CN220923990U - Automatic driving vehicle and positioning tool - Google Patents
Automatic driving vehicle and positioning tool Download PDFInfo
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- CN220923990U CN220923990U CN202322347472.1U CN202322347472U CN220923990U CN 220923990 U CN220923990 U CN 220923990U CN 202322347472 U CN202322347472 U CN 202322347472U CN 220923990 U CN220923990 U CN 220923990U
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- 238000013461 design Methods 0.000 description 5
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- 238000012423 maintenance Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
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Abstract
The disclosure provides an automatic driving vehicle and location frock relates to artificial intelligence technical field, concretely relates to automatic driving technical field. The specific implementation scheme is as follows: the radar support assembly comprises a radar support and a plurality of radar sensors mounted on the radar support, and the radar sensors are mounted on the radar support based on a positioning tool; the radar bracket is provided with N first positioning structures, the positioning tool is provided with N second positioning structures which are in one-to-one correspondence with the N first positioning structures, the vehicle body mounting surface is provided with N third positioning structures which are in one-to-one correspondence with the N first positioning structures, and N is an integer larger than 2; the radar support assembly is installed on the vehicle body installation surface through one-to-one correspondence of the N first positioning structures and the N third positioning structures.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving, and especially relates to an automatic driving vehicle and a positioning tool.
Background
At present, an automatic driving vehicle mainly depends on cooperation of radar, artificial intelligence, visual computing, a positioning system and the like to realize automatic driving of the vehicle. The radar is used as an eye of the vehicle, so that not only can the surrounding environment be perceived, such as obstacle detection and the like, but also the planning of the vehicle running path can be realized based on the detected information, and further the automatic driving of the vehicle can be realized.
Disclosure of utility model
The disclosure provides an autonomous vehicle and a positioning tool.
According to an aspect of the present disclosure, there is provided an autonomous vehicle including: the radar support assembly comprises a radar support and a plurality of radar sensors mounted on the radar support, and the radar sensors are mounted on the radar support based on a positioning tool;
The radar bracket is provided with N first positioning structures, the positioning tool is provided with N second positioning structures which are in one-to-one correspondence with the N first positioning structures, the vehicle body mounting surface is provided with N third positioning structures which are in one-to-one correspondence with the N first positioning structures, and N is an integer larger than 2;
the radar support assembly is installed on the vehicle body installation surface through one-to-one correspondence of the N first positioning structures and the N third positioning structures.
According to an aspect of the present disclosure, there is provided a positioning fixture for assembling a plurality of the radar sensors of the above-mentioned autonomous vehicle on the radar stand, the positioning fixture comprising: the radar support comprises a positioning platform and N second positioning structures, wherein the N second positioning structures are arranged on the positioning platform based on the N first positioning structures of the radar support.
In the method, the positioning structure of the positioning tool and the positioning structure of the vehicle body mounting surface are arranged corresponding to the positioning structure of the radar support, so that the radar sensor can be assembled and designed according to the assembly precision requirement of the radar sensor on the automatic driving vehicle in the process of being assembled on the radar support through the positioning tool, then the radar support assembly formed by assembling the positioning tool is assembled on the vehicle body mounting surface, and the radar support assembly is assembled on the vehicle body mounting surface based on the N first positioning structures and the N third positioning structures in a one-to-one correspondence manner because the vehicle body mounting surface and the positioning tool share one set of positioning reference, and therefore the assembly precision requirement of the radar sensor on the automatic driving vehicle is met, and the assembly efficiency and the assembly precision of the radar sensor are effectively improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is an assembled schematic view of a radar stand assembly provided by the present disclosure;
FIG. 2 is a block diagram of a radar stand provided by the present disclosure;
FIG. 3 is a schematic distribution diagram of a plurality of radar sensors provided by the present disclosure;
FIG. 4 is a block diagram of a body mounting surface provided by the present disclosure;
FIG. 5 is a block diagram of a positioning tool provided by the present disclosure;
FIG. 6 is a block diagram of another radar mount provided by the present disclosure;
Fig. 7 is a block diagram of another body mounting surface provided by the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
As shown in fig. 1 to 7, the present disclosure provides an autonomous vehicle including a body mounting surface 10 and a radar bracket assembly 20, the radar bracket assembly 20 being mounted on the body mounting surface 10.
