JP2023138431A - Vehicle-mounted module support system - Google Patents

Abstract

To provide a sensor support system capable of bearing a larger weight at a certain distance outward from a vehicle without being excessively large-sized.SOLUTION: A module support system for an autonomous vehicle includes external paneling, a frame, a casting, and an electronic device. The casting includes an internal portion mounted on the frame and an external portion extending outward from outside the vehicle. The electronic device may include a sensor, and is supported on the external portion of the casting. A cover is fixed to the casting, and is arranged to cover the electronic device and also cover the external portion of the casting. The sensor is configured to sense an environment surrounding the autonomous vehicle and also transmit data on the environment to a navigation system of the autonomous vehicle for steering the autonomous vehicle.SELECTED DRAWING: Figure 1

Description

Vehicles include various sensors for sensing the external environment around the vehicle. Some of these sensors are used to help operate the vehicle. In a vehicle being operated by an operator, information from these sensors can alert the operator or cause a control system to temporarily adjust one or more controls of the vehicle to modify its operation. (e.g. lane assist or forward collision avoidance). In vehicles with autonomous control capabilities, information from these sensors can be used by the control system to steer the vehicle.

A vehicle configured to obtain data describing the external environment may include a sensor extending outwardly from the vehicle. The sensor extending outwardly from the vehicle must have sufficient strength to support the weight of the sensor at a distance from the vehicle and sufficient strength to maintain the sensor in a fixed position with the vehicle during vehicle operation. A sensor support system with rigidity is required. These requirements for strength and stiffness in the sensor support system force vehicle sensor designs to compromise between the total weight of the sensor, the distance the sensor is supported outwardly from the vehicle, and the size of the sensor support system. do not have. Thus, there is a need for a sensor support system that can support more weight at a given distance outwardly from the vehicle without becoming too bulky.

According to one aspect, an autonomous vehicle module includes a cast frame configured to be mounted on a corner of the autonomous vehicle and a cast frame overlying at least a portion of the cast frame to define a portion of an outer surface of the autonomous vehicle. Includes an appliqué, attached directly to the cast frame.

According to another aspect, the autonomous vehicle includes, at each corner, a cast frame mounted on a corner component of the autonomous vehicle and covering at least a portion of the cast frame to define a portion of an outer surface of the autonomous vehicle. Contains a module, including an appliqué, directly connected to the casting frame, and so on.

According to another aspect, a method of making an autonomous vehicle includes providing a module that includes a cast frame and an applique connected directly to the cast frame to cover at least a portion of the cast frame. The method includes mounting the module at a corner of the autonomous vehicle by connecting a cast frame to a corner component of the autonomous vehicle such that the applique defines a portion of an exterior surface of the autonomous vehicle.

According to another aspect, an autonomous vehicle module includes a cast frame configured to be mounted on a corner of the autonomous vehicle and a plurality of sensors mounted on the cast frame, the plurality of sensors being mounted on the cast frame. , configured to sense the environment around the autonomous vehicle and to communicate data about the environment to a navigation system of the autonomous vehicle for maneuvering the autonomous vehicle.

According to another aspect, an autonomous vehicle includes a sensor module at each corner. The sensor module includes a cast frame mounted on a corner component of the autonomous vehicle, and a plurality of sensors mounted on the cast frame, the plurality of sensors sensing an environment around the autonomous vehicle, and a plurality of sensors mounted on the corner component of the autonomous vehicle. communicate data about its environment to its navigation system. Navigation systems steer autonomous vehicles based on data.

According to another aspect, a method for operating an autonomous vehicle includes, at each corner of the autonomous vehicle, a cast frame mounted on a corner component of the autonomous vehicle; a sensor module, the plurality of sensors including a lidar, a near-field sensor, a radar, a camera, and a SPAM; sensing the environment around the autonomous vehicle with a sensor; communicating data about the environment from the plurality of sensors to a navigation system of the autonomous vehicle; and maneuvering the autonomous vehicle based on the data. .

According to one aspect, a module support system for a vehicle includes an exterior paneling defining an interior and an exterior of the vehicle, and a frame disposed within the vehicle, the module support system comprising: It includes a first casting, a first electronic device, and a cover. The first casting is mounted on the frame, such that the first casting includes an interior portion disposed within the interior of the vehicle and mounted on the frame, and an exterior portion extending outwardly from the exterior of the vehicle. A first casting extends outwardly from the frame, through the exterior paneling, and to the exterior of the vehicle. A first electronic device is supported on the outer portion of the first casting. A cover is secured to the exterior portion of the first casting such that the cover is positioned over the first electronic device and the exterior portion of the first casting with respect to the exterior environment of the vehicle.

According to another aspect, a method of assembling a modular support system for a vehicle includes an exterior paneling defining an interior and an exterior of the vehicle, and a frame disposed within the vehicle. mounting a first casting on the vehicle, the first casting including an interior portion disposed within the interior of the vehicle and mounted on the frame, and an exterior portion extending outwardly from the exterior of the vehicle. As such, a first casting extends outwardly from the frame, through the exterior paneling, and to the exterior of the vehicle. The method also includes providing an electronic device supported on the exterior portion of the first casting. The method also includes securing the cover to the first casting exterior portion such that the cover is positioned over the exterior portion and the first electronic device relative to the exterior environment of the vehicle.

