JP7445573B2 - mobile object - Google Patents

Description

The present invention relates to a moving object such as a vehicle.

Conventionally, a configuration is known in which an air introduction section is provided below the bumper reinforcement at the front end of the vehicle, and auxiliary parts are cooled by the air flow that is introduced from the air introduction section and bypasses the heat exchanger for heat radiation. For example, see Patent Document 1). Further, for example, in order for the vehicle to move autonomously, a configuration is known in which a sensor for recognizing the outside world of the vehicle is provided on the upper surface of the outer shell member of the vehicle (for example, on the roof).

Japanese Patent Application Publication No. 2005-53464

However, in a configuration in which a sensor for recognizing the outside world of the vehicle is provided on the top surface of the outer shell member of the vehicle, the upper part of the sensor is not covered by the outer shell member, so the sensor is exposed to direct sunlight and is heated by direct sunlight. The temperature of the sensor increases due to the heat of the sensor itself. If the temperature of the sensor exceeds the guaranteed operation temperature of the sensor, the operation of the sensor may become unstable.

The present invention provides a moving body that can suppress a rise in temperature of a sensor provided on the upper surface of an outer shell member of the moving body.

The present invention
an outer shell member;
an opening member provided on the upper surface of the outer shell member and having an opening;
a sensor provided inside the opening member for recognizing the outside world;
a cooling mechanism provided on the inner surface of the outer shell member at a position corresponding to the position where the sensor is provided;
Equipped with
The sensor is provided on the upper surface of the outer shell member via a thermally conductive mounting member or directly.
It is a moving object.

According to the present invention, it is possible to suppress the temperature rise of the sensor provided on the upper surface of the outer shell member of the moving body.

1 is a side view showing an example of a vehicle according to a first embodiment of the present invention. FIG. 1 is a top view showing an example of a moving vehicle according to a first embodiment of the present invention. FIG. 1 is a front view showing an example of an opening member and a sensor of a vehicle according to a first embodiment of the present invention. 1 is a side sectional view showing an example of an opening member and a sensor of a vehicle according to a first embodiment of the present invention. FIG. 7 is a side sectional view showing an example of an opening member and a sensor of a vehicle according to a second embodiment of the present invention. FIG. 7 is a side sectional view showing an example of an opening member and a sensor of a vehicle according to a third embodiment of the present invention. It is a side sectional view showing an example of the opening member and sensor of the vehicle of a 4th embodiment of the present invention. It is a side view which shows an example of the vehicle of 5th Embodiment of this invention. It is a top view which shows an example of the vehicle of 5th Embodiment of this invention. It is a top view which shows an example of the vehicle of 6th Embodiment of this invention. FIG. 1 is a block diagram showing an example of a vehicle driving control device applicable to each embodiment of the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, each embodiment of the moving body of this invention is described based on an accompanying drawing.

[First embodiment]
DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle as a first embodiment of a mobile object of the present invention will be described based on the accompanying drawings. Note that the drawings should be viewed in the direction of the symbols. In addition, in this specification, etc., in order to simplify and clarify the explanation, front and rear, left and right, and up and down directions are described according to the direction seen from the driver of the vehicle, and in the drawings, the front of the vehicle is Fr, and the rear is shown as Rr, the left side is L, the right side is R, the upper side is U, and the lower side is D.

First, the configuration of the vehicle V of the first embodiment will be explained with reference to FIGS. 1 to 4. Vehicle V is a mobile body that can move autonomously. Hereinafter, autonomous movement of the vehicle V will also be referred to as autonomous driving.

The vehicle V is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle V is a four-wheeled automobile having a pair of left and right front wheels and a rear wheel. The drive source of the vehicle V is, for example, an electric motor. Note that the drive source of the vehicle V may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. Further, the drive source of the vehicle V may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels. . Both of the front wheels and the rear wheels may be steerable wheels, or one of them may be a steerable wheel.