The above-described vehicle body mounting surface 10 may be understood as a mounting surface of an autonomous vehicle for mounting the radar stand assembly 20. For example, where the radar bracket assembly 20 is required to be mounted to a roof of an autonomous vehicle, the vehicle body mounting surface 10 may be understood as a mounting surface of the roof.
The radar support assembly 20 includes a radar support 21 and a plurality of radar sensors 22 mounted on the radar support 21, wherein the plurality of radar sensors 22 may be mounted on the radar support 21 based on the positioning fixture 200.
The radar support 21 may be an integral support, that is, the radar support assembly 20 formed by the radar support 21 with a plurality of radar sensors 22 may be understood as a whole, so as to improve the accuracy of mounting the radar sensors 22 on the autonomous vehicle.
Thus, by first mounting the plurality of radar sensors 22 on the radar support 21 to form the radar support assembly 20 and then mounting the radar support assembly 20 on the vehicle body mounting surface 10, the problem of assembly accuracy caused when the plurality of radar sensors 22 are respectively mounted can be avoided.
Moreover, based on the mounting reference provided by the positioning tool 200, the plurality of radar sensors 22 are mounted on the radar bracket 21, so that the problem of relative deviation of accuracy among a plurality of mounting points on the vehicle body mounting surface 10 can be weakened, and the problem of improving the assembly accuracy of the radar sensors 22 can be achieved.
The radar bracket 21 is provided with N first positioning structures 211, the positioning tool 200 is provided with N second positioning structures 201 corresponding to the N first positioning structures one by one, the vehicle body mounting surface 10 is provided with a third positioning structure 11 corresponding to the N first positioning structures 211 one by one, and N is an integer greater than 2. In this way, the positioning structure of the positioning tool 200 and the positioning structure of the vehicle body mounting surface 10 are both arranged corresponding to the positioning structure of the radar bracket 21, so that the radar sensor 22 can be assembled and designed according to the assembly precision requirement of the radar sensor 22 on an automatic driving vehicle in the process of being assembled on the radar bracket 21 through the positioning tool 200, then the radar bracket assembly 20 formed by assembling the positioning tool 200 is assembled on the vehicle body mounting surface 10, and because the vehicle body mounting surface 10 and the positioning tool 200 share one set of positioning reference, when the radar bracket assembly 20 is assembled on the vehicle body mounting surface 10 based on the one-to-one correspondence of the N first positioning structures 211 and the N third positioning structures 11, the assembly precision requirement of the radar sensor 22 on the automatic driving vehicle is met, and the assembly efficiency and the assembly precision of the radar sensor 22 are effectively improved.
By setting N to an integer greater than 2, that is, by realizing positioning connection of the radar support assembly 20 and the vehicle body mounting surface 10 through adaptation of a plurality of positioning structures, the assembly accuracy of the radar support assembly 20 and the vehicle body mounting surface 10 can be further improved.
It can be appreciated that the N first positioning structures 211 include at least one of positioning pins, positioning holes, and positioning surfaces; correspondingly, the N second positioning structures 201 also include at least one of a positioning pin, a positioning hole, and a positioning surface, and the N third positioning structures 11 also include at least one of a positioning pin, a positioning hole, and a positioning surface.
For example, in the case that one first positioning structure of the radar support 21 is a positioning hole, a positioning pin adapted to the positioning hole is arranged on the positioning tool 200, and positioning connection between the radar support 21 and the positioning tool 200 can be realized through positioning adaptation of a pin hole; accordingly, the positioning pin which is matched with the positioning hole is also arranged on the vehicle body mounting surface 10, and the positioning connection of the radar bracket 21 and the vehicle body mounting surface 10 can be realized through the positioning matching of the pin hole.
For another example, in the case that one first positioning structure of the radar support 21 is a positioning surface, the positioning tool 200 is provided with a positioning surface adapted to the positioning surface, and positioning connection between the radar support 21 and the positioning tool 200 can be achieved through surface-to-surface positioning adaptation; accordingly, a positioning surface adapted to the positioning surface is also provided on the vehicle body mounting surface 10, and positioning connection between the radar mount 21 and the vehicle body mounting surface 10 can be achieved by surface-to-surface positioning adaptation.
