JP7826663B2 - Vehicle sensor mounting structure - Google Patents

Description

The present invention relates to a sensor mounting structure for a vehicle.

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 in the horizontal plane, for example, and receives reflected light from objects around the vehicle to obtain data for recognizing the vehicle's surroundings. LiDAR generates a three-dimensional map of the surrounding environment from the obtained data. The autonomous driving system uses this three-dimensional map to control the vehicle's autonomous driving.

Japanese Patent Application Laid-Open No. 2019-050035

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 light from a laser within a specified angle range in both positive and negative directions 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 specified height from the roof. This reduces the extent to which the vertical field of view, particularly 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.

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

The present invention aims to provide a vehicle sensor mounting structure that allows for adjustable height and high sensor position reproducibility.

In order to solve the above-mentioned problems, the sensor mounting structure for a vehicle of the present invention comprises a sensor having a detection unit that irradiates a field of view including a horizontal plane, receives the reflected light, and generates measurement information about the vehicle's surrounding environment that falls within the field of view; 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 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.

The present invention provides a vehicle sensor mounting structure that allows for adjustable height and high sensor position reproducibility.

1 is a side view showing a fuel cell device according to an embodiment of the present invention; 1 is a side view showing a fuel cell device according to an embodiment of the present invention; 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. 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. 5 is a flowchart showing a startup operation of the sensor module according to the embodiment of the present invention. 6 is a flowchart showing an abnormal termination operation of the sensor module according to the embodiment of the present invention. 5 is a flowchart showing a foreign matter inspection of a sensor module according to an embodiment of the present invention. 6 is a flowchart showing a foreign matter removal operation of the sensor module according to the embodiment of the present invention. 10 is a flowchart showing a retraction operation of the sensor module according to the embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the accompanying drawings.

An embodiment of a vehicle sensor mounting structure according to the present invention will be described with reference to Figures 1 to 9. Note that the same or corresponding components are designated by the same reference numerals throughout the drawings.

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

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 movement 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, although this does not necessarily correspond exactly to the direction of gravity. Furthermore, "front" refers to the direction in which the sensor 3 moves upward, and "rear" refers to the opposite direction, although 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.

The mounting portion 6 has a lower end 11 that is fixed to the upper surface of the roof 5 of the vehicle 4, an upper end 12 that is positioned higher than the lower end 11, and an intermediate portion 13 between the lower end 11 and the upper end 12. The lower end 11 of the mounting portion 6 is, for example, positioned further rearward of the vehicle 4 than the upper end 12. The mounting portion 6 extends, for example, diagonally upward from the lower end 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.

The angle 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, angle A1 is preferably the same as the negative vertical field of view angle α1 of the sensor 3. Thus, the mounting portion 6 extends at angle A1 with respect to the ground surface. Furthermore, the mounting portion 6, particularly the intermediate portion 13 and upper end portion 12, do 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.

The guide portion 16 is provided on, for example, the upper surface of the mounting portion 6. The upper surface 19 of the guide portion 16 is part of the upper surface of the mounting portion 6. The guide portion 16 includes, for example, a rail-shaped structure, such as a linear guide, that protrudes from the lower surface of the intermediate portion 13 toward the upper surface. The guide portion 16 may also include a groove-shaped structure recessed in the direction 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 11 to the upper end 12 of the mounting portion 6, and extends from the lower end 11 toward the upper end 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 diagonally upward toward the front of the vehicle 4.

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

The upper positioning portion 17 is positioned 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 platform portion 7 as it moves upward, thereby preventing further upward displacement of the platform portion 7. In this way, the platform portion 7 is positioned directly above the portion including the uppermost end 22 of the guide portion 16. Hereinafter, being positioned directly above the portion including the uppermost end 22 of the guide portion 16 will be referred to as "positioned at the uppermost end 22 of the guide portion 16." Additionally, being positioned directly above the portion including the lowermost end 21 of the guide portion 16 will be referred to as "positioned at the lowermost end 21 of the guide portion 16." As shown in FIG. 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 mirrored portion 26.

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

As shown in Figures 2 and 3, the upper positioning surface 25 contacts the platform 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, 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 located on the central axis C1 of the guide portion 16 and is a surface that is, for example, linearly symmetrical with respect to the central axis C1 of the guide portion 16 when viewed from above.

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

Figure 4 is an enlarged side view showing the mirror surface, guide section, and base section located at the lowest end in an embodiment of the present invention.

As shown in Figures 3 and 4, the mirror surface 26 is inclined toward the base 7 and sensor 3 located at the bottom 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, for example, by 9 degrees relative to the vertical direction of the ground surface, and is inclined toward the central axis C1, for example, by 6 degrees relative to the upper positioning surface 25.

