JP2021041791A - Measuring device unit - Google Patents

Abstract

To reduce or prevent interference between detectors.SOLUTION: A measuring device unit 10 is used mounted on a roof 51 of a vehicle 50 and includes: a body 20; detectors 30, 31 disposed around the body 20. The detectors 30, 31 include: a first detector 30 having a wide detection range; and a second detector 31 having a detection range narrower than that of the first detector 30. The second detector 31 is disposed at a position such that blocking of the detection range of the first detector 30 is inhibited or prevented.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a measuring device unit used by being mounted on the roof of a vehicle.

In the driving support system, a plurality of sensors are used. An External Sensor Assembly has been proposed in which a plurality of sensors are integrated and mounted on the roof of a vehicle (for example, Reference 1).

U.S. Patent Application Publication No. 2017/030360

However, in the driving support system, detection data from a large number of sensors is required. It is desirable to arrange the sensors apart in order to reduce the interference between the sensors, but it is not easy to arrange the adjacent sensors sufficiently separated on the roof of the vehicle where the space is limited. Further, there is also a problem that the traveling resistance in the vehicle is increased by mounting the external sensor assembly on the roof of the vehicle.

Therefore, there is a demand for an in-vehicle measuring device unit capable of reducing or preventing interference between detectors.

The present disclosure can be realized as the following aspects.

The first aspect provides a measuring device unit that is mounted on the roof of a vehicle and used. The measuring device unit according to the first aspect includes a main body and a plurality of detectors arranged around the main body, and the plurality of detectors include a first detector having a wide detection range and a first detector having a wide detection range. The second detector includes a second detector having a narrower detection range than the first detector, and the second detector is arranged at a position that suppresses or prevents obstruction of the detection range of the first detector. There is.

According to the measuring device unit according to the first aspect, interference between detectors can be reduced or prevented.

The explanatory view which shows an example of the vehicle which mounts the measuring apparatus unit which concerns on 1st Embodiment on a roof. The plan view which shows typically the measuring apparatus unit which concerns on 1st Embodiment mounted on the roof of a vehicle. The plan view which shows typically the measuring apparatus unit which concerns on the 2nd Embodiment mounted on the roof of a vehicle. The plan view which shows typically the measuring apparatus unit which concerns on the 3rd Embodiment mounted on the roof of a vehicle. The side view which shows typically the measuring apparatus unit which concerns on 4th Embodiment mounted on the roof of a vehicle. The front view which shows typically the measuring apparatus unit which concerns on 4th Embodiment mounted on the roof of a vehicle. The plan view which shows typically the measuring apparatus unit which concerns on 4th Embodiment mounted on the roof of a vehicle.

The measuring device unit used to be mounted on the roof of the vehicle according to the present disclosure will be described below based on some embodiments.

First Embodiment:
As shown in FIG. 1, the vehicle-mounted measuring device unit 10 according to the first embodiment is mounted on the roof 51 of the vehicle 50 and used. The measuring device unit 10 includes at least a main body 20 and detectors 30 and 31. The measuring device unit 10 further includes an outer plate 11 that covers at least a part of the main body 20 and the detectors 30 and 31, a fixing mechanism 12 for fixing the measuring device unit 10 to the vehicle 50, and a frame 13. The outer plate 11 includes an opening in which the detection surfaces of the detectors 30 and 31 are exposed, or a window in which the detection light or the detection wave can be transmitted. The fixing mechanism 12 may be, for example, a mounting mechanism for mounting on the roof rail provided on the roof of the vehicle 50, or a mounting mechanism mounted between the roof of the vehicle 50 and the upper part of the door. There may be. The measuring device unit 10 has a longitudinal direction corresponding to the front-rear direction of the vehicle 50 and a width direction corresponding to the width direction of the vehicle 50 when mounted on the vehicle. The main body 20 is a housing having a waterproof structure, and includes a data processing device 21 that integrates and transmits detection data from a plurality of detectors as shown in FIG. Inside the vehicle 50, as a control device in the vehicle, information on an object around the vehicle 50 input from the measuring device unit 10 is used to execute driving support such as braking support, steering support, and drive support. A driving support control device 40, which is a vehicle control device, is provided. In the first embodiment, the measuring device unit 10, specifically, the data processing device 21 and the operation support control device 40 are connected by a single wiring CV.