In one embodiment, the plurality of radar sensors 22 includes a first radar sensor 221, a second radar sensor 222, and a third radar sensor 223;
The radar bracket 21 is provided with a first mounting groove 212 matched with the first radar sensor 221, a second mounting groove 213 matched with the second radar sensor 222 and a third mounting groove 214 matched with the third radar sensor 223;
The first mounting groove 212 is a mounting groove located on the radar support 21 and facing the direction of the head of the autonomous vehicle, the second mounting groove 213 is a mounting groove located on the first side of the radar support 21, the third mounting groove 214 is a mounting groove located on the second side of the radar support 21, and the first side and the second side of the radar support 21 are two sides of the autonomous vehicle in the width direction.
It will be appreciated that the first side of the radar support 21 may be understood as the left side of the autonomous vehicle, the second side of the radar support 21 may be understood as the right side of the autonomous vehicle, and the head direction may be understood as the front of the autonomous vehicle. Wherein the left and right sides can be determined based on the front-rear left-right orientation of a passenger riding in the autonomous vehicle.
The first radar sensor 221 is installed in an installation groove of the radar bracket 21 facing the direction of the head of the autonomous vehicle, and is used for detecting and scanning information such as an obstacle in front of the autonomous vehicle; the second radar sensor 222 is installed at a first side of the radar bracket 21, and can detect and scan information such as an obstacle at a left side of the autonomous vehicle; the third radar sensor 223 is mounted on the second side of the radar bracket 21, and can perform detection scanning of information such as an obstacle on the right side of the autonomous vehicle.
In the embodiment, the detection scanning of information such as obstacles in the front, left and right directions of the automatic driving vehicle can be realized by arranging three radar sensors, and the detection scanning range of the radar sensors is optimized.
Moreover, by assembling the first radar sensor 221, the second radar sensor 222 and the third radar sensor 223 on the first mounting groove 212, the second mounting groove 213 and the third mounting groove 214 of the radar support 21, respectively, the integrity of the plurality of radar sensors 22 on the radar support 21, that is, the integrity of the radar support assembly 20, can be improved, and the purpose of improving the assembly accuracy of the radar sensors 22 can be achieved.
In the process of installing the plurality of radar sensors 22 on the radar support 21, the positioning installation reference provided by the positioning tool 200 can be based to meet the assembly precision requirement of the plurality of radar sensors 22 on the radar support 21.
In this disclosure, the radar support 21 can provide the installation benchmark for a plurality of radar sensor 22 simultaneously, and the unification of installation benchmark can weaken the relative deviation of the precision between a plurality of mounting points under the circumstances of guaranteeing the installation precision of a plurality of radar sensor 22, and still possesses the characteristics that the precision is high, stability is good, the harmony is strong based on the radar support assembly 20 that location frock 200 assembly formed.
The positioning tool 200 may be a positioning tool with high precision, and the precision deviation of the second positioning structure 201 on the positioning tool 200 may be controlled within ±0.05mm, so that the positioning function can be achieved while the positioning function is provided for the radar support 21 and the radar sensor 22.
In addition, when the radar sensor 22 is positioned by the positioning tool 200, an adjustment gap can be designed between the mounting hole and the mounting bolt of the radar sensor 22, so that later adjustment and maintenance can be facilitated.
In one embodiment, the first mounting groove 212 is provided with M first reference surfaces, the first radar sensor 221 includes second reference surfaces corresponding to the M first reference surfaces one by one, the first radar sensor 221 is assembled on the first mounting groove 212 through one by one correspondence of the M first reference surfaces and the M second reference surfaces, and M is an integer greater than 1.
In this embodiment, the first reference surface may be a step surface in the first mounting groove 212, and the step surface may not only be used to form a support for the first radar sensor 221, but also be in positioning connection with the second reference surface of the first radar sensor 221, so as to implement assembly connection of the first radar sensor 221 in the first mounting groove 212.
It can be appreciated that the first reference surface may further be provided with a first mounting hole, and the second reference surface may also be provided with a second mounting hole, and the first mounting hole and the second mounting hole may be connected by a connecting piece such as a bolt, so as to realize the assembly connection of the first radar sensor 221 in the first mounting groove 212.
Wherein, when designing first mounting hole, can also design the adjustment clearance to later stage adjustment and maintenance.
