CN218805691U - Sensor control structure and terminal - Google Patents
Sensor control structure and terminal Download PDFInfo
- Publication number
- CN218805691U CN218805691U CN202221587580.5U CN202221587580U CN218805691U CN 218805691 U CN218805691 U CN 218805691U CN 202221587580 U CN202221587580 U CN 202221587580U CN 218805691 U CN218805691 U CN 218805691U
- Authority
- CN
- China
- Prior art keywords
- radar
- sensor
- vehicle
- controller
- radar body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The embodiment of the utility model discloses sensor control structure and terminal. This sensor control structure is applied to the vehicle, and the vehicle includes the sensor, and sensor control structure includes: the limiter is connected with the sensor and used for limiting the sensor so that the whole or part of the sensor extends out of the outer surface of the vehicle; and the controller is connected with the limiter and used for controlling the limiter to cancel the limiting state according to the collision information between the sensor and the obstacle, and the collision information between the sensor and the obstacle is obtained through detection of the sensor. The embodiment of the utility model provides a technical scheme has solved intelligent internet vehicle networking when the collision accident, the problem of the easy damage of sensor.
Description
Technical Field
The embodiment of the utility model provides a relate to car technical field, especially relate to a sensor control structure and terminal.
Background
With the development of automobile technology and the improvement of living standard of people, the requirements on the convenience and safety of the intelligent internet vehicle are higher and higher. The existing sensors such as radar of the intelligent internet vehicle can be exposed, and the exposed sensors such as radar are easy to damage, so that the service life of the sensors such as radar is influenced.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a sensor control structure and terminal helps improving the life-span of sensor.
In a first aspect, an embodiment of the present invention provides a sensor control structure, which is applied to a vehicle, the vehicle includes a sensor, the sensor control structure includes: the limiter is connected with the sensor and used for limiting the sensor so that the whole or part of the sensor extends out of the outer surface of the vehicle; and the controller is connected with the stopper and used for controlling the stopper to cancel the limiting state according to the collision information between the sensor and the obstacle, and the collision information between the sensor and the obstacle is obtained through detection of the sensor.
Optionally, the controller is further configured to receive a first command, the first command being triggered when it is determined that the vehicle is likely to have a collision event and the sensor is in a state in which the sensor extends out of an outer surface of the vehicle.
Optionally, the sensor control structure further comprises an ignition structure of the stopper, and the ignition structure is used for receiving a second instruction from the controller, and the second instruction is used for burning and exploding the stopper.
Optionally, the ignition structure comprises an igniter and an ignition agent, the igniter is arranged in contact with the ignition agent, and the ignition agent is positioned in the stopper or is arranged adjacent to the stopper; the second instruction is used for instructing the igniter to explode the ignition agent and remove the limiting capacity of the limiter.
Optionally, the sensor control structure further comprises a displacement structure, and the displacement structure is fixedly connected with the sensor; and the displacement structure is used for receiving a third instruction of the controller, and the third instruction is used for controlling the displacement structure so as to enable the sensor to move in a first direction, wherein the first direction is a direction in which the sensor is collapsed into the vehicle.
Optionally, the sensor control structure further includes: the driving source is connected with the controller and the displacement structure; the third instruction is used for instructing the driving source to drive the displacement structure of the sensor to move along the first direction.
Optionally, the stopper is further configured to limit the sensor after the sensor moves in the first direction.
Optionally, the stopper includes at least one of: z-stops, screws, rivets or clamps.
Optionally, the sensor control structure further includes a receiving cavity for receiving the sensor.
Optionally, the sensor control structure further includes a cover plate, and the cover plate is located at the top of the accommodating cavity; when the sensor collapses back into the vehicle, the cover plate is used for covering the top of the accommodating cavity and is matched with the shell of the vehicle; when the sensor wholly or partially extends out of the outer surface of the vehicle, the cover plate moves to one side of the accommodating cavity, which is far away from the vehicle head.
Optionally, the cover plate comprises a mechanical arm for moving the cover plate in the second direction; wherein the first direction intersects the second direction.
Optionally, the depth of the accommodating cavity ranges from 40mm to 80mm.
In a second aspect, an embodiment of the present invention provides a terminal, which includes a sensor control structure as in any possible implementation manner of the first aspect.
The sensor control structure may be disposed on a terminal device (terminal for short), so that the terminal device has a function of controlling the sensor. The terminal can be terminal equipment such as motor vehicles, unmanned aerial vehicles, rail cars or bicycles. Or, the controller and the sensor of the sensor control structure may be separately disposed, and the controller and the sensor of the sensor control structure may be disposed on different terminal devices, for example, the sensor of the sensor control structure may be disposed on a terminal device such as a motor vehicle, an unmanned aerial vehicle, a rail car or a bicycle, and the controller of the sensor control structure may be disposed on a terminal device such as an intersection camera, a signal lamp or a speed measuring device. In one possible approach, the terminal may include sensors such as radar, camera, etc. on the vehicle. In this case, the sensor control structure may be a radar, or may be located entirely within a radar; or partly inside the radar and partly on a terminal other than the radar. For example, the controller of the sensor control structure may be located on a terminal other than the sensor. The sensor may also be installed on a network device (e.g., a base station in various systems), etc., without limitation.