The vehicle V includes a frame member (not shown) having a monocoque structure made by welding and assembling steel plate panels, for example, and an outer shell member 1 that covers the frame member and constitutes the outer shell of the vehicle V. A space surrounded by the outer shell member 1 is provided with a cabin for accommodating a passenger and a front room formed in front of the cabin. The front room accommodates the drive source of the vehicle V and the like.

The outer shell member 1 includes a front surface 1a facing forward of the vehicle V, a rear surface 1b facing the rear of the vehicle V, a pair of left and right side surfaces 1c facing the left-right direction of the vehicle V, and an upper surface 1d facing upward of the vehicle V. has. The upper surface 1d constitutes the roof of the vehicle V.

Each of the electronic devices 14 and 15 is an electronic device provided inside the outer shell member 1. The inside of the outer shell member 1 is a region surrounded by the inner surface of the outer shell member 1. For example, the electronic devices 14 and 15 are a control device (for example, a vehicle operation control device 80 shown in FIG. 11) that controls the running of the vehicle V, a battery that serves as a drive source for the vehicle V, and the like. However, the electronic devices 14 and 15 are not limited to these, and may be various electronic devices that generate heat during operation.

The opening member 13 is provided on the upper surface 1d of the outer shell member 1, and has an opening 13a (see FIG. 4). A LiDAR device 30 (LiDAR: Light Detection and Ranging) is provided inside the opening member 13 .

The LiDAR device 30 is an example of a sensor for recognizing the outside world of the vehicle V, and is used, for example, for the vehicle V to move autonomously. Specifically, the LiDAR device 30 scans and irradiates a target with laser light that emits pulsed light, measures the scattered light and reflected light, and determines the distance to a distant target and the properties of the target. Information about the outside world of the vehicle V is acquired by analyzing the shape and shape of the vehicle.

A recognition direction 31 shown in FIG. 4 is a direction of the outside world that can be recognized by the LiDAR device 30. The LiDAR device 30 is installed so that the recognition direction 31 is forward, that is, the recognition direction 31 is the same as the opening direction of the opening 13a. Thereby, the recognition range of the LiDAR device 30 can be optimized (for example, maximized), so that the recognition accuracy of the LiDAR device 30 can be improved.

By providing the LiDAR device 30 for recognizing the outside world inside the opening member 13 provided on the upper surface 1d of the outer shell member 1, the LiDAR device 30 can be heated by transferring heat such as direct sunlight to the LiDAR device 30. Temperature rise can be suppressed. Therefore, the stability of the operation of the LiDAR device 30 can be improved. For example, it is possible to prevent the temperature of the LiDAR device 30 from exceeding the guaranteed operating temperature of the LiDAR device 30.

Further, the opening 13a of the opening member 13 opens toward the front of the vehicle V, that is, toward the main movement direction of the vehicle V. Thereby, the opening member 13 can efficiently take in air as the vehicle V moves, so that the LiDAR device 30 provided inside the opening member 13 can be cooled more efficiently. Therefore, the temperature rise of the LiDAR device 30 can be suppressed. Furthermore, the LiDAR device 30 can efficiently recognize the area in front of the vehicle V.

Further, as shown in FIG. 4, the opening 13a of the opening member 13 opens toward the front. The front here is an example of a horizontal first direction. The front end of the upper portion (upper part) of the opening member 13 projects further forward than the front end of the LiDAR device 30 . In other words, when viewed from above, the LiDAR device 30 is covered by the opening member 13, and there is a gap between the front end of the upper part of the opening member 13 and the front end of the LiDAR device 30. The distance D1 is greater than 0.

As described above, since the upper end of the opening member 13 protrudes forward with respect to the end of the LiDAR device 30, the opening member 13 serves as an eaves for the LiDAR device 30, and heat such as direct sunlight is transferred to the LiDAR device. 30 can be suppressed. Therefore, the temperature rise of the LiDAR device 30 can be suppressed, and the stability of the operation of the LiDAR device 30 can be improved. Further, it is possible to suppress a decrease in the recognition accuracy of the LiDAR device 30 due to the incidence of direct sunlight or the like on the LiDAR device 30. Therefore, the reliability of the LiDAR device 30 can be improved.