FIG. 3 is an inboard elevational view of the front right sensor module according to the present subject matter. FIG. 2 is an exterior elevational view of a front left sensor module mounted on an autonomous vehicle according to the present subject matter. FIG. 3 is an interior elevational view of the rear right sensor module according to the present subject matter. FIG. 2 is an exterior elevational view of a rear left sensor module mounted on an autonomous vehicle according to the present subject matter. 5 is a cross-sectional view of the rear left sensor module taken along line 5-5 of FIG. 4. FIG. 4 is a top rear right perspective view of a plurality of sensors as disposed on the rear right sensor module of FIG. 3 without the frame shown; FIG. 4 is a top rear left perspective view of a plurality of sensors as disposed on the rear left sensor module of FIG. 3 without the frame; FIG. 1 is a top schematic view of a vehicle including four sensor modules according to the present subject matter; FIG. 1 is a top schematic view of a sensor module and appliqué attached to a vehicle corner component; FIG. 1 is a perspective view of an autonomous vehicle including a modular support system according to the present disclosure; FIG. 1 is a perspective view of a first casting configured to be provided to a first pair of module support systems mounted on a vehicle; FIG. 12 is a front view of the first casting of FIG. 11 assembled with a first sensor module in a first pair of sensor modules supported on a vehicle; FIG. FIG. 13 is a perspective view of the first casting and first sensor module of FIG. 12 assembled with a cover; FIG. 2 is a partial side view of the vehicle including a first longitudinal end of the vehicle. FIG. 13 is a partial side view of a vehicle in which the first casting and first sensor module of FIG. 12 are mounted. 13 is a front view of an exterior panel configured to be mounted on a vehicle over the first casting and first sensor module of FIG. 12; FIG. FIG. 17 is a partial side view of a vehicle equipped with the first casting and first sensor module of FIG. 12 and the exterior panel of FIG. 16; FIG. 2 is a perspective view of a first casting and a second casting configured to be provided to a second pair of module support systems mounted on a vehicle. 19 is a front view of the first and second castings of FIG. 18 assembled with the first sensor module in a second pair of sensor modules supported on a vehicle; FIG. 19 is a partial perspective view of the first casting and the second casting of FIG. 18. FIG. FIG. 19 is a partial perspective view of a vehicle in which the first casting and the second casting of FIG. 18 are mounted. FIG. 20 is a perspective view of the first casting, second casting, and first sensor module of FIG. 19 assembled with a cover; FIG. 3 is a partial side view of the vehicle including a second longitudinal end of the vehicle. FIG. 20 is a partial side view of a vehicle in which the first casting, the second casting, and the first sensor module of FIG. 19 are mounted. FIG. 23 is a partial perspective view of a vehicle in which the first casting, the second casting, the first sensor module, and the cover of FIG. 22 are mounted. 20 is a front view of an exterior panel configured to be mounted on a vehicle over the first casting, second casting, and first sensor module of FIG. 19; FIG. FIG. 17 is a partial side view of a vehicle equipped with the first casting and first sensor module of FIG. 12 and the exterior panel of FIG. 16; FIG. 23 is another partial perspective view of the vehicle in which the first casting, the second casting, the first sensor module, and the cover of FIG. 22 are mounted.

It is, of course, to be understood that the description and drawings herein are merely illustrative, and that various modifications and changes may be made in the disclosed structure without departing from the disclosure. Referring to FIGS. 1 to 9, a sensor module 2 to be mounted on a vehicle 4 is provided. The sensor module 2 can be mounted in any part of the vehicle 4 and optionally in one or more corners 6 of the vehicle 4. As can be seen in FIG. 8, the vehicle 4 has a plurality of (i.e., four 2) sensor modules 2. More or fewer sensor modules 2 can be mounted on the vehicle 4 and at different locations than the corners 6.

The vehicle 4 may be under complete driver control, or it may be an autonomous vehicle in which one or more functions of the vehicle 4 are autonomously controlled by a controller/navigation system 8 of the vehicle 4. If vehicle 4 is an autonomous vehicle, the level of control exercised over autonomous vehicle 4 by controller/navigation system 8 ranges from Level 1 to Level 5 as defined by the Society of Automotive Engineers (SAE). be able to. Vehicle 4 may be a fully autonomous vehicle (ie level 5). The vehicle 4 can be an autonomous vehicle with the capability of moving along a roadway.

Vehicle 4 may include one or more sensor modules 2 . In one non-limiting example, the vehicle 4 includes four sensor modules 2, with a respective sensor module 2 mounted at each of the four corners 6 of the vehicle 4. If more than one sensor module 2 is used, the plurality of sensor modules 2 may be the same or different from one or more of the other sensor modules 2. In one non-limiting example, two front sensor modules, namely a front left sensor module 2A and a front right sensor module 2B, are located at the respective right front corner 6A and left front corner 6B of the vehicle 4, and the two rear Sensor modules, namely a rear left sensor module 2C and a rear right sensor module 2D, are arranged at the respective right rear corner 6C and left rear corner 6D of the vehicle 4. The two front sensor modules 2A, 2B can be identical to each other except for their mirror arrangement to each other. The two rear sensor modules 2C, 2D may be identical to each other except for their mirror arrangement, but may be different from the two front sensor modules 2A, 2B.