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.

The base 7 comprises, 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 has a groove shape that is 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 have a convex shape that protrudes from the upper surface to the lower surface to match the shape of the guide 16, or it 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.

The base portion 7 has a front surface 31 and a rear surface 32 between its upper and lower surfaces. The front surface 31 of the base portion 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 portion 7. The base-side positioning surface 34 intersects with, for example, is perpendicular to, the lower surface of the base portion 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 Figure 2, the base-side positioning surface 34 of the base portion 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 offset from the top end 22 towards the bottom end 21.

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 contacting it. The height of the front surface 31 of the base 7 is higher than the height of the upper positioning portion 17. The distance between the top surface of the base 7 located at the highest end 22 and the roof 5 is longer than the distance between the top surface of the upper positioning portion 17 and the roof 5.

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 Figures 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 is, for example, 50 cm, and the length in the direction of the central axis C2 as viewed from above, i.e., the length in the front-to-back direction, is, for example, 48 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 when viewed from above.

The movement device 8 moves the platform 7 along the guide 16 and keeps the platform 7 at a predetermined position on the guide 16. The movement device 8 is powered by, for example, the control device of an autonomous driving system. The movement 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 a torque limit, into linear motion to move the platform 7 along the guide 16. The movement device 8 applies a positive or negative voltage to the motor, changing the rotation direction of the motor and linear motion mechanism to move the platform 7 upward or downward. The braking device, for example, prevents the motor from rotating when in the off state where no voltage is applied, keeping the platform 7 stopped at a predetermined position on the guide 16, and allows the motor to rotate when in the on state where voltage is applied.

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 includes 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, such as that provided 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.

Sensor module 2 is, for example, a LiDAR-type sensor module that measures the field of view in all directions in 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, sensor module 2 also includes a control unit (not shown) that performs three-dimensional mapping.

The underside of the sensor 3 is arranged parallel to the ground surface. A detection unit 43 is provided on the top of the sensor 3. The detection unit 43 is arranged parallel to the underside 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, the optical center 44, located approximately in the center of the detection unit 43, is arranged parallel to the vehicle ground surface and is provided around the entire periphery of the side of the sensor 3. As shown in Figures 1 and 2, the detection unit 43 emits, for example, a pulsed laser L1 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 Figures 1 and 2 only show the lasers L1 that pass through the top and bottom ends of the field of view.

The top of the sensor 3 mounted 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 mounted on 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 mounted 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 mounted on 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.

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 roof 5 to 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 part 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 part 16 and retracted or measured at the lowest end 21.

During the measurement operation of the sensor 3, the detection unit 43 emits a laser L1 into its field of view and receives scattered light. When the sensor 3 is located at the top end 22, the omnidirectional and vertical field of view α of the detection unit 43 covers the surrounding environment of the vehicle 4. Furthermore, in this case, the front lateral and vertical field of view α of the detection unit 43 excludes, for example, the top of the mounting portion 6, minimizing blind spots caused by the vehicle 4. The rear lateral and vertical field of view α of the detection unit 43 is unlikely to be covered by the mounting portion 6, whose top surface extends at angle A1 relative to the ground, or the guide portion 16, whose top surface extends at angle A2, minimizing blind spots caused by the vehicle 4. Therefore, the sensor 3 located at the top end 22 accurately measures the surroundings of the vehicle 4 used in an autonomous driving system, allowing the control unit to perform highly accurate three-dimensional mapping.

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 environment around the vehicle 4. Furthermore, the mirror surface 26 also extends into the field of view of the detection unit 43 in the forward direction and at the vertical viewing angle α. As shown in Figures 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 resulting scattered light passes through the displacement space 37, is reflected by the mirror surface 26, and enters the detection unit 43. Note that Figures 3 and 4 only show the optical path of the laser beam L1, which is irradiated from the detection unit 43 along the reference plane and strikes the center of the mirror surface 26.

The optical path of the laser L1 reflected by the mirror surface 26, i.e., the length of the optical path of the laser L1 emitted 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 along the central axis C1 of the displacement space 37. It is preferable that this value, twice the length along the central axis C1 of the displacement space 37, is 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 will be unable to measure the optical path blocked by the foreign object and will generate measurement information that includes the missing part. 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 will generate measurement information that includes measurement information about the foreign object. In this way, by obtaining measurement information that includes measurement information on 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 on defects or foreign objects and includes measurement information on 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.

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

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 sometimes referred to as reference information) of the displacement space 37 in its normal state, measured in advance by the sensor 3 located at the bottom end 21. A normal displacement space 37 is, for example, a displacement space 37 free of 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 a normal displacement space, the base 7 can move normally, and the base 7 and sensor 3 are accurately positioned at the top end 22.