Further, as shown in FIG. 4, the opening 13a of the opening member 13 may communicate with the inside of the outer shell member 1. For example, an opening 11a is provided on the upper surface 1d of the outer shell member 1, and the opening member 13 is provided so as to cover the opening 11a. The internal space of the opening member 13 is formed from the opening 13a to the opening 11a, so that the opening 13a communicates with the inside of the outer shell member 1. The inside of the outer shell member 1 here may be, for example, the above-mentioned vehicle compartment, or may be an area inside the outer shell member 1 that is isolated from the vehicle compartment.

Since the opening member 13 communicates with the inside of the outer shell member 1 in this way, the heat inside the opening member 13 can be released into the inside of the outer shell member 1. Therefore, an increase in the temperature of the LiDAR device 30 due to heat buildup inside the opening member 13 can be suppressed.

Furthermore, the opening 13a of the opening member 13 may communicate with electronic devices 14 and 15 (see FIG. 1) inside the outer shell member 1. For example, when the electronic devices 14 and 15 are installed in the vehicle interior, the position and shape of the opening 11a are designed so that the air flowing from the opening member 13 through the opening 11a hits the electronic devices 14 and 15. Ru. Further, in the case where the electronic devices 14 and 15 are provided in an area isolated from the vehicle interior, for example, a pipe may be provided to communicate the opening 11a and the area where the electronic devices 14 and 15 are provided. .

As described above, since the opening 11a of the opening member 13 communicates with the electronic devices 14 and 15 inside the outer shell member 1, the electronic devices 14 and 15 can be operated by air entering through the opening 11a of the opening member 13. It becomes possible to cool the electronic devices 14 and 15, and suppress the temperature rise of the electronic devices 14 and 15. Therefore, the stability of the operation of the electronic devices 14 and 15 can be improved. For example, it is possible to prevent the temperature of the electronic devices 14, 15 from exceeding the guaranteed operating temperature of the electronic devices 14, 15. Note that the opening 11a may be configured to communicate with only one of the electronic devices 14 and 15.

Furthermore, the LiDAR device 30 is provided directly on the upper surface 1d of the outer shell member 1 (without any other member interposed therebetween). Thereby, the heat generated by the LiDAR device 30 can be dispersed by the outer shell member 1, and an increase in the temperature of the LiDAR device 30 can be suppressed.

[Second embodiment]
Next, a vehicle V according to a second embodiment of the present invention will be described with reference to FIG. In addition, in the following description, the same reference numerals are given to the same components as those of the vehicle V of the first embodiment, and the description will be omitted or simplified.

In the vehicle V of the second embodiment, the opening member 13 has a heat insulating layer 13b in a region covering the LiDAR device 30 when viewed from above. The heat insulating layer 13b is a fibrous heat insulating material such as glass wool or a foam heat insulating material such as polystyrene foam, and is not particularly limited. In the example of FIG. 5, a heat insulating layer 13b is provided on the lowermost region of the aperture member 13 that covers the LiDAR device 30 when viewed from above, that is, on the inner surface of the aperture member 13.

However, the heat insulating layer 13b may be provided on the uppermost region of the aperture member 13 that covers the LiDAR device 30 when viewed from above, that is, on the outer surface (upper surface) of the aperture member 13. Further, the heat insulating layer 13b may be provided in a region between the inner surface of the aperture member 13 and the outer surface of the aperture member 13 among the regions of the aperture member 13 that cover the LiDAR device 30 when viewed from above.

In this way, by having the heat insulating layer 13b in the area where the opening member 13 covers the LiDAR device 30 when viewed from above, it is possible to suppress heat such as sunlight from being transmitted to the LiDAR device 30. Therefore, the temperature rise of the LiDAR device 30 can be suppressed, and the stability of the operation of the LiDAR device 30 can be improved.