Each sensor module 2 includes a frame 10 by which the sensor module 2 is mounted at one or more corners 6 of the vehicle 4. The frame 10 can be mounted onto the corners 6 of the vehicle 4 with fasteners (e.g. bolts), by welding, by adhesive or the like. The frame 10 may be attached to a corner component 70 of the vehicle 4 , such as a vehicle frame member or body panel located at a corner 6 of the vehicle 4 . The frame 10 may be an elongate body, extending longitudinally away from the vehicle 4 like an arm, terminating at an opposite distal end 14 and extending into the vehicle 4 only at its proximal end 12. installed (Figure 9).

Frame 10 can be made of any material including, but not limited to, metal, polymer, wood, ceramic, glass, carbon, and composites and combinations thereof. Frame 10 can be one or more fabricated by any process, including, but not limited to, casting, machining, molding, extrusion, stamping, rolling, additive manufacturing (e.g., 3D printing), cutting, or combinations thereof. Can contain multiple pieces. Frame 10 may include metal and may be formed by high pressure die casting, and thus may be a high pressure die cast frame 10. High pressure die casting can be carried out above 1000 bar. Frame 10 may be solid or hollow.

When mounted on a vehicle 4, the elongate frame 10 can extend/project away from the vehicle 4 in a generally forward or rearward direction, as shown in FIG. When mounted on the vehicle 4, the frame 10 has an inner side 20 and an outer side 22. Sensor module 2 includes one or more sensors 16 mounted on frame 10. The sensor 16 can be mounted on the inside 20 of the frame 10 and the outside 22 of the vehicle. The sensor 16 is mounted on the frame 10 and can be mounted directly on the frame 10, so that the sensor 16 is only indirectly mounted on the rest of the vehicle 4 via the frame 10. Connecting all sensors 16 and all other electronic components of sensor module 2 to a power source of vehicle 4 via a wired power connection so as to provide power to sensors 16 and other electronic components from the power source, e.g. Via a common electrical connection harness on the sensor module 2, the sensor 16 can be provided with power for its operation from the vehicle 4. The harness may also have a wired communication connection with the navigation system 8 to communicate sensed data about the environment 18 from the plurality of sensors 16 to the navigation system 8.

Sensor 16 is not particularly limited and can include any type of sensor as desired. Sensor 16 may be configured to sense various measurable characteristics of external environment 18 around vehicle 4 . The sensor 16 is configured to sense the environment 18 when the vehicle 4 is in motion, such as when being driven on a roadway, and/or when the vehicle 4 is not in motion, such as when the vehicle 4 is parked. can operate.

Sensors 16 may include lidar 24, radar 26, cameras 28, near-field sensors 30, SPAM 32, microphones (not shown), other sensors for sensing environment 18, multiples thereof, or combinations thereof. can.

Sensor 16 may be configured to sense environment 18 and communicate sensed data about environment 18 to controller/navigation system 8 of vehicle 4 . This sensed data can be used by the controller 8 to alert the driver in a fully driver-controlled vehicle, or can be used in an autonomous vehicle 4 to steer the autonomous vehicle 4 or 4 (for example movement along a roadway). Sensor 16 may communicate with controller/navigation system 8 through one or more wired or wireless communication connections 34, as shown schematically in FIG.

In one non-limiting example, sensor module 2 includes a spinning rider 24, which can be mounted on top of frame 10. The rider 24 may include a plate 44 having a nozzle 46 mounted thereon configured to spray a cleaning fluid onto the exterior of the rider 24 to keep the exterior of the rider 24 clean. The proper functioning of the rider 24 may be affected. The lidar 24 can be configured to determine range (variable distance) by aiming a laser at objects or surfaces in the environment 18 and measuring the time it takes for the reflected light to return to the light receiver of the lidar 24. It can also be used to provide a digital 3-D display of the environment 18.

The sensor module 2 module can include two high-resolution radars 26 (eg, 4D imaging radar), and these high-resolution radars 26 can be mounted on the inside 20 and outside 22 of the frame 10, respectively. High-resolution radar 26 is used to provide detailed image data of the environment over a wide field of view, to detect obstacles on the side of the road, to detect smaller targets such as people or cyclists, and to detect larger targets such as trees or trucks. It can detect objects even if they are somewhat occluded, determine in which direction the detected object is moving or not, and provide real-time situational data.

The sensor module 2 module may include two surround cameras 28A and two medium resolution cameras 28B with baffles. The two surround cameras 28A can be mounted on the inside 20 and outside 22 of the frame 10, respectively, and can provide data used to generate a surround image of the vehicle 4. Two medium resolution cameras 28B can be mounted on the interior 20 and exterior 22 of the frame 10, respectively, and are used for tasks that rely on color perception, such as object classification, scene understanding, or traffic light or sign recognition. data can be provided.

The sensor module 2 module can include two near-field sensors 30, and these near-field sensors 30 can be mounted on the inside 20 and outside 22 of the frame 10, respectively. The sensor module 2 module may include a microphone (not shown) mounted on the frame 10 to sense audio data from the environment 18, such as from an emergency vehicle siren.