An embodiment of the utility model provides a radar ulcerate mechanism and automatic driving vehicle that contracts to solve the radar of current automatic driving car when the collision accident, cause the injury to the pedestrian easily, or lead to the higher problem of cost of maintenance because of the radar damage.
In order to realize the technical problem, the utility model discloses a following technical scheme:
the third aspect, the embodiment of the utility model provides a radar ulcerate mechanism that contracts, include:
the radar body is used for detecting distance information between the radar body and an obstacle;
the displacement mechanism is fixedly connected with the radar body and is used for driving the radar body to move for preset displacement;
and the radar controller is used for receiving the control instruction and controlling the radar body to move or enter a movable state according to the control instruction, and the control instruction is obtained at least according to the distance information.
Optionally, the radar collapsing mechanism further includes:
the radar body is fixedly connected with the displacement mechanism through the limiter, and the limiter is used for limiting the radar body after the displacement mechanism moves the radar body along the first direction for preset displacement; or according to the control instruction of the radar controller, the limit of the radar body is removed;
the control instruction is a control instruction which is sent by a vehicle controller according to the distance information, the speed information of the obstacle, the speed information of the vehicle, the image information in front of the vehicle and the maximum braking deceleration of the vehicle, and is determined as a pre-collision event; the control command comprises a pre-collision command and an emergency collapse command; the radar controller is used for controlling the radar body to move according to the pre-collision instruction; or the radar body is controlled to enter a movable state according to the emergency collapse instruction.
Optionally, the stopper includes the blasting device, and the blasting device sets up with the stopper is adjacent, and the blasting device is connected with the radar controller, and the blasting device is used for bursting according to radar controller's urgent collapse instruction to remove the stopper to the spacing of radar body.
Optionally, the blasting device comprises an igniter and an igniter;
the ignition agent is arranged in the limiter or adjacent to the limiter;
the radar controller is connected with the igniter; the radar controller is also used for generating an ignition instruction according to the emergency collapse instruction; the igniter is used for blasting the ignition agent according to the received ignition instruction;
the point firearm sets up with the contact of ignition agent, and the stopper still is used for removing spacingly to the radar through the blasting of ignition agent, and the radar body gets into movable state, and if external force acts on the surface of radar ulcerate mechanism of contracting, the radar body takes place to burst and contracts.
Optionally, the stopper comprises a Z-direction stopper;
the stops include screws, rivets or clamps.
Optionally, the radar collapsing mechanism further includes:
the driving source is connected with the radar controller and the displacement mechanism, and the driving source is used for controlling the displacement mechanism to descend according to a pre-collision instruction sent by the radar controller and driving the radar body to collapse.
Optionally, the radar collapsing mechanism further includes:
the displacement mechanism is arranged in the accommodating cavity;
the radar controller controls the radar body to collapse into the accommodating cavity by controlling the driving source.
Optionally, the radar collapsing mechanism further includes:
the cover plate is arranged at the top of the accommodating cavity;
the cover plate comprises a mechanical arm, and the cover plate moves along the second direction through the mechanical arm; wherein the first direction intersects the second direction;
when the radar body is in a collapsed state, the cover plate is used for covering the top of the accommodating cavity and is matched with the shell of the automatic driving vehicle;
when the radar body is in a lifting state, the cover plate is moved to one side of the containing cavity far away from the vehicle head through the mechanical arm.
Optionally, the depth of the accommodating cavity ranges from 40mm to 80mm.
In a fourth aspect, an embodiment of the present invention provides a terminal, including: the first aspect is any radar collapsing mechanism.
The embodiment of the utility model provides a sensor control mechanism, wherein, the sensor can specifically be the radar, and control mechanism can specifically be the mechanism that bursts, detects distance information between this car and the barrier through the radar body, and the radar controller is used for receiving control command and controls the radar body according to control command and remove or get into portable state, plays fine guard action to the radar body, in unavoidable collision incident, reduces the cost of maintenance because of the radar damages in the collision as far as possible. When the barrier is the pedestrian, radar controller is according to control command control radar body initiative and bursts to contract, perhaps gets into movable state, and the convex radar of avoiding that can be better causes the injury to the pedestrian, improves the vehicle, especially the radar of autopilot car when the collision accident, to pedestrian's security.
Drawings
Fig. 1 is a schematic view of a vehicle provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a sensor control structure according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention;
fig. 4 is a schematic structural diagram of another sensor control structure provided by the embodiment of the present invention;
fig. 5 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention;
fig. 7 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention;
fig. 8 is a schematic structural diagram of another vehicle provided by the embodiment of the present invention;
fig. 9 is a schematic structural diagram of another vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures associated with the present invention are shown in the drawings, not all of them.
The embodiment of the utility model provides a sensor control structure can set up on the terminal for terminal equipment has the function of controlling the sensor. The terminal can be terminal equipment such as motor vehicles, unmanned aerial vehicles, rail cars or bicycles. In one possible approach, the terminal may include sensors such as radar, cameras, etc. on the vehicle. In this case, the sensor control structure may be a radar, or may be located entirely within the radar; or partly inside the radar and partly on a terminal other than the radar. For example, the controller of the sensor control structure may be located on a terminal other than the sensor. The sensor may also be installed on a network device (e.g., a base station in various systems), etc., without limitation.