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 the 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 is preventing placement of the platform 7 at the top end 22.

The control unit of the sensor module 2 is, for example, an application installed in the control device (not shown) of the 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. The storage unit (memory) of the control device of the autonomous driving system stores the 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 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 move from the top end 22 to the bottom end 21 by the moving device 8.

The control unit controls the sensor 3, proximity sensor 9, moving device 8, and autonomous driving system control unit by reading and executing programs stored in the memory unit of the autonomous driving system control unit. 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 autonomous driving system control unit.

The control unit causes the proximity sensor 9 to detect whether the platform 7 is approaching and transmits the 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.

The operation of the sensor module 2 in this embodiment of the present invention is described below.

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 at the bottom end 21 of the guide unit 16.

Figure 5 is a flowchart showing the startup operation of a sensor module in an embodiment of the present invention.

First, during the startup operation, the automatic driving system is activated by an operation such as starting the engine by the operator, and the automatic driving system then 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.

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

If the control unit receives the upper detection signal d1, it confirms that the base 7 and sensor 3 are already positioned at the top end 22. In this case, the sensor 3 can perform highly accurate measurements at the top 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, it is possible that the base 7 and sensor 3 are not positioned at either the top end 22 or the bottom end 21. In this case, there may be a malfunction in the moving device 8 or the proximity sensor 9. Therefore, the control unit moves on to the abnormal termination operation P3.

Figure 6 is a flowchart showing the abnormal termination operation of a sensor module in an embodiment of the present invention.

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

Figure 7 is a flowchart showing foreign matter inspection of a sensor module in an embodiment of the present invention.

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 performs foreign substance removal operation P4.

Figure 8 is a flowchart showing the foreign object removal operation of the sensor module in an embodiment of the present invention.

During foreign object removal operation P4, the control unit sends a foreign object removal signal r11 to the control device of the automated 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 then performs the start-up operation again from the beginning (step S1) and performs foreign object inspection P1 of the displacement space 37 (step S2).

As shown in FIG. 5, once 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 device. 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. As a result, 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.

When the top edge 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 in its current position on the guide unit 16. If the platform 7 has moved to the top edge 22 of the guide unit 16 without any problems, it is fixed at the top edge 22.

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 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 positioned at the top end 22 even after passing through the displacement space 37, which is assumed to be in a normal state, and the platform 7 and sensor 3 may not be positioned at the top end 22 even after moving over the top end movement time, which may indicate a malfunction in the movement device 8 or proximity sensor 9. Therefore, the control unit transitions to abnormal termination operation P3. If the control unit receives the upper detection signal d1, the control unit confirms that the platform 7 and sensor 3 are correctly positioned at the top end 22, and therefore terminates the start-up operation and transitions to measurement operation.

During measurement operation, the sensor 3 located at the top end 22 continuously measures the area around the vehicle 4 and transmits the measurement information. The control unit receives the measurement information and continuously performs three-dimensional mapping to generate three-dimensional information. The control device of the autonomous driving system continuously receives the three-dimensional information and constantly controls the operation of the vehicle 4 based on the most recent three-dimensional information.

Figure 9 is a flowchart showing the retraction operation of the sensor module in an embodiment of the present invention.

During the avoidance operation, for example, when the operator operates the sensor 3 to avoid the vehicle 4 when the control device of the autonomous driving system is not itself controlling the operation of 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 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 perform a detection operation, and determines whether it receives a lower detection signal d2 from the lower proximity sensor 39 (step S12).

If the control unit does not determine that a lower detection signal d2 has been received, it is highly likely that the platform 7 and sensor 3 are not positioned at either the uppermost end 22 or the lowermost end 21, and so the control unit proceeds to abnormal termination operation P3. If the control unit determines that a lower detection signal d2 has been received, it is likely that the platform 7 and sensor 3 are already positioned at the lowermost end 21, and so the control unit terminates the retraction operation.

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 platform 7 are located at the top end 22 and sends a downward movement command r5 to the moving device 8 (step S13). Having received the downward movement command r5, the moving 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).

If 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 sends a stop command r6 (step S15). Upon receiving the stop command r6, the mobile device 8 stops applying voltage to the motor, turns off the braking device, and secures the platform 7 and sensor 3 at 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 highest end 22. By performing this retraction operation, the sensor mounting structure 1 reduces the overall height of the vehicle 4, allowing it to be used in facilities with vehicle height restrictions, and prevents the sensor 3 from colliding with the facility and being destroyed.

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 downward movement command r5 was sent (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 sends a detection command to the lower proximity sensor 39 and determines whether it has received the lower detection signal d2 (step S14), repeating these steps until the retraction operation is completed and terminated or until it proceeds to abnormal termination operation P3.