The sensor module 2 module can include other electronic or non-electronic components, and the other electronic or non-electronic components are not particularly limited and can be mounted on the frame 10. Various other electronic or non-electronic components may be connected to the vehicle power supply of vehicle 4. These other electronic or non-electronic components may include, but are not limited to, an Ethernet switch 36, a fan 38, a display 40, a manifold 42, multiples or combinations thereof.

Ethernet switch 36 can communicate with each of sensors 16 via a wired or wireless communication connection to communicate data from sensors 16 about environment 18 (i.e., sensed data) from sensors 16 to Ethernet switch 36 . is now possible. Ethernet switch 36 can then communicate data about the environment via wired or wireless communication connection 34 to controller/navigation system 8 , which uses the data about the environment to communicate with one or more of the vehicles 4 . Multiple functions (e.g. movement along the roadway) can be controlled. An Ethernet switch 36 is mounted on the interior side 20 of the frame 10 near the proximal end 12 and can communicate with the various sensors 16 via communication connections.

Two fans 38 may be mounted on the frame 10 to circulate cooling gas (eg, air) around the sensor module 2 to cool various other components mounted on the frame 10. The two fans 38 can be mounted on the inside 20 and outside 22 of the frame 10, respectively. One of the two fans 38 can push air toward various other components, and the other can push air away from various other components mounted on the frame 10.

An XMI display 40 can be mounted on the exterior side 22 of the frame 10, for example opposite the Ethernet switch 36. XMI display 40 can be used to display images, such as numbers, text, photographs, and the like. The image is displayed so as to be visible from the environment 18, for example from the outside of the vehicle 4. The image is not particularly limited and may, for example, contain information relating to the vehicle 4 or to the intended passengers of the vehicle 4, such that a particular intended passenger can identify the vehicle 4 among other vehicles. Can convey a variety of information, including

Manifold 42 may be mounted to the bottom of frame 10 and configured to direct and distribute cleaning fluid to various nozzles 46 of rider 24 via respective fluid lines 48 connected therebetween. I can do it. Cleaning fluid may be supplied to manifold 42 via a fluid connection with a source of cleaning fluid in vehicle 4 .

Sensor module 2 may include one or more appliqués 50 (FIG. 9), each of which may be directly connected to frame 10. When attached to frame 10 , one or more appliques 50 can cover at least a portion of sensor 16 and/or at least a portion of cast frame 10 and define a portion of outer surface 62 of sensor module 2 be able to. When sensor module 2 is connected to vehicle 4 , one or more appliques 50 may also define a portion of an outer surface 64 of vehicle 4 . In this way, one or more appliqués 50 can act as an outer body panel 66 for sensor module 2 and vehicle 4, respectively.

When the sensor module 2 includes a plurality of appliqués 50, the plurality of appliques 50 can be connected or overlapped with each other to form a continuous or semi-continuous outer covering of the sensor module 2. Covering or appliqué 50 includes a covered portion of frame 10 and a covered portion of sensor 16 and isolates components underlying sensor module 2 (e.g., frame 10 and/or sensor 16) from external environment 18; Can be covered, hidden, and/or protected. The one or more appliques 50 may inhibit water, sunlight, or other environmental factors from contacting, reaching, or affecting components of the sensor module 2 that are underneath the one or more appliques 50. I can do it. The one or more appliqués 50 may not cover all of the frame 10 or sensors 16, and may not cover an entire individual sensor 16. For example, before the module 2 is mounted on the corner 6 of the vehicle 4, for example, a part of the frame 10 can be exposed. Also, the rider 24 can be exposed above the cladding formed by the one or more appliques 50, rather than under it, or the cladding formed by the one or more appliques 50 is , may include or define an aperture through which the sensor 16 (eg, camera 28) can sense the environment 18. The covering can be formed by two or more appliqués 50, one attached to the inboard side 20 and one attached to the outboard side 22 of the frame 10, with any These are optionally connected together to form a seal 68 between them and an external body panel 66 of the vehicle 4, which inhibits environmental factors from reaching the components underlying the sensor module 2. .

Frame 10 may include one or more apertures 54 to which one or more respective fasteners 52 are attached. Aperture 54 can be a through hole or a blind hole, which can be cast, machined, or otherwise formed into the frame. Fasteners 52 can be permanently or removably connected to frame 10 by engaging apertures 54 and can be inserted into apertures 54 to engage apertures 54 . Fastener 52 can be removably connected to aperture 54 by snapping or clipping into aperture 54 . Fasteners 52 can be part of an integral structure with applique 50, or fasteners 52 can be separate and independent from applique 50 and connected to applique 50. As seen in FIG. 5, fasteners 52 are separate and independent from applique 50. Fastener 52 includes a head portion 56 that is inserted through a through hole 58 in applique 50 and a shaft portion 60 that is inserted into opening 54 in frame 10 thereby directly connecting applique 50 to frame 10. Although in FIG. 5 the applique 50 is in contact with the frame 10, this is not required and the applique 50 can be spaced apart from the frame 10, for example by a spacer.