The terminal may comprise a motor vehicle, such as a smart internet vehicle. The following description will be given taking an example in which the terminal includes a vehicle. The vehicle can be provided with sensors such as a radar sensor, a camera or an infrared sensor, the sensors such as the radar can be partially or completely exposed on the surface of the vehicle, and when the vehicle and an obstacle have a collision accident, the sensors partially or completely exposed on the surface of the vehicle are easily damaged, so that the service life of the sensors is shortened.
On the other hand, since the sensor on the surface of the vehicle is wholly or partially exposed to the surface of the vehicle, the sensor wholly or partially exposed to the surface of the vehicle is likely to damage or injure the obstacle in the event of a collision accident.
The obstacles may include animate and/or inanimate obstacles. The animate obstacle may include a vehicle, a street light, a billboard, a motor vehicle or a non-motor vehicle, etc., and the non-animate obstacle may include a pedestrian, an animal, etc. If the obstacle is a non-living object, sensors partially or fully exposed to the surface of the vehicle may easily damage the obstacle. If the obstacle is a living body, the sensor partially or completely exposed on the surface of the vehicle is easy to cause injury to pedestrians or animals.
Fig. 1 is a schematic view of a vehicle according to an embodiment of the present invention. Referring to fig. 1, the embodiment of the present invention provides a sensor control structure for a vehicle 101, where the vehicle 101 includes a sensor 102. The sensor control structure comprises a stopper 4, the stopper 4 is connected with the sensor 102, and the stopper 4 is used for limiting the sensor 102 so that the whole or part of the sensor 102 extends out of the outer surface of the vehicle 101; and the controller 3 is connected with the stopper 4, the controller 3 is used for controlling the stopper 4 to cancel the stopping state according to the collision information between the sensor 102 and the obstacle, and the collision information between the sensor 102 and the obstacle is obtained by detection of the sensor 102.
Specifically, the collision information may include at least one of distance information, pre-collision time information, and speed information. The distance information may include distance information between the sensor 102 and the obstacle. The pre-impact time information may include a time at which the sensor 102 may impact an obstacle. The speed information may include speed information of the vehicle 101 in which the sensor 102 is located.
The controller 3 is connected with the stopper 4, and the controller 3 can be electrically connected or communicatively connected with the stopper 4 as required. The controller 3 may be located inside the sensor 102, or on the terminal where the sensor 102 is located, or on a terminal other than the terminal where the sensor 102 is located.
The controller 3 may be disposed on the same terminal as the stopper 4, for example, the controller 3 and the stopper 4 are both disposed inside the sensor 102, or the stopper 4 and the controller 3 are both disposed on the vehicle 101. The controller 3 may be provided on a different terminal than the stopper 4, for example, the controller 3 may be provided on the vehicle 101 and the stopper 4 may be provided on the sensor 102, or the controller 3 may be provided on the sensor 102 and the stopper 4 provided on the vehicle 101. It should be noted that fig. 1 exemplarily shows a case where the sensor 102, the stopper 4, and the controller 3 are respectively provided on the vehicle 101, and the stopper 4 is electrically connected to the controller 3, which is not limited herein.
The controller 3 of the sensor control structure can be separated from the sensor 102, and the controller 3 of the sensor control structure and the sensor 102 can be respectively arranged on different terminal devices, for example, the sensor 102 can be arranged on terminal devices such as a motor vehicle, an unmanned aerial vehicle, a rail car or a bicycle, and the controller 3 of the sensor control structure is arranged on terminal devices such as a crossing camera, a signal lamp or a speed measuring device.
The controller 3 may be provided separately, or the controller 3 may be integrated inside the sensor 102. Illustratively, the sensor 102 may be a radar and the controller 3 may be multiplexed as a radar controller. When an obstacle approaches the sensor 102, the sensor 102 may detect distance information between the obstacle and the sensor 102. The sensor 102 or the controller 3 may also acquire speed information of the vehicle 101. The controller 3 may receive the distance information and the speed information and determine pre-collision time information of the obstacle with the sensor 102 based on the distance information and the speed information. The controller 3 can perform judgment according to the distance information, and control the stopper 4 to cancel the stopping state if the distance is smaller than a preset threshold value or the distance information reaches a certain preset distance threshold value. Or the controller 3 controls the stopper 4 to cancel the stopper state according to the pre-collision time information.
The stopper 4 cancels the stopping state of the sensor 102, so that the sensor 102 can retract the whole or part of the sensor 102 extending out of the outer surface of the vehicle 101 into the outer surface of the vehicle 101 in the possible collision accident, on one hand, the sensor 102 can be well protected from being damaged in the possible collision accident, the service life of the sensor 102 is prolonged, and on the other hand, the damage or damage of the sensor 102 to the obstacle in the possible collision accident can be reduced.
In some embodiments, in conjunction with fig. 1, the controller 3 is further configured to receive a first command that is triggered when it is determined that the vehicle 101 is likely to have a collision event and the sensor 102 is in a state where it extends, in whole or in part, outside the exterior surface of the vehicle 101.
Specifically, the first command may be issued by the vehicle controller 40 or the sensor 102. Upon determining that the vehicle 101 is likely to have a collision event and that the whole or part of the sensor 102 is in a state of extending out of the outer surface of the vehicle 101, the vehicle controller 40 issues a first command, and the controller 3 receives the first command and controls the stopper 4 to cancel the stopper state according to the first command. Alternatively, when it is determined that the vehicle 101 may have a collision event and the whole or part of the sensor 102 is in a state of extending out of the outer surface of the vehicle 101, the sensor 102 issues a first command, and the controller 3 receives the first command and controls the stopper 4 to cancel the stopping state according to the first command.