In one embodiment, the adjustment proposal for the first mounting hole may be designed to be 2 mm.
In one embodiment, the first radar sensor 221 further comprises a first limit structure for adapting with a second limit structure of the positioning fixture 200.
In this embodiment, by setting the first limiting structure adapted to the second limiting structure of the positioning tool 200, the first radar sensor 221 can be prevented from being displaced in the assembly process, so as to further improve the assembly accuracy of the first radar sensor 221.
The second limiting structure may be a limiting surface for limiting displacement of the first radar sensor 221 during assembly.
In one embodiment, the second mounting groove 213 is provided with M third reference surfaces, the second radar sensor 222 includes fourth reference surfaces corresponding to the M third reference surfaces one by one, the second radar sensor 222 is mounted on the second mounting groove 213 through the one by one correspondence of the M third reference surfaces and the M fourth reference surfaces, and M is an integer greater than 1.
In this embodiment, the third reference surface may be a step surface in the second mounting groove 213, and the step surface may not only be used to form a support for the second radar sensor 222, but also be in positioning connection with the fourth reference surface of the second radar sensor 222, so as to implement the assembly connection of the second radar sensor 222 in the second mounting groove 213.
It can be understood that a third mounting hole may be further disposed on the third reference surface, and a fourth mounting hole may be disposed on the fourth reference surface, and the third mounting hole and the fourth mounting hole may be connected by a connecting piece such as a bolt, so as to further realize the assembly connection of the second radar sensor 222 in the second mounting groove 213.
Wherein, when designing the third mounting hole, can also design the adjustment clearance to later stage adjustment and maintenance.
In one embodiment, the adjustment proposal for the third mounting hole may be designed to be 2 mm.
In one embodiment, the second radar sensor 222 further includes a third limit structure adapted to mate with a fourth limit structure of the positioning fixture 200.
In this embodiment, by setting the third limit structure adapted to the fourth limit structure of the positioning tool 200, the displacement of the second radar sensor 222 during the assembly process can be avoided, and the assembly accuracy of the second radar sensor 222 can be further improved.
The fourth limiting structure may be a limiting surface, which is used to limit the displacement of the second radar sensor 222 during the assembly process.
In one embodiment, the third mounting groove 214 is provided with M fifth reference surfaces, the third radar sensor 223 includes sixth reference surfaces corresponding to the M fifth reference surfaces one by one, the third radar sensor 223 is assembled on the third mounting groove 214 through the one by one correspondence of the M fifth reference surfaces and the M sixth reference surfaces, and M is an integer greater than 1.
In this embodiment, the fifth reference surface may be a step surface in the third mounting groove 214, and the step surface may not only be used to form a support for the third radar sensor 223, but also be in positioning connection with the sixth reference surface of the third radar sensor 223, so as to implement the assembly connection of the third radar sensor 223 in the third mounting groove 214.
It may be appreciated that a fifth mounting hole may be further disposed on the fifth reference surface, and a sixth mounting hole may be disposed on the sixth reference surface, and the fifth mounting hole and the sixth mounting hole may be connected by a connecting member such as a bolt, so as to further implement the assembly connection of the third radar sensor 223 in the third mounting groove 214.
Wherein, when designing the fifth mounting hole, can also design the adjustment clearance to later stage adjustment and maintenance.
In one embodiment, the adjustment proposal for the fifth mounting hole may be designed to be 2 mm.
In one embodiment, the third radar sensor 223 further comprises a fifth limit structure for adapting with a sixth limit structure of the positioning fixture 200.
In this embodiment, by setting the fifth limit structure adapted to the sixth limit structure of the positioning tool 200, the third radar sensor 223 can be prevented from being displaced during the assembly process, and the assembly accuracy of the third radar sensor 223 can be further improved.
The sixth limiting structure may be a limiting surface for limiting displacement of the third radar sensor 223 during assembly.
The positioning tool 200 includes a positioning platform 202 and N second positioning structures 201, where the N second positioning structures 201 are disposed on the positioning platform 202 based on N first positioning structures 211 on the radar support 21.