The applique 50 is directly connected to the frame 10, and this direct connection can be made in a manner other than using fasteners 52 that engage the apertures 54, such as by adhesive, welding, friction fit, clips, snaps, binding, etc. This can be achieved by using

Applique 50 can be made of any material including, but not limited to, metal, polymer, wood, ceramic, glass, carbon, and composites and combinations thereof. Applique 50 can be one or more fabricated by any process, including, but not limited to, casting, machining, molding, extrusion, stamping, rolling, additive manufacturing (e.g., 3D printing), cutting, or combinations thereof. Can contain multiple pieces. Appliqué 50 can include a polymer and can be formed by injection molding.

When attached to the frame 10, the one or more appliqués 50 can cover at least a portion of the frame 10 and/or a portion of the one or more sensors 16, such that the frame 10 and the one or more sensors 16 can cover the entire area. Alternatively, one or more appliqués 50 may cover only a portion of frame 10 and/or one or more sensors 16. The covered portion of frame 10 and/or sensor 16 can thus be separated from environment 18 by applique 50. When attached to frame 10, one or more appliques 50 close off the exterior of vehicle 4. In other words, the one or more appliqués 50 form at least part of the external surface of the module 2 and at least part of the external surface of the vehicle 4. In this way, the one or more appliqués 50 can inhibit environmental factors such as moisture, dust, and radiation from reaching the one or more sensors 16 and/or the frame 10; Therefore, its deterioration can be suppressed. If a fan 38 is included, the fan circulates air under the applique 50 and around other components attached to the frame 10 and around the frame 10 itself to cool the sensor 16 or dry the frame 10. be able to operate as desired.

A method of making an autonomous vehicle 4 includes providing a plurality of modules 2 each including a cast frame 10 and an applique 50 directly connected to the cast frame 10 so as to cover at least a portion of the cast frame 10. include. The method includes a plurality of modules 2 at each corner 6 of the autonomous vehicle 4 by connecting a cast frame 10 to a corner component 70 of the autonomous vehicle 4 such that the applique 50 defines a portion of the outer surface of the autonomous vehicle 4. including the step of loading one.

The method of operating the autonomous vehicle 4 includes a cast frame 10 mounted on a corner component 70 of the autonomous vehicle 4 and a plurality of components mounted on the inside 20 and outside 22 of the cast frame 10 at each corner of the autonomous vehicle. The method may include providing a sensor module 2 including a sensor 16 . The plurality of sensors include lidar 24, near field sensor 30, radar 26, camera 28, and SPAM 32. The method includes the steps of: sensing an environment 18 around the autonomous vehicle 4 with a plurality of sensors 16 while the autonomous vehicle 4 is in motion (e.g., moving along a roadway); The method includes communicating sensed data about the environment 18 to a navigation system 8 of the autonomous vehicle 4 and maneuvering the autonomous vehicle 4 based on the sensed data using the navigation system 8.

10 to 28, FIG. 10 shows a first longitudinal end 102, a second longitudinal end 104 extending in the longitudinal direction of the vehicle 100 from the first longitudinal end 102, 1 shows an autonomous vehicle 100 including a vehicle. Vehicle 100 includes an exterior paneling 110 that covers a first longitudinal end 102 and a second longitudinal end 104 and defines an interior 112 and an exterior 114 of vehicle 100.

A first pair of sensor modules 120 are each supported at a first longitudinal end 102 by a first pair of module support systems 122 . A first pair of module support systems 122 extend outwardly from the exterior 114 in the longitudinal direction of the vehicle 100 and in a lateral direction of the vehicle 100 perpendicular to the longitudinal direction, with a first pair of sensor modules 122 spaced apart from the exterior 114 . support.

A first pair of sensor modules 120 and a first pair of module support systems 122 are positioned on opposite sides of vehicle 100 in a lateral direction of vehicle 100 . In this structure, the first sensor module 124 in the first pair of sensor modules 120 and the first module support system 130 in the first pair of module support systems 122 are located on a first lateral side 132 of the vehicle 100. ing. A second sensor module 134 in the first pair of sensor modules 120 and a second module support system 140 in the first pair of module support systems 122 are located on a second lateral side 142 of the vehicle 100. The first lateral side 132 of the vehicle 100 and the second lateral side 142 of the vehicle 100 include similar features and function in a similar manner to each other in orientations that are mirror images of each other in the lateral direction of the vehicle 100.

The first sensor module 124 and the second sensor module 134 in the first pair of sensor modules 120 include similar features and function in a similar manner to each other in orientations that are mirror images of each other in the lateral direction of the vehicle 100. . The first module support system 130 and the second module support system 140 in the first pair of module support systems 122 include similar features and in a similar manner to each other in orientations that are mirror images of each other in the lateral direction of the vehicle 100. It works.

A second pair of sensor modules 144 are each supported at the second longitudinal end 104 by a second pair of module support systems 150 . A second pair of module support systems 150 extend outwardly from exterior 114 longitudinally of vehicle 100 and laterally of vehicle 100 and second pair of sensor modules 144 are spaced apart from exterior 114 . A second pair of sensor modules 144 and a second pair of module support systems 150 are located on opposite sides of vehicle 100 in a lateral direction of vehicle 100 .