The controller 3 receives the first instruction, controls the stopper 4 to cancel the limit state according to the first instruction, and can be an active collapse control process of the sensor. The image information in front of the vehicle can be detected by the camera module, the vehicle controller determines that the obstacle is a pedestrian according to the image information, and the distance information between the vehicle and the obstacle can be detected by the radar body 1. The speed information of the host vehicle may be detected by a speed sensor. And the vehicle controller obtains the braking safe distance at the current vehicle speed according to the speed information and the maximum braking deceleration of the vehicle. And if the distance information is less than or equal to the braking safety distance, judging a pre-collision event. The vehicle controller calculates a pre-crash time based on the distance information and the speed information. If the pre-collision time is greater than or equal to the first preset threshold time, the vehicle controller sends a pre-collision instruction; and the controller 3 controls the sensor control structure to actively collapse according to the pre-collision command.
For example, the first preset threshold may include 1s, if the pre-collision time calculated by the controller is greater than or equal to 1s, and the vehicle controller determines that the vehicle and the pedestrian are expected to have a collision event but not an emergency event, the vehicle controller sends a pre-collision command to the controller 3, and the controller 3 controls the radar control structure to actively collapse according to the received pre-collision command. The response time of the active collapse of the radar control structure is about 1s, so that the sensor control structure has enough time to complete the active collapse, the damage of the sensor control structure to pedestrians is reduced, and on the other hand, the sensors such as radars are protected from being damaged in the impending collision event.
In some embodiments, with continued reference to fig. 1, the sensor 102 control structure further comprises a displacement structure 103, the displacement structure 103 being fixedly connected to the sensor 102; and a displacement structure 103 for receiving a third command from the controller 3, wherein the third command is used for controlling the displacement structure 103 to move the sensor 102 in a first direction M, and the first direction M is a direction in which the sensor 102 collapses back into the vehicle 101. It should be noted that the displacement structure 103 may be disposed at the bottom or the side of the sensor 102, and fig. 1 only illustrates an exemplary case where the displacement structure 103 may be disposed at the bottom of the sensor 102, and is not limited herein.
Specifically, the controller 3 may output the third instruction according to the collision information between the sensor 102 and the obstacle, or the controller 3 may output the third instruction according to a control signal of the vehicle control unit. The displacement structure 103 can receive a third instruction from the controller 3, and control the displacement structure 103 to move according to the third instruction, so as to drive the sensor 102 to move in the direction in which the sensor 102 collapses into the vehicle 101, so that the sensor 102 collapses into the vehicle 101 partially or completely.
For example, fig. 2 is a schematic structural diagram of a sensor control structure provided in an embodiment of the present invention. Referring to fig. 2, a sensor 102 of a sensor control structure provided in an embodiment of the present invention may include a radar body, a displacement structure 103 may include a displacement mechanism, and the radar body 1 is configured to detect distance information between the radar body 1 and an obstacle; the displacement mechanism 2 is fixedly connected with the radar body 1, and the displacement mechanism 2 is used for driving the radar body 1 to move along a first direction M by preset displacement; and the controller 3 is used for receiving a control instruction and controlling the radar body 1 to move or enter a movable state according to the control instruction, and the control instruction is obtained at least according to the distance information. The controller 3 may be provided inside the radar or outside the radar, and is not limited thereto.
Specifically, the vehicle 101 provided by the embodiment of the present invention may be an intelligent internet vehicle, for example, a vehicle including an automatic driving mode or an auxiliary driving mode, and in a non-automatic driving mode or a parking mode, the sensor 102 controls the structure to be in a collapsed state, that is, the controller 3 controls the displacement mechanism 2 to move the radar body 1 to the bottom end of the displacement mechanism 2 according to the control instruction; in the automatic driving mode, the sensor 102 controls the structure to be in a lifted working state, that is, the controller 3 controls the displacement mechanism 2 to move the radar body 1 to the top end of the displacement mechanism 2 according to the control instruction, so that the whole or part of the radar body 1 extends out of the outer surface of the vehicle 101. The displacement mechanism 2 may include a lifting column or other mechanism capable of moving the radar body 1 in the first direction M by a predetermined displacement, which is not limited herein.
When a vehicle, a person or other obstacles approach, the radar body 1 is judged to be in a non-emergency state, and a pre-collision instruction is sent to control the radar body 1 to move downwards, namely the radar body 1 is actively collapsed; when the vehicle controller determines that an emergency situation occurs, for example, a pedestrian or other obstacle suddenly appears, and the distance between the obstacle and the vehicle is smaller than a preset threshold value, an emergency collapse instruction is sent, the radar body 1 is controlled to enter a movable state, and when an external force acts on the radar body 1, the radar body 1 can move downwards, namely, the radar body 1 collapses passively.