[Third embodiment]
Next, a vehicle V according to a third embodiment of the present invention will be described with reference to FIG. 6. In addition, in the following description, the same reference numerals are given to the same components as those of the vehicle V of the first embodiment, and the description will be omitted or simplified.

In the vehicle V of the third embodiment, the LiDAR device 30 is provided on the upper surface 1d of the outer shell member 1 via a heat conductive attachment member 61. The mounting member 61 is, for example, a thermally conductive double-sided adhesive tape. However, the mounting member 61 is not limited to the heat conductive double-sided adhesive tape, and may be any other member that has heat conductivity and can fix the LiDAR device 30 to the upper surface 1d of the outer shell member 1. .

In this way, the LiDAR device 30 is not limited to the structure in which the LiDAR device 30 is directly provided on the upper surface 1d of the outer shell member 1 (for example, see FIG. 4); It is also possible to provide a configuration in which the LiDAR device 30 is provided via. As a result, the heat generated by the LiDAR device 30 is transmitted to the outer shell member 1 via the mounting member 61, so that the heat can be dispersed by the outer shell member 1, and the temperature rise of the LiDAR device 30 is suppressed. be able to.

[Fourth embodiment]
Next, a vehicle V according to a fourth embodiment of the present invention will be described with reference to FIG. 7. In the following description, the same components as those of the vehicle V of the first embodiment are given the same reference numerals, and the description will be omitted or simplified.

In the vehicle V of the fourth embodiment, a cooling mechanism 71 is provided on the inner surface of the outer shell member 1 at a position corresponding to the position where the LiDAR device 30 is provided. The inner surface of the outer shell member 1 is a surface surrounding the inner region of the outer shell member 1. Specifically, the cooling mechanism 71 is provided so that the LiDAR device 30 and the cooling mechanism 71 sandwich the upper surface 1d. As the cooling mechanism 71, various types of cooling mechanisms can be used, such as an air-cooled cooling mechanism, a water-cooled cooling mechanism, an oil-cooled cooling mechanism, and a heat sink.

In this way, by providing the cooling mechanism 71 at a position corresponding to the position where the LiDAR device 30 is provided on the inner surface of the outer shell member 1, the LiDAR device 30 can be cooled by the cooling mechanism 71, and the LiDAR device 30 degrees of temperature rise can be suppressed.

[Fifth embodiment]
Next, a vehicle V according to a fifth embodiment of the present invention will be described with reference to FIGS. 8 and 9. In addition, in the following description, the same reference numerals are given to the same components as those of the vehicle V of the first embodiment, and the description will be omitted or simplified.

The vehicle V of the fifth embodiment includes a rear sensor 16 provided on the upper surface 1d of the outer shell member 1 at a position on the rear side with respect to the position where the LiDAR device 30 is provided. The rear sensor 16 may be a sensor for recognizing the outside world of the vehicle V so that the vehicle V moves autonomously, or may be a sensor for other purposes. For example, the rear sensor 16 is a LiDAR device similar to the LiDAR device 30, and is used to recognize the situation behind the vehicle V.

The opening member 13 has air guide portions 13c and 13d for cooling the rear sensor 16. The wind guide portions 13c and 13d are a pair of flat plate-shaped members, and are provided so as to collect the running wind induced by the running of the vehicle V and the natural wind from the front onto the rear sensor 16. By providing the opening member 13 on the upper surface 1d of the outer shell member 1, the rear sensor 16, which is less likely to be exposed to wind, can be efficiently cooled by the air guide portions 13c and 13d.

As described above, since the opening member 13 includes the air guide portions 13c and 13d for cooling the rear sensor 16, it is possible to cool the rear sensor 16 provided at a position on the rear side of the vehicle V where it is difficult to cool the rear sensor 16. Therefore, the temperature rise of the rear sensor 16 can be suppressed. By suppressing the temperature rise of the rear sensor 16, the stability of the operation of the rear sensor 16 can be improved. For example, it is possible to prevent the temperature of the rear sensor 16 from exceeding the guaranteed operation temperature of the rear sensor 16.