As shown in FIG. 2, in a plan view, the measuring device unit 10 according to the first embodiment includes a plurality of detectors 30 and 31 around the main body 20 in the outer plate 11. The detectors 30 and 31 are divided into a first detector 30 having a wide detection range WR and a second detector 31 having a detection range NR narrower than that of the first detector 30. The detection range is a range in which an object can be detected by each detector, and the range is defined by, for example, an angle. The detection range includes a detection range in the horizontal direction and a detection range in the vertical direction. In the present embodiment, the detection range in the horizontal direction, that is, the detection angle will be described. A wide detection range WR means, for example, a horizontal detection angle of 90 ° to 160 °, and a narrow detection range NR means, for example, a horizontal detection angle of 20 ° to 50 °. As the first detector 30, for example, a wide-angle camera and a wide-angle lidar (Lidar: Light Detection and Ranging) are used, and as the second detector 31, for example, a telephoto camera, a narrow-angle lidar, and a millimeter-wave radar are used. Used. A camera is an image pickup device including an image pickup element such as a CCD or an image pickup element array, and is a sensor that outputs external shape information or shape information of an object as image data as a detection result by receiving visible light. The rider is a sensor that detects the distance, relative velocity, and angle of the target with respect to the vehicle 50 by emitting infrared laser light and receiving the reflected light reflected by the target. The millimeter wave radar is a sensor that detects the distance, relative velocity, and angle of the target with respect to the vehicle 50 by emitting millimeter waves and receiving the reflected wave reflected by the target.

In the example of FIG. 2, the first detector 30 is arranged at a distance from the main body 20 with respect to the second detector 31. Further, the first detector 30 and the second detector 31 are arranged at positions corresponding to the outer periphery of the roof 51, that is, along the outer peripheral edge portion of the roof 51. Specifically, on the front side of the vehicle, two second detectors 31 are arranged with the first detector 30 in the center, and the second detector 31, the first detector 30, and the second detector 31 are arranged. The detector 31 of 2 is arranged along the outer edge shape of the roof on the front side so that the first detector 30 is farthest from the main body 20. Similarly, on the rear side of the vehicle, the second detector 31, the first detector 30, and the second detector 31 are arranged along the outer edge shape of the roof on the rear side. Further, the second detectors 31 arranged at both ends of the roof 51 centering on the first detector 30 are arranged so that their respective detection axes intersect the axes in the front-rear direction of the vehicle 50. That is, they are arranged at an angle in the width direction or in the left and right directions to further reduce mutual detection interference. On the right side of the measuring device unit 10, the first detector 30 is arranged at a position close to the center in the longitudinal direction of the measuring device unit 10, and is located farther from the center in the front-rear direction than the first detector 30. The detector 31 of 2 is arranged. Further, the first detector 30 and the second detector 31 are arranged along the outer edge shape of the roof 51 on the right side so that the first detector 30 is farthest from the main body 20. Similarly, on the left side of the vehicle, the first detector 30 and the second detector 31 are arranged along the outer edge shape of the roof 51 on the left side.

According to the measuring device unit 10 according to the first embodiment, the second detector 31 having a detection range NR narrower than that of the first detector 30 is the first detector 30 having a wide detection range WR. Since it is arranged at a position that suppresses or prevents obstruction of the detection range, interference between detectors can be reduced or prevented. That is, since the first detector 30 is arranged farther from the main body 20 than the second detector 31, the second detector 31 in the image captured by the wide-angle camera as the first detector 30 The hindrance to detection such as the reflection of the image and the capture of the detection points corresponding to the reflection caused by the second detector 31 in the detection point cloud group data of the wide-angle lidar as the first detector 30 is prevented or reduced. Further, since the first detector 30 is arranged between the plurality of second detectors 31 and is arranged so as to project from the outer peripheral edge of the roof 51 with respect to the second detector 31, the first detector 30 is arranged. The second detector by reducing or eliminating the interference of the detected waves between the second detectors 31 by using the detector 30 of 1 as a camera and the second detector 31 as a lidar or millimeter wave radar. It is possible to prevent or suppress a decrease in the detection accuracy in 31. Further, since the first detector 30 is arranged at a position corresponding to the outer peripheral edge of the roof 51 of the vehicle 50 on the center side or the center of the measuring device unit 10 with respect to the second detector 31, the vehicle. It is possible to obtain detection information in a wide-angle range of the surroundings. Further, the interference between the detection waves between the first detector 30 and the second detector 31 or the interference in the detection range caused by the housing of the second detector 31 is reduced or eliminated.