The control structure of the sensor 102 may be provided on the body of the autonomous vehicle, for example, at a position of a side fender, a front bumper, a headlight, or a front windshield of the vehicle 101, which is not limited herein. The radar body 1 comprises the laser radar, exemplarily, the radar body 1 can adopt the semi-solid laser radar, and since the semi-solid laser radar is small in size, high in resolution and low in volume production cost, the single-sided field angle is easy to fuse with a vehicle, and the radar is suitable for a vehicle-mounted scene. The obstacles may include objects such as motor vehicles, electric vehicles, bicycles, pedestrians, animals, street lights, trees, and the like.
Control command reachs according to distance information at least, and is specific, and radar body 1 is connected with controller 3, and radar body 1 can detect the distance information between the vehicle that radar crumple structure belongs to and the barrier to with distance information transmission to vehicle controller. The vehicle controller may receive distance information, speed information of an obstacle, speed information of a vehicle in which the radar is located, and image information in front of the vehicle in which the radar is located, output from the radar body 1, determine that a pre-collision event occurs, and transmit a control instruction.
Optionally, the controller 3 may be provided in communication with a vehicle controller, for example, via a CAN bus or a LIN bus. The controller 3 can control the displacement mechanism 2 to descend according to the control instruction, and the displacement mechanism 2 can drive the radar body 1 to move and preset displacement, so that the radar body 1 is driven to actively collapse. Or, the controller controls radar body 1 to enter a movable state according to the control instruction, and when an external force acts on radar body 1, radar body 1 can move downwards, so that passive collapse of radar body 1 is realized.
The embodiment of the utility model provides a sensor control structure detects distance information between this car and the barrier through the radar body, and the controller is used for receiving control command and removes or get into portable state according to control command control radar body, plays fine guard action to the radar body, in unavoidable collision incident, reduces the cost of maintenance because of the radar damages in the collision as far as possible. When the barrier is the pedestrian, the controller is used for receiving control command and according to control command control radar body initiative ulcerate and contract or get into portable state, and convex radar of avoiding that can be better causes the injury to the pedestrian, improves the radar of autopilot car when the collision accident, to pedestrian's security.
In some embodiments, with reference to fig. 1, the stopper 4 of the sensor control structure provided in the embodiments of the present invention may also be used to limit the sensor 102 after the sensor 102 moves along the first direction.
For example, fig. 3 is a schematic structural diagram of another sensor control structure provided in an embodiment of the present invention. On the basis of the above embodiment, with reference to fig. 1 and fig. 3, the sensor control structure provided by the embodiment of the present invention further includes a stopper 4, the radar body 1 is fixedly connected to the displacement mechanism 2 through the stopper 4, and the stopper 4 is used for limiting the radar body 1 after the displacement mechanism 2 moves the radar body 1 along the first direction M for a preset displacement; or the radar body 1 is relieved from limiting according to a control command of the controller 3. The control command is a control command which is transmitted by the vehicle controller after being determined as a pre-collision event according to the distance information, the speed information of the obstacle, the speed information of the vehicle, the image information in front of the vehicle, and the maximum braking deceleration of the vehicle. The control command comprises a pre-collision command and an emergency collapse command; the controller is used for controlling the radar body to move according to the pre-collision instruction; or the radar body is controlled to enter a movable state according to the emergency collapse instruction. It should be noted that the number of the stoppers 4 may be one or more, and fig. 3 exemplarily shows a case where the number of the stoppers 4 may be one.
Specifically, the radar body 1 can move along a first direction M, which may be a vertical direction, for example, when the radar body 1 is in a collapsed state, the radar body 1 can be set to move to the bottom end of the displacement mechanism 2, and the radar body 1 is limited by the limiter 4, so that the radar body 1 is kept in the collapsed state; when the radar body 1 is in the working state of rising, the radar body 1 moves to the top end of the displacement mechanism 2, and the radar body 1 is limited by the limiter 4, so that the radar body 1 is kept in the rising state.
In some embodiments, the sensor control structure may further include a drive source coupled to the controller and the displacement structure; the third instruction is used for instructing the driving source to drive the displacement structure of the sensor to move along the first direction.
For example, fig. 4 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention. On the basis of the above-mentioned embodiment, refer to fig. 4, the embodiment of the utility model provides a sensor control structure still includes driving source 5, and driving source 5 is connected with controller 3 and displacement mechanism 2, and driving source 5 is used for controlling displacement mechanism 2 and descends according to the collision instruction in advance that controller 3 sent to drive radar body 1 and crumple.
Specifically, the driving source 5 includes a motor, and when the control signal that can set the motor receiving controller 3 is positively rotated, the displacement mechanism 2 that drives the radar rises, so that the radar is in a raised working state, and when the control signal that the motor receiving controller 3 is reversely rotated, the displacement mechanism 2 that drives the radar falls, so that the radar collapses.
In some embodiments, the sensor control arrangement further comprises an ignition arrangement for the stopper for receiving a second command from the controller, the second command for firing the stopper.
Specifically, the ignition structure may include an explosion structure, the controller may generate a second instruction according to collision information between the sensor and the obstacle, and the ignition structure may receive the second instruction output by the controller and explode the stopper according to the second instruction.
For example, fig. 5 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention. On the basis of the above-mentioned embodiment, see fig. 5, the embodiment of the utility model provides a sensor control structure's stopper 4 includes the structure of blasting 41, and the structure of blasting 41 sets up with stopper 4 is adjacent, and the structure of blasting 41 is connected with controller 3, and the structure of blasting 41 is used for the urgent burst instruction according to controller 3 to blast, and remove stopper 4 spacing to radar body 1. It should be noted that the number of the stoppers 4 and the blasting structures 41 may be one or more, fig. 4 exemplarily shows that the number of the stoppers 4 may be two, and the number of the blasting structures 41 may be two, which is not limited herein.