Although the air guide parts 13c and 13d, which are a pair of flat plate-shaped members, have been described as the air guide parts for cooling the rear sensor 16, the air guide parts for cooling the rear sensor 16 are not limited to this. The wind guide section can have various shapes that can cool the rear sensor 16 with wind or natural wind.

[Sixth embodiment]
Next, a vehicle V according to a sixth embodiment of the present invention will be described with reference to FIG. 10. In addition, in the following description, the same reference numerals are given to the same components as those of the vehicle V of the first embodiment, and the description will be omitted or simplified.

In the vehicle V of the sixth embodiment, opening members 13A, 13B and LiDAR devices 30A, 30B are provided on the upper surface 1d of the outer shell member 1. The opening member 13A and the LiDAR device 30A have the same configuration as the opening member 13 and the LiDAR device 30 described above, but are provided on the left side of the top surface 1d in order to recognize the left side of the front of the vehicle V. . The opening member 13B and the LiDAR device 30B have the same configuration as the opening member 13 and the LiDAR device 30 described above, but are provided on the right side of the upper surface 1d in order to recognize the right side of the front of the vehicle V. .

In this way, the vehicle V may include a plurality of combinations of the opening member 13 and the LiDAR device 30.

[Vehicle driving control device]
Next, with reference to FIG. 11, the vehicle driving control device 80 installed in the vehicle V of each of the above embodiments will be described. The vehicle driving control device 80 is included in, for example, one of the electronic devices 14 and 15 or another electronic device included in the vehicle V.

In addition to the LiDAR device 30 described above, the vehicle V includes a side view camera device 50, a side camera mirror device 60, a roof camera device 70, a navigation device 91, a communication device 92, a vehicle sensor 93, a manual driving device 94, and a travel drive. A force output device 95, a steering device 96, and a brake device 97 are installed. The vehicle V also includes a pair of side camera mirror devices 60 provided on the left and right front doors of the vehicle V, and display devices 63L and 63R that display external world information obtained by the side camera mirror devices 60 as external world images. It is installed.

The vehicle driving control device 80 includes a LiDAR device 30, a side view camera device 50, a roof camera device 70, a navigation device 91, a communication device 92, a vehicle sensor 93, a manual driving device 94, a driving force output device 95, a steering device 96, and the brake device 97 via a communication medium so that data can be communicated with each other.

The navigation device 91 includes a GNSS receiver (GNSS: Global Navigation Satellite System), map information, and the like. The navigation device 91 has a function of detecting the current position of the vehicle V using a GNSS receiver and deriving a route to a destination designated by the occupant of the vehicle V or the like based on the detected current position and map information.

The communication device 92 performs wireless communication with an information providing server of a system that monitors road traffic conditions, and acquires traffic information indicating the traffic conditions of the road on which the vehicle V is traveling or the road on which it is scheduled to travel. Traffic information includes information on traffic congestion ahead, time required to pass through congestion points, accident/broken vehicle/construction information, speed regulation/lane regulation information, parking lot location information, parking lot/service area/parking area. Contains information such as whether the vehicle is full or empty. The communication device 92 may acquire traffic information through road-to-vehicle communication with a wireless beacon provided on a side strip of a road or through vehicle-to-vehicle communication with other vehicles traveling around the vehicle V.

The communication device 92 also performs wireless communication with an information providing server of a traffic signal prediction system (TSPS), and receives signal information of traffic lights installed on the road on which the vehicle V is traveling or is scheduled to travel. get. TSPS supports driving to smoothly pass through signalized intersections using signal information from traffic lights. The communication device 92 may acquire the signal information through road-to-vehicle communication with a wireless beacon provided on a side strip of a road, or through vehicle-to-vehicle communication with other vehicles traveling around the vehicle V.