In this structure, the first sensor module 152 in the second pair of sensor modules 144 and the first module support system 154 in the second pair of module support systems 150 are located on the first lateral side 132 of the vehicle 100. ing. A second sensor module 160 in the second pair of sensor modules 144 and a second module support system 162 in the second pair of module support systems 150 are located on the second lateral side 142 of the vehicle 100 .

The first sensor module 152 and the second sensor module 160 in the second pair of sensor modules 144 include similar features and function in a similar manner to each other in orientations that are mirror images of each other in the lateral direction of the vehicle 100. . The first module support system 154 and the second module support system 162 in the second pair of module support systems 150 include similar features and in a similar manner to each other in orientations that are mirror images of each other in the lateral direction of the vehicle 100. It works.

Each of the first pair of sensor modules 120 and the second pair of sensor modules 144 collects information representative of the external environment of the vehicle 100 and collects information from a vehicle electronic control system or computer ( (not shown). As shown, each of the first pair of sensor modules 120 and the second pair of sensor modules 144 includes a lidar sensor system; Each may additionally or alternatively include various radars, optical cameras, and other types of sensors configured to collect information representative of the external environment of vehicle 100 without departing from the scope of this disclosure. can be included.

FIG. 11 shows a first casting 164 included in the first module support system 130 in the first pair of module support systems 122 shown in FIG. As shown in FIG. 11, first casting 164 includes an interior portion 170 that is configured to be mounted on vehicle 100 within vehicle interior 112. As shown in FIG. The interior portion 170 of the first casting 164 includes a plurality of first casting flanges 172 extending from a first casting body portion 174 . The interior portion 170 is configured to be secured to the vehicle 100 with a plurality of first casting holes 176 defined in a plurality of first casting flanges 172 and a first casting body portion 174; Casting hole 176 is configured to receive a fastener pushed into vehicle 100.

First casting 164 also includes an outer portion 180 extending from inner portion 170 . First casting 164 is a single integral piece, with inner portion 170 integrally formed with outer portion 180. The first casting 164 connects the first sensor module 124 of the first pair of sensor modules 120 to the vehicle 100 through the interior portion 170 mounted on the vehicle 100 with a plurality of first casting holes 176. 180 and configured for support on interior portion 170 .

As shown in FIG. 12, a first sensor module 124 in a first pair of sensor modules 120 is disposed on a first casting 164 and a first electronic device 182, collectively referred to herein as a first electronic device 182. electronic devices 182A-182E are disposed on the outer portion 180 and a second electronic device 184 is disposed on the inner portion 170. First electronic device 182 and second electronic device 184 are wired in a circuit 190 that extends along first casting 164 from interior portion 170 to exterior portion 180 .

First electronic device 182 includes a sensor configured to collect information representative of the external environment of vehicle 100, including spatial information representative of the external environment of vehicle 100. A second electronic device 184 functionally supports the first electronic device 182 and connects the first electronic device to a computer and an electrical system (not shown) provided within the interior 112 of the vehicle 100. Contains a circuit configured as follows.

The first electronic device 182 and the second electronic device 184 are configured to send information collected by the first electronic device 182 to a computer located within the interior 112 of the vehicle 100 via a circuit 190. ing. The first electronic device 182 and the second electronic device 184 collect information, including spatial information describing the external environment of the vehicle 100 , and send it via a circuit 190 to a computer located in the interior 112 of the vehicle 100 however, first electronic device 182 and second electronic device 184 may additionally or alternatively collect information describing other conditions of the external environment of vehicle 100; In addition, or in the alternative, the information may be communicated wirelessly without departing from the scope of this disclosure. First electronic device 182 and second electronic device 184 are also configured to receive power from an electrical system located within interior 112 of vehicle 100 via circuit 190 .

As shown in FIG. 13, the first module support system 130 in the first pair of module support systems 122 supports the first electronic device 182 and the external portion 184 of the first casting 164 relative to the external environment of the vehicle 100. The first casting 164 includes a cover 192 secured to the outer portion 180 of the first casting 164 so as to be disposed over the outer portion 180 of the first casting 164 . Thus, cover 192 at least partially shields first electronic device 182 and exterior portion 180 of first casting 164 from the exterior environment of vehicle 100. A portion of the first electronic device 182 is mounted on the cover 192 such that the cover 192 supports the first electronic device 182 on the exterior portion 180 of the first casting 164 .

Cover 192 is formed from a plurality of cover panels 194 secured to each other and to exterior portion 180 of first casting 164 . As shown, cover 192 includes four cover panels 194, although cover 192 may be positioned over first electronic device 182 and exterior portion 180 of first casting 164 without departing from the scope of the present disclosure. It can contain more or fewer panels than it does.

As shown in FIG. 14 , vehicle 100 includes a frame 196 that is a support structure for vehicle 100 and is disposed inside 112 of vehicle 100 . Frame 196 includes a first support beam 200, shown schematically in hidden lines, extending in the height direction of vehicle 100, which is perpendicular to the longitudinal and lateral directions of vehicle 100. Frame 196 also includes a second support beam 202, shown schematically in hidden lines, extending longitudinally of vehicle 100.