Specifically, the vehicle controller obtains the braking safe distance at the current vehicle speed according to the speed information and the maximum braking deceleration of the vehicle. And if the distance information is less than or equal to the braking safety distance, judging a pre-collision event. The vehicle controller calculates a pre-crash time based on the distance information and the speed information. If the pre-collision time is less than or equal to the second preset threshold time, the vehicle controller sends an emergency collapse instruction; the controller 3 controls the sensor control structure to passively collapse according to the emergency collapse instruction. Because the passive collapse process does not need a driving source, the space occupied by the sensor control structure can be saved.
And the first preset threshold time is greater than the second preset threshold time.
For example, the first preset threshold may include 1s, and the second preset threshold time may include 200ms. If the pre-collision time calculated by the vehicle controller is less than or equal to 200ms, the vehicle controller judges that the vehicle and the pedestrian are expected to have a collision event and is an emergency event, the controller sends an emergency collapse instruction, the controller 3 controls the blasting structure 41 to blast according to the emergency collapse instruction, so that the limit of the limit 4 on the radar body 1 is released, when the pedestrian approaches or presses the radar body 1, the limit effect on the radar body 1 is released due to the fact that the limit 4 of the radar body 1 is already released, the pedestrian can collapse the radar body 1 only by overcoming the friction resistance of the radar body 1, the damage of the radar control structure on the pedestrian is reduced, and the radar is protected from being damaged in the impending collision event.
In some embodiments, the ignition structure can include an igniter disposed in contact with the igniter and an igniter disposed within or adjacent to the stopper; the second instruction is used for instructing the igniter to explode the ignition agent and remove the limiting capability of the limiter.
For example, fig. 6 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention. On the basis of the above embodiment, referring to fig. 6, the explosion structure 41 of the sensor control structure provided by the embodiment of the present invention may include an igniter 411 and an igniter 412; the ignition agent 412 is disposed within the stopper 4 or adjacent to the stopper 4; the controller 3 is connected with the igniter 411; the controller 3 is also used for generating an ignition instruction according to the emergency collapse instruction; the igniter 411 is arranged in contact with the igniter 412, and the igniter 411 is used for exploding the igniter 412 according to the received ignition instruction; the stopper 4 is also used for releasing the radar body 1 from the limit by the explosion of the igniting agent 412, the radar body 1 enters a movable state, and if an external force acts on the surface of the sensor control structure, the radar body 1 collapses.
Specifically, the igniter 412 includes explosive and primer, and the igniter 411 may be covered with aluminum foil. The blasting structure 41 may further include a gas generator, and the igniter 411 is installed at a central position inside the gas generator. The igniter 411 comprises a heating wire circuit and a lead-out wire, the gas generator comprises an air bag, the air bag comprises a connector, the lead-out wire of the igniter 411 is connected with a plug of the connector of the air bag, when the controller 3 sends an ignition instruction, the heating wire circuit is switched on, the heating wire rapidly ignites the primer by red heat, the explosive is detonated to generate heat instantly, the temperature and the pressure in the cartridge case are sharply increased and break the limiter 4, and the limitation of the radar body 1 is relieved. Be equipped with the short circuit piece in the connector, when the connector plug is pulled out or the plug and connector do not combine completely, the short circuit piece is with two lead wires short circuit, prevents that static or misconduction from causing the gasbag mistake to expand to open with the switch-on of heating wire circuit for stopper 4 disconnection, perhaps reduces stopper 4's spacing intensity.
In some embodiments, with continued reference to fig. 6, the stopper 4 comprises at least one of: z-stops, screws, rivets or clamps.
Specifically, the stopper 4 may be a Z-direction stopper, and the Z-direction stopper is a stopper that limits the sensor in the Z direction. After being convenient for relieve spacingly to the stopper to Z, radar body 1 is along Z to crumpling and contracting, and the protection pedestrian is not hurt by the radar, simultaneously only need change radar control structure the stopper 4 can, practiced thrift the cost of maintenance of vehicle. The limiter 4 can comprise a screw, a rivet or a clamping piece, and when the limiter 4 is a screw or a rivet, the screw or the rivet can be disconnected through the blasting structure 41; when the stopper 4 is a clamping member, the limit strength of the clamping member of the radar body 1 can be reduced. Set up like this for when the external force of pedestrian etc. acted on radar control structure's surface, radar body 1 can overcome frictional resistance and take place to burst or overcome frictional resistance and less spacing intensity, just can realize the passive burst of radar control structure.
In some embodiments, the sensor control structure may further comprise a receiving cavity for receiving the sensor.
For example, fig. 7 is a schematic structural diagram of another sensor control structure provided in the embodiment of the present invention. On the basis of the above embodiment, referring to fig. 7, the sensor control structure provided in the embodiment of the present invention further includes an accommodating cavity 6, and the displacement mechanism 2 is disposed in the accommodating cavity 6; the controller 3 controls the radar body 1 to collapse into the accommodating cavity 6 by controlling the driving source 5.