The left side external world information acquired by the imaging unit of the side camera mirror device 60 provided on the left front door of the vehicle V is transmitted through an LCD display panel (LCD: Liquid Crystal Display) provided in the cabin of the vehicle V, an organic EL display, etc. The image is displayed as an external image of the rear left side of the vehicle V on a display device 63L (see FIG. 10) configured with an electroluminescence (EL) panel or the like. The right side external world information acquired by the imaging unit of the side camera mirror device 60 provided on the right front door of the vehicle V is displayed on a display configured by an LCD display panel, an organic EL display panel, etc. provided in the cabin of the vehicle V. This is displayed on the device 63R as an external image of the rear right side of the vehicle V.

The vehicle sensor 93 has a function of detecting various information regarding the vehicle V. The vehicle sensor 93 includes a vehicle speed sensor 931 that detects the vehicle speed of the vehicle V, an acceleration sensor 932 that detects the longitudinal and lateral acceleration of the vehicle V, and a turning direction of the vehicle V from the angular velocity around the vertical axis of the vehicle V. It has various sensors that detect the moving state of the vehicle V, including a turning direction detection sensor 933, a direction sensor 934 that detects the direction of the vehicle V, and a tilt angle sensor 935 that detects the tilt angle of the vehicle V. The vehicle sensor 93 further includes various sensors that detect the external environment of the vehicle V, including an illuminance sensor 936 that detects the illuminance of the location where the vehicle V exists, and a raindrop sensor 937 that detects the amount of raindrops where the vehicle V exists. .

The manual operation device 94 includes an accelerator pedal 941 that is an acceleration/deceleration operating member that receives acceleration/deceleration instructions from the occupant, a brake pedal 942 that is a braking operating member that accepts braking instructions from the occupant, and a gear shifter that receives instructions for changing gears from the occupant. It includes a shift lever 943 that is an operating member, and a steering wheel 944 that is a steering member that receives turning instructions from an occupant.

The manual driving device 94 further includes an accelerator pedal opening sensor 941a that detects the amount of depression of the accelerator pedal 941 and outputs an accelerator opening signal to the vehicle driving control device 80, and detects the amount of depression (or depression force) of the brake pedal 942. a brake pedal depression amount sensor 942a that outputs a brake signal to the vehicle operation control device 80; a shift position sensor 943a that detects the gear stage designated by the shift lever 943 and outputs a shift position signal to the vehicle operation control device 80; A steering angle sensor 944a detects the steering angle of the steering wheel 944 and outputs a steering angle signal to the vehicle driving control device 80; a steering angle sensor 944a detects the torque applied to the steering wheel 944 and outputs a steering torque signal to the vehicle driving control device 80; The steering torque sensor 944b outputs an output to the steering torque sensor 944b.

The travel driving force output device 95 is a device that includes a drive source and outputs the motive power of the drive source to the front wheels and/or the rear wheels, which are drive wheels, as the driving force of the vehicle V.

The steering device 96 is a device that changes the direction of front wheels and/or rear wheels that are steered wheels of the vehicle V.

The brake device 97 is a device that outputs braking force to the front wheels and rear wheels of the vehicle V.

The vehicle driving control device 80 is configured by, for example, one or more processors or hardware having equivalent functions. The vehicle driving control device 80 is a combination of an ECU (Electronic Control Unit) in which a processor such as a CPU (Central Processing Unit), a storage device, and a communication interface are connected via an internal bus, or an MPU (Micro-Processing Unit). It may be a configuration.

Vehicle driving control device 80 controls driving (movement) of vehicle V by controlling driving force output device 95, steering device 96, and brake device 97. The vehicle driving control device 80 controls a driving force output device 95, a steering device 96, and a brake device 97 by a processor executing a program (software). Further, some or all of these control functions may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware. It's okay.

The vehicle driving control device 80 can control the driving force output device 95, the steering device 96, and the brake device 97 based on the operation of the manual driving device 94 by the occupant, and can manually drive the vehicle V.