Generally, in the vehicle 50, it is required to mount many detectors in front of the vehicle, which is the traveling direction, to obtain information on surrounding objects. On the other hand, the dimensions of the vehicle 50 in the width direction and the places where the detector can be mounted are limited, and interference between the detectors becomes a problem. According to the measuring device unit 10 according to the first embodiment, since the first detector 30 and the second detector 31 are arranged so as to satisfy the above-mentioned arrangement conditions, interference between the detectors can be reduced or While eliminating the problem, it is possible to mount a plurality of types of detectors having different detection methods in front of the vehicle, and it is possible to improve the detection accuracy of the object.

In the first embodiment, in order to facilitate the explanation, an example in which at most one first detector 30 and two second detectors 31 are arranged has been described, but three The above-mentioned second detector 31 may be arranged. Further, two or more first detectors 30 may be arranged. In this case, the first detectors 30 may be arranged as far apart as possible from each other, and one or more second detectors 31 may be arranged between the two first detectors 30. .. The combination type of the first detector 30 and the second detector 31 in the first embodiment is merely an example, and three or more types of detectors having different detection methods are combined as long as the above-mentioned arrangement conditions are satisfied. Alternatively, one type of detector having a different detection range may be used.

Second embodiment:
In the measuring device unit 10 according to the first embodiment, the first detector 30 is arranged at a position farther from the main body 20 than the second detector 31, but as shown in FIG. 3, the second detector unit 10 is located. The measuring device unit 10a in the embodiment is different in that the first detector 30 and the second detector 31 are arranged at the same distance from the main body 20. The measuring device unit 10a according to the second embodiment is the same as the measuring device unit 10 in the first embodiment except for the difference in the arrangement position of each detector. The same reference numerals as those in the first embodiment will be added and the description thereof will be omitted.

In the measuring device unit 10a according to the second embodiment, the detection axes of the second detectors 31 arranged in front of the vehicle are deflected in the direction away from the center line in the front-rear direction of the vehicle 50, respectively. In other words, it is arranged so that the overlap of the detection ranges is reduced. As a result, even if the first detector 30 and the second detector 31 are of the same type that obtain a detection point by irradiating the detection wave and receiving the reflected wave, they are not affected by each other's detection waves. Alternatively, it becomes possible to obtain a detection point by reducing the number, the SN can be improved, and the detection accuracy can be improved.

According to the measuring device unit 10a according to the second embodiment, at least the first detector 30 is arranged between the plurality of second detectors 31, and therefore, due to the action of the configuration, the first detector 30 It is possible to reduce or prevent interference between detectors in the same manner as in the measuring device unit 10 according to the embodiment of.

Third embodiment:
In the measuring device unit 10 of the first embodiment, two second detectors 31 are arranged in front of the vehicle and behind the vehicle with the first detector 30 and the first detector 30 interposed therebetween. As shown in FIG. 4, the measuring device unit 10b according to the third embodiment includes the first detector 30 at the center or a position closer to the center in the longitudinal direction or the width direction of the measuring device unit 10b, and the first detection is performed. The difference is that one second detector 31 is provided at a position farther from the center than the vessel 30. The measuring device unit 10b according to the third embodiment is the same as the measuring device unit 10 according to the first embodiment except for the difference in the arrangement position of each detector. The same reference numerals as those in the first embodiment will be added and the description thereof will be omitted.

The measuring device unit 10b according to the third embodiment includes a first detector 30 at the center in the width direction in front of and behind the measuring device unit 10b, and a second detector 30 is provided on either the left or right side of the first detector 30. The detector 31 is provided. The measuring device unit 10b according to the third embodiment includes a first detector 30 near the center of the measuring device unit 10b on the right and left sides in the previous direction, and is behind the first detector 30. The detector 31 of 2 is provided.

According to the measuring device unit 10b according to the third embodiment, since the first detector 30 is arranged at the center or the vicinity of the center in the longitudinal direction or the width direction of the measuring device unit 10b, the first detector 30 By effectively utilizing the wide detection range WR provided in the vehicle 50, it is possible to detect a wide range of objects around the vehicle 50, and the detection accuracy can be improved. Further, in the front or rear of the measuring device unit 10b corresponding to the front or the rear of the vehicle, since the first detector 30 is arranged at the center or the vicinity of the center in the width direction of the vehicle 50, the local coordinates of the vehicle 50 It is possible to obtain symmetrical detection results in the above, and no complementary processing is required.