Specifically, the shape of the accommodation chamber 6 may be the same as the shape of the radar body 1. The depth of the accommodating cavity 6 can be set as required, and the radar body 1 can be accommodated.
In some embodiments, with continued reference to FIG. 7, the depth of the receiving cavity 6 may range from 40mm to 80mm.
Preferably, the depth of the receiving cavity 6 comprises 50mm.
In some embodiments, with continued reference to fig. 7, the sensor control structure further comprises a cover plate 7, the cover plate 7 being located at the top of the receiving cavity 6; when the sensor 3 is collapsed into the vehicle, the cover plate 7 is used for covering the top of the accommodating cavity 6 and is matched with the shell of the vehicle 101; when the sensor 3 extends wholly or partly outside the outer surface of the vehicle 101, the cover 7 is moved to the side of the receiving chamber 6 remote from the vehicle head.
In some embodiments, with continued reference to fig. 7, the cover plate 7 comprises a robotic arm 71 for moving the cover plate 7 in the second direction N; wherein the first direction M intersects the second direction N.
Exemplarily, on the basis of the foregoing embodiment, with continuing reference to fig. 7, an embodiment of the present invention provides a sensor control structure further including: the cover plate 7 is arranged at the top of the accommodating cavity 6; the cover plate 7 comprises a robot arm 71, the cover plate 7 being moved in the second direction N by the robot arm 71; wherein the first direction M intersects the second direction N; when the radar body 1 is in a collapsed state, the cover plate 7 is used for covering the top of the accommodating cavity 6 and is matched with the shell of the vehicle 101; when the radar body 1 is in a lifting state, the cover plate 7 is moved to one side of the accommodating cavity 6 far away from the vehicle head through the mechanical arm 71.
Specifically, the second direction N may be an extending direction along a housing of the vehicle 101 in which the radar body 1 is located. When the radar body 1 is in a collapsed state, the cover plate 7 covers the top of the accommodating cavity 6 and is matched with the shell of the vehicle 101, so that the cover plate 7 can better protect the radar body 1 and is also beneficial to improving the attractiveness of the vehicle. When the radar body 1 is in a lifting state, the cover plate 7 moves to one side of the accommodating cavity 6 far away from the vehicle head through the mechanical arm 71, and a passage is provided for the radar body 1.
In some embodiments, the present invention provides a terminal, which includes a sensor control structure in any of the above-mentioned possible implementation manners.
For example, fig. 8 is a schematic structural diagram of another vehicle provided in the embodiment of the present invention. On the basis of the foregoing embodiment, referring to fig. 8, the vehicle 101 provided in the embodiment of the present invention, including the sensor control structure 200 provided in any of the foregoing embodiments, has the beneficial effects of the sensor control structure 200 provided in any of the foregoing embodiments, and is not described herein again.
Optionally, fig. 9 is a schematic structural diagram of another vehicle according to an embodiment of the present invention. On the basis of the foregoing embodiment, referring to fig. 9, the vehicle 101 provided in the embodiment of the present invention may further include a speed sensor 30, a camera module 50, and a vehicle controller 40, where the speed sensor 30 is configured to detect speed information of the vehicle; a camera module 50 for detecting image information in front of the host vehicle; and a vehicle controller 40 for determining that the obstacle is a pedestrian based on the image information. The vehicle controller 40 is further configured to determine a pre-collision event according to the speed information and the distance information and the maximum braking deceleration of the vehicle, and control the sensor control structure 200 to collapse, so as to protect the radar body 1 well, and reduce the maintenance cost of the radar body 1 damaged in a collision as much as possible in an unavoidable collision event.
When the barrier is the pedestrian, vehicle controller 40 judges the pre-collision event according to speed information and distance information to according to the radar ulceration of pre-collision event control, can be better avoid convex radar to cause the injury to the pedestrian, in unavoidable collision event, only need change stopper 4 can, reduced cost of maintenance.
Optionally, with continued reference to fig. 8, the vehicle 101 provided by the embodiment of the present invention may further include a pressure sensor 60 for detecting a pressure value applied to the radar by the pedestrian. Specifically, in an emergency such as when a pedestrian suddenly comes out of a blind area, the pedestrian presses the pressure sensor 60 of the host vehicle, and the pressure sensor 60 can detect the pressure value. The controller 3 controls the radar body 1 to passively collapse according to the pressure value.
It should be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A sensor control structure, the sensor including a radar, comprising:
the radar body is used for detecting distance information between the radar body and an obstacle;
the displacement mechanism is fixedly connected with the radar body and is used for driving the radar body to move for preset displacement;
the radar controller is used for receiving a control instruction and controlling the radar body to move or enter a movable state according to the control instruction, and the control instruction is obtained at least according to the distance information.
2. The sensor control structure according to claim 1, further comprising:
the radar body is fixedly connected with the displacement mechanism through the stopper, and the stopper is used for limiting the radar body after the displacement mechanism moves the radar body along a first direction for a preset displacement; or according to a control instruction of the radar controller, the radar body is relieved from limiting;
the control command is a control command which is determined to be a pre-collision event and sent by a vehicle controller according to the distance information, the speed information of the obstacle, the speed information of the vehicle, the image information in front of the vehicle and the maximum braking deceleration of the vehicle; the control instructions comprise pre-collision instructions and emergency collapse instructions;
the radar controller is used for controlling the radar body to move according to the pre-collision instruction; or controlling the radar body to enter a movable state according to the emergency collapse instruction.