When manually driving the vehicle V, the vehicle driving control device 80 receives the accelerator opening signal, brake signal, shift position signal, steering angle signal, steering torque signal, etc. output from the manual driving device 94, as well as the roof camera. External world information acquired by the device 70, external world information acquired by the LiDAR device 30, external world information acquired by the side view camera device 50, current position of the vehicle V detected by the navigation device 91, map information of the navigation device 91, navigation device 91 one or more of the following information: the route to the destination of the vehicle V derived by the above, the traffic information and signal information acquired by the communication device 92, the movement state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V. Based on this, the driving force output device 95, the steering device 96, and the brake device 97 may be controlled.

Furthermore, the vehicle driving control device 80 controls the traveling driving force output device 95, the steering device 96, and the brake device 97, and causes the vehicle V to autonomously operate (autonomously move) without depending on the operation of the manual driving device 94 by the occupant. be able to.

When driving the vehicle V autonomously, the vehicle driving control device 80 uses external world information acquired by the roof camera device 70, external world information acquired by the LiDAR device 30, external world information acquired by the side view camera device 50, and detected by the navigation device 91. the current position of the vehicle V, the map information of the navigation device 91, the route to the destination of the vehicle V derived by the navigation device 91, the traffic information and signal information acquired by the communication device 92, and the vehicle V acquired by the vehicle sensor 93. Based on the movement state of the vehicle V and the external environment of the vehicle V, the driving force output device 95, the steering device 96, and the brake device 97 are controlled to cause the vehicle V to autonomously operate (autonomously move).

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and can be modified, improved, etc. as appropriate. For example, although the vehicle V has been described as an example of a moving object, the moving object of the present invention is not limited to the vehicle V, but can include various types of moving objects having sensors for recognizing the outside world, such as motorcycles, walking robots, ships, and flying objects. It can be a moving object.

Furthermore, although the LiDAR device has been described as an example of a sensor for recognizing the outside world, the sensor for recognizing the outside world is not limited to the LiDAR device, and may be various camera devices, radar devices, or the like.

Furthermore, this specification describes at least the following matters. Note that, although components corresponding to those in the above-described embodiment are shown in parentheses, the present invention is not limited thereto.

(1) An outer shell member (outer shell member 1),
an opening member (opening member 13, 13A, 13B) provided on the upper surface (upper surface 1d) of the outer shell member and having an opening (opening 13a);
a sensor (LiDAR device 30, 30A, 30B) provided inside the opening member for recognizing the outside world;
Equipped with
Mobile object (vehicle V).

According to (1), by providing a sensor for recognizing the outside world inside an opening member provided on the top surface of the outer shell member, the temperature of the sensor increases due to heat such as direct sunlight being transmitted to the sensor. can be suppressed. Therefore, the stability of sensor operation can be improved.

(2) The mobile body described in (1),
The opening opens toward a horizontal first direction,
An end portion of the upper portion of the opening member on the first direction side protrudes toward the first direction side from an end portion of the sensor on the first direction side.
mobile object.

According to (2), since the upper end of the opening member protrudes in a horizontal direction with respect to the end of the sensor, the opening member acts as an eaves for the sensor, and heat from direct sunlight is transmitted to the sensor. It is possible to prevent this from happening. Therefore, the stability of sensor operation can be improved. Further, it is possible to suppress a decrease in the recognition accuracy of the sensor due to the incidence of sunlight or the like on the sensor. Thereby, the reliability of the sensor can be improved.

(3) The mobile body described in (1) or (2),
The opening communicates with the inside of the outer shell member.
mobile object.

According to (3), since the opening of the opening member communicates with the inside of the outer shell member, the heat inside the opening member can be released to the inside of the outer shell member, and the heat inside the opening member can be released. It is possible to suppress the rise in temperature of the sensor due to the accumulation of water.

(4) The mobile body according to (3),
The opening communicates with electronic equipment (electronic equipment 14, 15) inside the outer shell member.
mobile object.

According to (4), since the opening of the opening member communicates with the electronic device inside the outer shell member, it becomes possible to cool the electronic device with the air that enters through the opening of the opening member. It is possible to suppress the temperature rise of the equipment. Therefore, the stability of the operation of the electronic device inside the outer shell member can be improved.