The positioning platform 202 can be understood as a workbench of the positioning tool 200, and the N second positioning structures 201 can be arranged on the positioning platform 202 based on the N first positioning structures 211 on the radar support 21 so as to realize that the vehicle body mounting surface 10 and the positioning tool 200 share a set of positioning references, so that when the radar support assembly 20 is mounted on the vehicle body mounting surface 10 based on the one-to-one correspondence of the N first positioning structures 211 and the N third positioning structures 11, the assembly precision requirement of the radar sensor 22 on the automatic driving vehicle can be met, and the assembly efficiency and the assembly precision of the radar sensor 22 are effectively improved.
The positioning tool 200 further includes K clamping and positioning structures 203, where the number of K matches the number of radar sensors 22. For example, in the case that three radar sensors 22 are included in the radar support assembly 20, 3 clamping and positioning structures 203 may be disposed on the positioning fixture 200, that is, K may be set to 3. The clamping and positioning structure 203 can provide a clamping and positioning function for the assembly of the radar sensor 22 on the radar support 21, so as to avoid slippage of the radar sensor 22 during the assembly process of the radar support 21 and achieve the purpose of improving the assembly precision of the radar sensor 22 on the radar support 21.
Wherein the clamping and positioning structure 203 may be arranged on the positioning platform 202 based on a mounting groove on the radar support 21.
In one embodiment, K clamping and positioning structures 203 are each rotatably coupled to the positioning platform 202. By such design, when the clamping and positioning structure 203 is not needed, the clamping and positioning structure 203 can be rotated to an idle area; when the clamping and positioning structure 203 is needed, the clamping and positioning structure 203 can be rotated to the working area, so that flexible layout of the clamping and positioning structure 203 is realized.
It is understood that the second positioning structure 201 and the clamping positioning structure 203 may be disposed at any position of the positioning platform 202. In practical applications, the arrangement layout of the second positioning structure 201 on the positioning platform 202 may be implemented based on the first positioning structure 211 of the radar support 21, and the arrangement layout of the clamping positioning structure 203 on the positioning platform 202 may be implemented based on the mounting groove on the radar support 21.
For example, in the process of installing the radar sensor 22, the clamping and positioning structure 203 is rotated to an idle area, so that the radar sensor 22 is installed in a corresponding installation groove, after the radar sensor 22 is installed in the corresponding installation groove, the clamping and positioning structure 203 is rotated to a working area, and the radar sensor 22 is clamped and positioned, meanwhile, the displacement of the radar sensor 22 in the installation process can be limited, and the purpose of improving the assembly precision of the radar sensor 22 on the radar bracket 21 is achieved.
In one embodiment, the side on which the first side of the radar stand 21 is located may be set to the left side of the autonomous vehicle, the side on which the second side of the radar stand 21 is located may be set to the right side of the autonomous vehicle, and the head direction may be set to the front of the autonomous vehicle.
As shown in fig. 5, N second positioning structures 201 on the positioning fixture 200 include a radar bracket XY reference hole and a Z mounting surface 2011; radar support X-reference hole and Z-mounting surface 2012; radar mount Z-mount 2013; radar mount Z-mount 2014; radar stand Z-direction mounting face 2015; radar mount Z-mount 2016; radar mount Z-mount 2017; radar mount Z-mount 2018; radar mount Z-direction mounting surface 2019.
As shown in fig. 6, N first positioning structures 211 on the radar stand 21 include XY-direction reference pins and Z-direction reference surfaces 2111 of the radar stand itself; an X-direction reference pin and a Z-direction reference surface 2112 of the radar support; a Z-direction mounting bolt 2113 for the radar stand itself; a Z-direction mounting bolt 2114 for the radar stand itself; a Z-direction mounting bolt 2115 for the radar stand itself; a Z-direction mounting bolt 2116 for the radar stand itself; a Z-direction mounting bolt 2117 for the radar stand itself; z-direction mounting bolts 2118 for radar stand self-referencing; the radar stand itself is referenced to the Z-mounting bolts 2119.