The first support beam 200 and the second support beam 202 are connected to each other to form a first corner 204 of the frame 196 at the roof 206 of the vehicle 100 at the first longitudinal end 102 . A joint 210 is mounted on and extends between the first support beam 200 and the second support beam 202. The joint 210 is a casting formed with a plate portion 212 fixed to each of the first support beam 200 and the second support beam 202, and the plate portion 212 is attached to the vehicle 100 along the second support beam 202. extending in the longitudinal direction.

Plate portion 212 of joint 210 defines a plurality of joint holes 214 that are aligned with first support beam 200 and second support beam 202 in a lateral direction of vehicle 100 . The plurality of joint holes 214 are aligned with the first casting holes 176 in the plurality of first casting holes 176 to connect the joint 210 to the first support beam 200 and the second support beam 202 in the interior 112 of the vehicle 100. The first support beam 200 and the second support beam 202 are configured to receive fasteners pushed into the first support beam 200 and the second support beam 202 to secure the fasteners.

The joint 210 forms part of the roof 206 at a first corner 204 formed between the first support beam 200 and the second support beam 202, but extends from the plate portion 212 to the exterior 114 of the vehicle 100. including a distal end 220 extending up to . A distal end 220 of joint 210 is connected to a first exterior panel 222 and a second exterior panel 224 included in exterior paneling 110 at roof 206.

A third exterior panel 230 and a fourth exterior panel 232 included in the exterior paneling 110 form a main body portion defining an exterior 114 of the vehicle 100 and a first support beam 200 and a second support beam in the lateral direction of the vehicle 100. It has a flange extending over beam 202 and into interior 112 of vehicle 100 . Third exterior panel 230 includes a third exterior panel flange 234 extending from a third exterior panel body portion 240 and into interior 112 of vehicle 100 . Each of the third external panel flange 234 and the third external panel body portion 240 overlaps the first support beam 200 in the lateral direction of the vehicle 100 and extends along the first support beam 200 in the height direction of the vehicle 100. extend.

Fourth exterior panel 232 includes a fourth exterior panel flange 242 extending from a fourth exterior panel body portion 244 and into interior 112 of vehicle 100 . A fourth exterior panel flange 242 overlaps the second support beam in the lateral direction of the vehicle 100 and extends along the joint 210 across the second support beam 202 in the height direction of the vehicle 100. The fourth external panel main body portion 244 extends downward from the second support beam 202 in the height direction of the vehicle 100 and is formed between the first support beam 200 and the second support beam 202. Extending longitudinally from the first support beam 200 at a first corner 204 .

The first exterior panel 222, the second exterior panel 224, the third exterior panel 230, and the fourth exterior panel 232 are interconnected castings secured to the frame 196 in the interior 112 of the vehicle 100. , forming the exterior 114 of the vehicle 100. A first exterior panel 222 , a second exterior panel 224 , a third exterior panel 230 , and a fourth exterior panel 232 extend from the exterior 114 to the interior 112 and are connected to the first pair of module support systems 122 . 1 extends into the interior 112 of the vehicle 100 to define a recess 250 configured to receive the interior portion 170 of the casting 164 of the vehicle 100 .

As shown in FIG. 15, the first casting 164 is mounted on the frame 196 through the joint 210, the second exterior panel 224, the third exterior panel 230, and the fourth exterior panel 232. The plurality of first cast flanges 172 and first cast body portion 174 overlap second exterior panel 224, third exterior panel 230, and fourth exterior panel 232 in the lateral direction of vehicle 100.

Fasteners 252 are disposed in the plurality of first casting holes 176 through joint 210, second exterior panel 224, third exterior panel 230, and fourth exterior panel 232. Fasteners 252 extend into the frame 196 and through the joint 210, the second exterior panel 224, the third exterior panel 230, and the fourth exterior panel 232 to connect the first casting 164 to the first electronic device. 182 and a second electronic device 184 are secured to frame 196.

The interior portion 170 of the first casting 164 is mounted on the first support beam 200 and the second support beam 202 in the recess 250 in the interior 112 of the vehicle 100 . External portion 180 is separate from interior portion 170 and extends outwardly from frame 196 in interior 112 of vehicle 100 and beyond exterior 114 of vehicle 100 . In this construction, the interior portion 170 is disposed in a recess 250 within the interior 112 of the vehicle 100 between the frame 196 and the exterior paneling 110, and the exterior portion 180 extends outwardly from the exterior 114 of the vehicle 100.

A first electronic device 182 is supported on an external portion 180 of the first casting 164 above the frame 196 in the height direction of the vehicle 100, and an internal portion 170 of the first casting 164 is mounted on the frame 196. There is. The first electronic device 182 is also mounted on an external portion 180 of the first casting 164 spaced apart from the frame 196 in the longitudinal and lateral directions of the vehicle 100, in which the internal portion 170 of the first casting 164 is mounted on the frame 196. It is supported by In this configuration, the first electronic device 182 is positioned to collect information representative of the external environment of the vehicle 100 above and around the frame 196 at the first corner 204 of the first lateral side 132 of the vehicle 100. ing.