(5) The mobile object according to any one of (1) to (4),
The opening member has a heat insulating layer (insulating layer 13b),
mobile object.

According to (5), since the opening member has the heat insulating layer, it is possible to further suppress heat such as sunlight from being transmitted to the sensor, and it is possible to suppress a rise in temperature of the sensor.

(6) The mobile object according to any one of (1) to (5),
The sensor is provided on the upper surface of the outer shell member via a thermally conductive mounting member (mounting member 61) or directly.
mobile object.

According to (6), the heat generated by the sensor can be dispersed by the outer shell member by providing the sensor via a thermally conductive mounting member or directly on the upper surface of the outer shell member. , it is possible to suppress the temperature rise of the sensor.

(7) The mobile object according to (6),
A cooling mechanism (cooling mechanism 71) provided on the inner surface of the outer shell member at a position corresponding to the position where the sensor is provided;
mobile object.

According to (7), by providing a cooling mechanism on the inner surface of the outer shell member at a position corresponding to the position where the sensor is installed, the cooling mechanism can cool the sensor, thereby suppressing the temperature rise of the sensor. can do.

(8) The mobile object according to any one of (1) to (7),
the opening direction of the opening member and the recognition direction of the sensor (recognition direction 31) are the same;
mobile object.

According to (8), since the opening direction of the opening member and the recognition direction of the sensor are the same, the recognition range of the sensor can be optimized and the recognition accuracy of the sensor can be improved.

(9) The mobile object according to any one of (1) to (8),
A rear sensor (rear sensor 16) provided on the upper surface of the outer shell member at a position on the rear side of the movable body with respect to the position where the sensor is provided,
The opening member has a wind guide part (wind guide parts 13c, 13d) for cooling the rear sensor.
mobile object.

According to (9), when the opening member is provided with an air guide section for cooling the rear sensor, it is possible to cool the rear sensor provided at a position on the rear side of the moving body where cooling is difficult, and It is possible to suppress the temperature rise of the sensor.

(10) The mobile object according to any one of (1) to (9),
The opening opens toward the front of the moving body.
mobile object.

According to (10), since the opening member can efficiently take in air as the moving object moves, the sensor provided inside the opening member can be further cooled, and the temperature rise of the sensor can be suppressed. can do. Further, the sensor can efficiently recognize the front of the moving body.

1 Outer shell member 1d Top surface 11a, 13a Opening 13, 13A Opening member 13b Heat insulating layer 13c, 13d Wind guide section 14, 15 Electronic device 16 Rear sensor 30, 30A, 30B LiDAR device (sensor)
31 Recognition direction 61 Mounting member 71 Cooling mechanism

Claims (8)

an outer shell member;
an opening member provided on the upper surface of the outer shell member and having an opening;
a sensor provided inside the opening member for recognizing the outside world;
a cooling mechanism provided on the inner surface of the outer shell member at a position corresponding to the position where the sensor is provided;
Equipped with
The sensor is provided on the upper surface of the outer shell member via a thermally conductive mounting member or directly.
mobile object. The moving body according to claim 1,
The opening opens toward a horizontal first direction,
An end portion of the upper portion of the opening member on the first direction side protrudes toward the first direction side from an end portion of the sensor on the first direction side.
mobile object. The moving body according to claim 1 or 2,
The opening communicates with the inside of the outer shell member.
mobile object. The moving body according to claim 3,
The opening communicates with an electronic device inside the outer shell member.
mobile object. The moving body according to any one of claims 1 to 4,
The opening member has a heat insulating layer.
mobile object. The moving body according to any one of claims 1 to 5,
the opening direction of the opening member and the recognition direction of the sensor are the same;
mobile object. The mobile body according to any one of claims 1 to 6,
a rear sensor provided on the upper surface of the outer shell member at a position on the rear side of the movable body with respect to a position where the sensor is provided;
The opening member has a wind guide section for cooling the rear sensor.
mobile object. The moving body according to any one of claims 1 to 7,
The opening opens toward the front of the moving body.
mobile object.

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