Wherein, the XY direction reference pin Z direction reference surface 2111 of the radar bracket is positioned on the XY direction reference hole and the Z direction mounting surface 2011 of the radar bracket; the X-direction reference pin Z-direction reference surface 2112 of the radar support is mounted on the X-direction reference hole and the Z-direction mounting surface 2012 of the radar support; the Z-direction mounting bolt 2113 of the radar support self-reference is mounted on the Z-direction mounting surface 2013 of the radar support; the Z-direction mounting bolt 2114 of the radar support self-reference is mounted on the Z-direction mounting surface 2014 of the radar support; the Z-direction mounting bolt 2115 of the radar support self-reference is mounted on the Z-direction mounting surface 2015 of the radar support; the radar stand itself standard Z-direction mounting bolts 2116 are mounted to the radar stand Z-direction mounting surface 2016; the Z-direction mounting bolt 2117 of the radar support self-reference is mounted on the Z-direction mounting surface 2017 of the radar support; the Z-direction mounting bolt 2118 of the radar support self-reference is mounted on the Z-direction mounting surface 2018 of the radar support; the radar stand itself is attached to the radar stand Z-mounting surface 2019 by a Z-mounting bolt 2119.
As shown in fig. 7, the N third positioning structures 11 on the vehicle body mounting surface 10 include a first Z-direction mounting surface and XY-direction reference holes 111 on the vehicle body; a second Z-directed mounting surface and an X-directed reference hole 112 on the vehicle body; a third Z-direction mounting surface 113 on the vehicle body; a fourth Z-directed mounting surface 114 on the body; a fifth Z-directed mounting surface 115 on the body; a sixth Z-directed mounting surface 116 on the body; a seventh Z-direction mounting surface 117 on the vehicle body; an eighth Z-directed mounting surface 118 on the vehicle body; a ninth Z-direction mounting surface 119 on the vehicle body.
Wherein, the Z-direction reference surface 2111 of the XY-direction reference pin of the radar bracket is positioned on the first Z-direction mounting surface and the XY-direction reference hole 111 of the vehicle body; the X-direction reference pin Z-direction reference surface 2112 of the radar bracket is arranged on the second Z-direction mounting surface and the X-direction reference hole 112 of the vehicle body; the Z-direction mounting bolt 2113 of the radar support self reference is mounted on the third Z-direction mounting surface 113 on the vehicle body; the radar bracket itself is mounted to the fourth Z-mounting surface 114 on the vehicle body by a Z-mounting bolt 2114; the radar bracket itself is mounted to the fifth Z-mounting surface 115 on the vehicle body by a Z-mounting bolt 2115; the radar bracket self-referenced Z-direction mounting bolt 2116 is mounted to the sixth Z-direction mounting surface 116 on the vehicle body; a Z-direction mounting bolt 2117 for the radar stand itself is mounted to a seventh Z-direction mounting surface 117 on the vehicle body; the radar stand itself is attached to the eighth Z-mounting surface 118 on the vehicle body by a Z-mounting bolt 2118; the radar stand itself is attached to a ninth Z-mounting surface 119 on the vehicle body by a Z-mounting bolt 2119.
The X direction may be understood as a longitudinal direction of the autonomous vehicle, the Y direction may be understood as a width direction of the autonomous vehicle, the Z direction may be understood as a height direction of the autonomous vehicle, and the XY direction may be understood as a plane in which the X direction and the Y direction are located.
The positioning connection of the N second positioning structures 201 and the N first positioning structures 211 can realize the high-precision assembly of the radar support 21 on the positioning tool 200; and because the vehicle body mounting surface 10 and the positioning tool 200 share a set of positioning reference, the high-precision assembly of the radar bracket assembly 20 on the positioning tool 200 can be transferred to the vehicle body mounting surface 10, namely, the high-precision assembly of the radar bracket assembly 20 on the vehicle body mounting surface 10 can be realized, and the assembly precision requirement of the radar sensor 22 on the automatic driving vehicle is further realized.
Moreover, for the continuous debugging assembly radar sensor 22 on the body top cover of the automatic driving vehicle, the radar sensor 22 can be assembled and transferred to the positioning tool 200 with high precision on the body top cover by designing the body mounting surface 10 and the positioning tool 200 to share a set of positioning reference, so that the assembly efficiency of the radar sensor 22 is effectively improved. Meanwhile, in the process of assembling the radar sensor 22 by using the positioning tool 200, the processing precision of the positioning tool is easier to control and adjust, and the purpose of improving the assembling precision of the radar sensor 22 is further achieved.