3. The sensor control structure according to claim 2,
the limiting device comprises an explosion device, the explosion device is arranged adjacent to the limiting device and connected with the radar controller, and the explosion device is used for carrying out explosion according to the emergency collapse instruction of the radar controller and relieving the limiting of the limiting device on the radar body.
4. The sensor control structure according to claim 3,
the blasting device comprises an igniter and an ignition agent;
the ignition agent is arranged in the limiter or adjacent to the limiter; the radar controller is connected with the igniter; the radar controller is further used for generating an ignition instruction according to the emergency collapse instruction; the igniter is used for exploding the ignition agent according to the received ignition instruction;
the igniter is in contact with the ignition agent, the limiter is further used for relieving limitation of the radar through burning and explosion of the ignition agent, the radar body enters a movable state, and if external force acts on the surface of the radar crumple mechanism, the radar body crumples.
5. The sensor control structure according to claim 2,
the limiting stopper comprises a Z-direction limiting stopper;
the retainer comprises a screw, rivet or clamping member.
6. The sensor control structure according to claim 2, further comprising:
the driving source, the driving source with radar controller and the displacement mechanism is connected, the driving source is used for according to the collision instruction in advance that radar controller sent, control the displacement mechanism descends, and drives the radar body bursts and contracts.
7. The sensor control structure according to claim 6, further comprising:
the displacement mechanism is arranged in the accommodating cavity;
the radar controller controls the radar body to collapse into the accommodating cavity by controlling the driving source.
8. The sensor control structure according to claim 7, further comprising:
the cover plate is arranged at the top of the accommodating cavity;
the cover plate comprises a mechanical arm, and the cover plate moves along a second direction through the mechanical arm; wherein the first direction intersects the second direction;
when the radar body is in a collapsed state, the cover plate is used for covering the top of the accommodating cavity and is matched with a shell of the automatic driving vehicle;
when the radar body is in a lifting state, the cover plate moves to one side, far away from the vehicle head, of the accommodating cavity through the mechanical arm.
9. The sensor control structure according to claim 7,
the depth range of the accommodating cavity comprises 40 mm-80 mm.
10. A terminal, comprising: the radar collapsing mechanism of any one of claims 1-9.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021219050120 | 2021-08-13 | ||
| CN202121905012 | 2021-08-13 | ||
| CN202122638473.2U CN216636408U (en) | 2021-08-13 | 2021-10-29 | Sensor control structure and terminal |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122638473.2U Division CN216636408U (en) | 2021-08-13 | 2021-10-29 | Sensor control structure and terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218805691U true CN218805691U (en) | 2023-04-07 |
Family
ID=81733158
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122638473.2U Active CN216636408U (en) | 2021-08-13 | 2021-10-29 | Sensor control structure and terminal |
| CN202221587580.5U Active CN218805691U (en) | 2021-08-13 | 2021-10-29 | Sensor control structure and terminal |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122638473.2U Active CN216636408U (en) | 2021-08-13 | 2021-10-29 | Sensor control structure and terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN216636408U (en) |
-
2021
- 2021-10-29 CN CN202122638473.2U patent/CN216636408U/en active Active
- 2021-10-29 CN CN202221587580.5U patent/CN218805691U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN216636408U (en) | 2022-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11242022B2 (en) | Pedestrian protecting device for vehicle and vehicle including same | |
| US10723351B1 (en) | Collision prevention system | |
| CN104590250B (en) | The autonomous DAS (Driver Assistant System) of vehicle and method | |
| JP2015147556A (en) | Collision detection device | |
| JP5886949B2 (en) | Device and method for activating occupant protection means, activation system and vehicle | |
| CN104648254A (en) | Automobile vehicle rearview mirror folding system | |
| CN109733317B (en) | Automobile multistage intelligent anti-collision system and control method | |
| WO2015114437A1 (en) | Vehicle control device | |
| CN106740630A (en) | Automobile external active safety airbag control system and method based on ADAS and IVI | |
| CN107776524B (en) | Vehicle safety protection method and system and vehicle | |
| CN110077356A (en) | A kind of method, apparatus that actively protecting pedestrian, system, memory and terminal | |
| CN218805691U (en) | Sensor control structure and terminal | |
| CN104691491A (en) | Car outer airbag system for changing expansion speed according to different collision objects | |
| CN109910808A (en) | A kind of control method and control system avoiding false triggering air bag | |
| EP3187381B1 (en) | Pedestrian and vehicle protection system | |
| CN108791149B (en) | A buffer stop and car for car | |
| CN104590185A (en) | Child pedestrian protection device of automobile | |
| CN214823095U (en) | Unmanned automobile with automatic roadblock recognition function | |
| EP2524847B1 (en) | Vehicle control arrangement | |
| CN115704906A (en) | Sensor control method, system, sensor control device, terminal, and medium | |
| CN203198901U (en) | Proactive automobile externally-arranged anti-collision airbag control system | |
| CN219523846U (en) | Front windshield glass system and device for pedestrian protection and vehicle | |
| CN111216668A (en) | Vehicle collision processing method and unmanned aerial vehicle fixing device | |
| CN106515585B (en) | Rear-view mirror anticollision wind measuring equipment | |
| JP2014133448A (en) | Vehicle collision detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |