For example, the other sensor 190 can include one or more of an ETC sensor, a V2X sensor, a rain sensor, or a defogging sensor.

[0070] Consistent with some embodiments of the present disclosure, the present disclosure also provides an automobile. In some embodiments, the automobile may include the in-cabin multi-sensor integrated device 100 described above. FIG11 illustrates an exemplary diagram of an automobile equipped with an exemplary in-cabin multi-sensor integrated device, consistent with some embodiments of the present disclosure. Referring to FIG11 , the in-cabin multi-sensor integrated device 100 is disposed on the interior side of the windshield 10 of an automobile 200.

[0071] In some embodiments, the distance between the center of the laser radar 110 and the vertical plane on which the central axis A of the vehicle lies is less than or equal to a first preset threshold. The first preset threshold can be any value less than or equal to 20 cm. For example, the first preset threshold can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, or 20 cm.

[0072] The distance between the center of the camera 120 and the vertical plane on which the central axis of the vehicle A lies is less than or equal to a second preset threshold. The second preset threshold can be any value less than or equal to 20 cm. For example, the second preset threshold can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, or 20 cm.

[0073] Compared to the horizontal configuration of the laser radar 110 and the camera 120, the laser radar 110 and the camera 120 are configured vertically in the in-cabin multi-sensor integrated device provided by the present disclosure. In this way, it is easier to place the center of the laser radar 110 and the center of the camera 120 as close to the central axis of the car as possible, which is conducive to making the field of view of the laser radar 110 more symmetrical relative to the car, and the field of view of the camera 120 more symmetrical relative to the car, which is conducive to the laser radar 110 and the camera 120 better sensing the situation in front of the car (such as other vehicles, pedestrians, cyclists, lane lines, curbs, traffic signs, etc.). In addition, when the camera 120 is placed close to the central axis of the car, the distance and angle relationship with the objects in front of the car is more symmetrical, which helps to reduce the morphological distortion caused by the perspective relationship, thereby more accurately sensing the true shape and size of the objects in front of the car.

[0074] Thus far, the in-cabin multi-sensor integrated device and the automobile incorporating the same according to the present disclosure have been described. The in-cabin multi-sensor integrated device of the present disclosure utilizes a longitudinal configuration of the lidar and camera, which reduces obstruction of the driver's field of view by the in-cabin multi-sensor integrated device and prevents interference with the interior trim on both sides of the vehicle (e.g., vanity mirrors). Furthermore, the in-cabin multi-sensor integrated device of the present disclosure can also integrate a rearview mirror mounting bracket (the rearview mirror mounting bracket is positioned below the camera) to position the entire in-cabin multi-sensor integrated device higher relative to the vehicle's windshield, reducing or avoiding any impact on rearview mirror installation.

[0075] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or aspects thereof) can be used in combination with each other. In addition, without departing from the scope of the present disclosure, many modifications can be made to adapt specific conditions or materials to the teachings of the various embodiments of the present disclosure. Although the sizes and types of materials described herein are used to define the parameters of the various embodiments of the present disclosure, the various embodiments are not meant to be restrictive, but rather exemplary embodiments.

Claims

1. A device comprising: LiDAR, camera and mounting bracket, The mounting bracket is arranged on the inner side of the windshield of the car. The laser radar and the camera are both connected to the mounting bracket. The laser radar and the camera are arranged vertically, and the laser radar is arranged below the camera.

2. The device according to claim 1, characterized in that The mounting bracket comprises a camera window slot, the camera window slot comprises a plurality of side walls, and the reflectivity of the side walls is less than or equal to 5%.

3. The device according to claim 2, characterized in that The multiple side walls, the camera and the windshield form a closed space.

4. The device according to any one of claims 1 to 3, characterized in that The mounting bracket includes a laser radar window, and the laser radar is located on a side of the laser radar window away from the windshield.

5. The device according to claim 4, characterized in that The mounting bracket also includes a window cover, which is arranged on the laser radar window.

6. The device according to any one of claims 1 to 5, characterized in that The mounting bracket is bonded to the inner surface of the windshield.

7. The device according to any one of claims 1 to 5, characterized in that The mounting bracket is fixed to the roof of the automobile.

8. The device according to any one of claims 1 to 7, characterized in that Also included is a rearview mirror mounting bracket; The mounting bracket includes a rearview mirror mounting portion for connecting to the rearview mirror mounting bracket, and the rearview mirror mounting portion is located on both sides of the camera, so that the camera is arranged above the rearview mirror mounting bracket; The rearview mirror mounting bracket comprises a rearview mirror interface for connecting a rearview mirror.

9. The device according to any one of claims 1 to 8, characterized in that The area formed by the intersection of the windshield and the field of view of the camera at least partially overlaps with the wiping area of ​​the wiper of the vehicle.

10. The device according to claim 9, characterized in that The area formed by the intersection of the windshield and the field of view of the camera at least partially overlaps with the single wiping area of ​​the wiper of the vehicle.

11. The device according to any one of claims 1 to 10, characterized in that The area formed by the intersection of the windshield and the field of view of the laser radar is located within the wiping area of ​​the wiper of the automobile.

12. The device according to claim 11, characterized in that The area formed by the intersection of the windshield and the field of view of the laser radar is located within the single wiping area of ​​the wiper of the automobile.

13. The device according to any one of claims 1 to 12, characterized in that Also includes the back cover; The back cover is connected to the mounting bracket, and the laser radar and the camera are arranged in a space surrounded by the back cover and the mounting bracket.

14. The device according to claim 13, characterized in that The back cover includes heat dissipation holes.

15. The device according to claim 13 or 14, characterized in that The mounting bracket includes a buckle for connecting to the back cover.

16. The device according to any one of claims 1 to 15, characterized in that Also including at least one other sensor; The at least one other sensor is connected to the mounting bracket and is arranged on either or both sides of the left or right side of the camera.

17. The device according to any one of claims 1 to 16, characterized in that The distance between the center of the laser radar and the vertical plane where the central axis of the automobile is located is less than or equal to a first preset threshold; and / or The distance between the center of the camera and the vertical plane where the central axis of the car is located is less than or equal to a second preset threshold.

18. A vehicle comprising the device according to any one of claims 1 to 17.

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