Fourth embodiment:
The measuring device unit 10 according to the first embodiment may include an outer plate 11 having an outer shape shown in FIGS. 5 to 7. More specifically, as shown in FIG. 5, the outer plate 11 has a front surface 11f having a shape continuous with the windshield FW of the vehicle 50. That is, the front surface 11f has a shape that smoothly guides the front surface 11f to the rear surface 11r through the top surface of the outer plate 11 without obstructing the flow of the air flow flowing along the surface of the bonnet and the windshield FW during the running of the vehicle 50. It suffices to have an inclination angle. Since the front surface 11f of the outer plate 11 has such a front surface shape, the running resistance of the vehicle 50 due to the mounting of the measuring device unit 10 is reduced, the fuel consumption is improved, and the mounting stability of the measuring device unit 10 is improved. It is planned. The outer plate 11 may be formed of a metal plate such as aluminum or stainless steel, or may be formed of a resin plate such as reinforced plastic or carbon fiber.

As shown in FIG. 6, the outer plate 11 may further have side surfaces 11s having a shape continuous with the side glass SW of the vehicle 50. That is, the side surface 11s may have a shape and an inclination angle that smoothly guide the side surface 11s to the top surface of the outer plate 11 without obstructing the flow of the air flow flowing along the surface of the side glass SW of the vehicle 50. By having the side surface 11s of the outer plate 11 having such a side surface shape, the influence of the cross wind on the vehicle 50 on which the measuring device unit 10 is mounted, that is, the disturbance of the vehicle behavior is suppressed, and the mounting stability of the measuring device unit 10 is suppressed. The sex is improved.

As shown in FIG. 7, the side surface 11s of the outer plate 11 may further have a shape in the front-rear direction that smoothly guides the air flow from the front to the rear of the measuring device unit 10. By having the side surface 11s having such a shape, the aerodynamic characteristics of the measuring device unit 10 when the vehicle is running are improved, and the air resistance due to the mounting of the measuring device unit 10, that is, the running resistance is reduced. Can be done. Although not shown, the top surface 11u of the outer plate 11 may also be provided with a shape that suppresses turbulence of the air flow and aerodynamic additions such as a canard and a vortex generator. Since the shapes and inclination angles of the front surface 11f, the side surface 11s, and the rear surface 11r of the outer plate 11 depend on the inclination angles of the windshield FW and the side glass SW, each vehicle type such as a sedan, a station wagon, or a sports utility vehicle (SUV) It can be used by selecting from a group of candidates prepared in advance. Further, more detailed fitting may be performed for each specific individual vehicle.

Although the present disclosure has been described above based on the embodiments and modifications, the above-described embodiments of the present invention are for facilitating the understanding of the present disclosure and do not limit the present disclosure. The present disclosure may be modified or improved without departing from its spirit and claims, and the present disclosure includes its equivalents. For example, the embodiment corresponding to the technical feature in each embodiment described in the column of the outline of the invention, the technical feature in the modification may be used to solve a part or all of the above-mentioned problems, or the above-mentioned above. It is possible to replace or combine them as appropriate to achieve some or all of the effects. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

10 ... Measuring device unit, 11 ... Outer plate, 20 ... Main body, 30 ... First detector, 31 ... Second detector, 50 ... Vehicle, 51 ... Roof, FW ... Windshield, SW ... Side glass.

Claims (8)

A measuring device unit (10) used by being mounted on the roof (51) of a vehicle (50).
Main body (20) and
A plurality of detectors (30, 31) arranged around the main body are provided.
The plurality of detectors include a first detector (30) having a wide detection range and a second detector (31) having a narrower detection range than the first detector, and the second detection. The instrument is a measuring device unit arranged at a position that suppresses or prevents obstruction of the detection range of the first detector. In the measuring device unit according to claim 1,
The first detector is a measuring device unit arranged at a position farther from the main body than the second detector. In the measuring device unit according to claim 1 or 2.
The plurality of detectors are arranged at positions corresponding to the outer circumference of the roof.
The first detector is a measuring device unit arranged at the center in the width direction or the longitudinal direction of the measuring device unit. In the measuring device unit according to any one of claims 1 to 3.
The first detector is arranged between a plurality of the second detectors, and is arranged so as to project from the second detector at a position corresponding to the outer peripheral edge side of the roof. Equipment unit. The measuring device unit according to any one of claims 1 to 4 is further described.
A measuring device unit including an outer plate (11) that covers at least a part of the main body and the plurality of detectors and has a front surface shape continuous from the windshield (FW) of the vehicle. In the measuring device unit according to claim 5,
The outer plate is a measuring device unit having a side surface shape continuous from the side glass (SW) of the vehicle. In the measuring device unit according to any one of claims 1 to 6.
The first detector and the second detector are measuring device units having different types of detection methods. In the measuring device unit according to any one of claims 1 to 7.
The main body is a measuring device unit including a data processing device (21) for integrating detection data from the plurality of detectors and transmitting the detection data to the vehicle control device.

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