In addition, by adopting the scheme of the disclosure, the repair rate of the radar sensor 22 can be reduced, the overall performance of the automatic driving vehicle can be improved, and a high-precision radar detection function can be provided for the automatic driving vehicle.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (12)
1. An autonomous vehicle, comprising: the radar support assembly comprises a radar support and a plurality of radar sensors mounted on the radar support, and the radar sensors are mounted on the radar support based on a positioning tool;
The radar bracket is provided with N first positioning structures, the positioning tool is provided with N second positioning structures which are in one-to-one correspondence with the N first positioning structures, the vehicle body mounting surface is provided with N third positioning structures which are in one-to-one correspondence with the N first positioning structures, and N is an integer larger than 2;
the radar support assembly is installed on the vehicle body installation surface through one-to-one correspondence of the N first positioning structures and the N third positioning structures.
2. The autonomous vehicle of claim 1, wherein the plurality of radar sensors comprises a first radar sensor, a second radar sensor, and a third radar sensor;
the radar bracket is provided with a first mounting groove matched with the first radar sensor, a second mounting groove matched with the second radar sensor and a third mounting groove matched with the third radar sensor;
the first mounting groove is a mounting groove positioned on the radar support and facing the head direction of the automatic driving vehicle, the second mounting groove is a mounting groove positioned on the first side of the radar support, the third mounting groove is a mounting groove positioned on the second side of the radar support, and the first side and the second side of the radar support are both sides of the width direction of the automatic driving vehicle.
3. The autonomous vehicle of claim 2, wherein the first mounting slot is provided with M first reference surfaces, the first radar sensor includes M second reference surfaces in one-to-one correspondence with the M first reference surfaces, the first radar sensor is mounted on the first mounting slot through one-to-one correspondence of the M first reference surfaces with the M second reference surfaces, and M is an integer greater than 1.
4. The autonomous vehicle of claim 3, wherein the first radar sensor further comprises a first limit structure adapted to mate with a second limit structure of the positioning fixture.
5. The autonomous vehicle of claim 2, wherein the second mounting slot is provided with M third reference surfaces, the second radar sensor includes M fourth reference surfaces in one-to-one correspondence with the M third reference surfaces, the second radar sensor is mounted on the second mounting slot through one-to-one correspondence of the M third reference surfaces with the M fourth reference surfaces, and M is an integer greater than 1.
6. The autonomous vehicle of claim 5, wherein the second radar sensor further comprises a third limit structure for adapting with a fourth limit structure of the positioning fixture.
7. The autonomous vehicle of claim 2, wherein M fifth reference surfaces are provided on the third mounting groove, the third radar sensor includes M sixth reference surfaces in one-to-one correspondence with the M fifth reference surfaces, the third radar sensor is mounted on the third mounting groove through one-to-one correspondence of the M fifth reference surfaces with the M sixth reference surfaces, and M is an integer greater than 1.
8. The autonomous vehicle of claim 7, wherein the third radar sensor further comprises a fifth limiting structure for adapting with a sixth limiting structure of the positioning fixture.
9. The autonomous vehicle of claim 2, wherein the N first locating features comprise at least one of locating pins, locating holes, locating surfaces.
10. A positioning fixture for mounting a plurality of said radar sensors in an autonomous vehicle as claimed in any one of claims 1 to 9 on said radar stand, said positioning fixture comprising: the radar support comprises a positioning platform and N second positioning structures, wherein the N second positioning structures are arranged on the positioning platform based on the N first positioning structures of the radar support.
11. The positioning tool of claim 10, further comprising K clamping and positioning structures, K of the clamping and positioning structures being disposed on the positioning platform based on mounting slots on the radar support, and K being an integer greater than 1.
12. The positioning tool of claim 11, wherein K clamping and positioning structures are each rotatably connected to the positioning platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322347472.1U CN220923990U (en) | 2023-08-30 | 2023-08-30 | Automatic driving vehicle and positioning tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322347472.1U CN220923990U (en) | 2023-08-30 | 2023-08-30 | Automatic driving vehicle and positioning tool |
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| Publication Number | Publication Date |
|---|---|
| CN220923990U true CN220923990U (en) | 2024-05-10 |
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| CN202322347472.1U Active CN220923990U (en) | 2023-08-30 | 2023-08-30 | Automatic driving vehicle and positioning tool |
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| CN (1) | CN220923990U (en) |
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2023
- 2023-08-30 CN CN202322347472.1U patent/CN220923990U/en active Active
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