The vehicle sensor mounting structure 1 according to this embodiment comprises a sensor 3 having a detection unit 43 at its upper portion, a mounting unit 6 positioned on the vehicle 4 and having a guide portion 16 extending upward at an angle A2 greater than zero degrees with respect to the ground surface, a base 7 that supports the sensor 3 and is movable along the guide portion 16, and a movement device 8 that moves the base 7 along the guide portion 16. Therefore, in the sensor mounting structure 1, the base 7 and sensor 3 are moved up and down along the guide portion 16 by the movement device 8 as appropriate. 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, preventing the sensor 3 from colliding with the equipment and being destroyed.

The sensor mounting structure 1 also 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 reproducibility, for example, at an upper measurement position and a lower retreat position. In other words, the sensor mounting structure 1 provides good reproducibility of the sensor 3's position. 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 it is positioned at the upper measurement position of the guide 16, thereby improving measurement accuracy. Furthermore, because the moving device changes the position of the base 7 and sensor 3, the operator is able to eliminate the need to exit the vehicle and manually reposition the sensor 3.

In addition, in the vehicle sensor mounting structure 1 according to this embodiment, when the base portion 7 is located at the top end 22 of the guide portion 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 portion 7 and sensor 3 at the top end 22, which is the end of the guide portion 16, ensuring good positional repeatability of 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 portion 16, thereby reducing the overall height of the vehicle 4.

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. Because the sensor mounting structure 1 positions the base 7 and sensor 3 at the lowest end 21, which is the end of the guide section 16, it has good repeatability in positioning the sensor 3 at the lowest end 21. Furthermore, because the sensor mounting structure 1 positions the top of the sensor 3, for example when it is located at the lowest end 21, which is the retracted position, lower than the top of the mounting section 6, it is possible to reduce the overall height of the vehicle 4 without the sensor 3 protruding from the mounting section 6.

Furthermore, in this embodiment, the mounting portion 6 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 uses the upper positioning portion 17 to accurately position the base portion 7 and sensor 3 at the uppermost end 22, improving the positional repeatability of the sensor 3.

Furthermore, in this embodiment, the upper positioning portion 17 has an upper positioning surface 25 facing the bottom end 21 of the guide portion 16 and is located 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 contacts the front surface 31 of the base portion 7 located at the top end 22. With this reliable and simple structure, the sensor mounting structure 1 can accurately position the base portion 7 and sensor 3 at the top end 22.

Furthermore, in this embodiment, the upper positioning portion 17 has a mirror surface portion 26 facing the bottom end 21 of the guide portion 16. In this sensor mounting structure 1, the displacement space 37 on the guide portion 16 and the mirror surface portion 26, for example, are within the field of view of the sensor 3 when the sensor 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.

Furthermore, in this embodiment, the sensor 3 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. This allows the sensor module 2 to perform foreign object inspection P1 with high accuracy. Furthermore, 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 hassle of having to go outside the vehicle to perform the foreign object inspection themselves.

Furthermore, in this embodiment, the sensor 3 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 on the guide portion 16, which is expanded to its maximum extent, within 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 hassle of having to go outside the vehicle to perform the foreign object inspection themselves.

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

Therefore, the vehicle sensor mounting structure 1 according to this embodiment allows for adjustable height and high sensor position repeatability.

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...steps, S11 to S16...steps, S21 to S23...steps, t1...bottom end movement time, α, α1...vertical field of view

Claims (9)

a sensor having a detection unit that irradiates a field of view including a horizontal plane with light, receives reflected light, and generates measurement information about the surrounding environment of the vehicle 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. The sensor mounting structure described in claim 1, wherein when the base portion is positioned at the uppermost end of the guide portion, the top of the sensor is positioned higher than the top of the mounting portion. A sensor mounting structure as described in claim 1 or 2, wherein when the base portion is positioned at the lowest end of the guide portion, the top of the sensor is positioned below the top of the mounting portion. 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. The sensor mounting structure described in claim 4, wherein the positioning portion has a positioning surface facing the bottom end of the guide portion and is located adjacent to the top end of the guide portion. The sensor mounting structure described in claim 4 or 5, wherein the positioning portion has a mirror surface facing the bottom end of the guide portion. The sensor mounting structure described in claim 6, wherein the sensor inspects for foreign objects on the guide portion via the mirror surface when the base portion is positioned at the lowest end of the guide portion. A sensor mounting structure according to any one of claims 1 to 6, wherein the sensor inspects for foreign objects on the guide portion when the base portion is positioned at the lowest end of the guide portion. A sensor mounting structure according to any one of claims 1 to 8, wherein the guide portion is inclined with respect to the ground surface of the vehicle at the same angle as the vertical field of view angle of the detection portion.