First electronic device 182 is wired to a circuit 190 that extends along first casting 164 to interior portion 170 of first casting 164 and into interior 112 of vehicle 100 . Circuit 190 connects a first electronic device 182 and a second electronic device 184 to a data system (not shown) and electrical system provided on vehicle 100 for receiving power and communicating with a computer provided on vehicle 100. Connect.

The cover 192 is secured to the outer portion 180 of the first casting 164 such that the cover 192 is positioned over the first electronic device 182 and the outer portion 180 of the first casting 164 with respect to the exterior environment of the vehicle 100. has been done. In this manner, cover 192 is configured to prevent water, snow, and debris from reaching exterior portion 180 and first electronic device 182 from the exterior environment of vehicle 100 .

As shown in FIG. 16, a fifth exterior panel 254 is received in the recess 250 in the interior 112 of the vehicle 100 at the first longitudinal end 102 over the interior portion 170 of the first casting 164. It is molded for. A fan 260 is mounted on the fifth exterior panel 254 and draws atmospheric air through the fifth exterior panel 254 from an interior side 262 of the fifth exterior panel 254 to an exterior side 264 of the fifth exterior panel 254 shown in FIG. It is configured as follows.

Continuing to refer to FIG. 16, a third electronic device 270 is mounted on the interior side 262 of the fifth exterior panel 254. Third electronic device 270 is configured to collect information representative of the external environment of vehicle 100 and includes a sensor wired to circuit 190 to receive power and communicate information. A third electronic device 270 connects the first electronic device 182 and the second electronic device 184 with respect to collecting information representative of the external environment of the vehicle 100 and receiving power and communicating information through the circuit 190. contains similar features and functions in a similar manner.

As shown in FIG. 17, in the height direction of the vehicle 100, there is a gap between the first external panel 222 (FIG. 14) and the third external panel 230 and between the second external panel 224 and the fourth external panel 232. At the interior 112 of the vehicle 100, a fifth exterior panel 254 is mounted in the recess 250 such that the exterior side 264 therebetween forms the exterior 114 of the vehicle 100. Fifth exterior panel 254 covers interior portion 170, second electronic device 184, third electronic device 270, and circuitry 190 from the exterior environment of vehicle 100.

The fan 260 is configured to direct atmospheric air from the exterior environment of the vehicle 100 to the interior 112 of the vehicle 100 and into the recess 250 toward the second electronic device 184 and the third electronic device 270. It is located inside 112 of vehicle 100. Fan 260 is thus configured to cool second electronic device 184 and third electronic device 270 with atmospheric air from the environment outside vehicle 100 .

FIG. 18 shows a first casting 272 and a second casting 274 included in the first module support system 154 in the second pair of module support systems 150 shown in FIG. As shown in FIG. 18, first casting 272 includes an interior portion 280 that is configured to be mounted on vehicle 100 in interior 112 of vehicle 100. As shown in FIG. The interior portion 280 of the first casting 272 includes a plurality of first casting flanges 282 extending from a first casting body portion 284 . Interior portion 280 is configured to be secured to vehicle 100 with a plurality of first casting holes 290 defined in a plurality of first casting flanges 282 and a first casting body portion 284; Casting hole 290 is configured to receive a fastener pushed into vehicle 100.

First casting 272 also includes an outer portion 292 extending from inner portion 280 . First casting 272 is a single integral piece, with interior portion 280 integrally formed with exterior portion 292 . A second casting 274 is fastened to the first casting 272 at an external portion 292 such that the first casting 272 and the second casting 274 are configured to be mounted on the vehicle 100 . First casting 272 and second casting 274 are configured to support first sensor module 152 in second pair of sensor modules 144 on exterior portion 292 and interior portion 280 relative to vehicle 100. There is.

As shown in FIG. 19, a first sensor module 152 in a second pair of sensor modules 144 is disposed on a first casting 272 and a first electronic device 294, collectively referred to herein as a first electronic device 294. electronic devices 294A-294E are disposed on the outer portion 292, and second electronic devices 300A, 300B, collectively referred to herein as second electronic devices 300, are disposed on the inner portion 280. First electronic device 294 and second electronic device 300 are wired in a circuit 302 that extends along first casting 272 from interior portion 280 to exterior portion 292 . The first electronic device 294, the second electronic device 300, and the circuit 302 in the first sensor module 152 in the second pair of sensor modules 144 are connected to the first sensor module 124 in the first pair of sensor modules 120. includes similar features and functions in a similar manner as first electronic device 182, second electronic device 184, and circuit 190 in .

As shown in FIG. 20, the second casting 274 is connected to the first casting 272 via a first plurality of second casting fasteners 304 disposed through a first plurality of second casting holes 310. It has been concluded. First casting 272 is configured to receive a first plurality of second casting fasteners 304 to secure second casting 274 with first casting 272 .

First casting 272 and second casting 274 are each configured to be mounted directly onto vehicle 100. As shown, a plurality of first cast fasteners 312 are disposed through a plurality of first cast holes 290. Vehicle 100 is configured to receive a plurality of first casting fasteners 312 through a plurality of first casting holes 290 to secure a first casting 272 with vehicle 100 .

The second casting 274 defines a second plurality of second casting holes 314 and a second plurality of second casting fasteners 320 are disposed through the second plurality of second casting holes 314. . Vehicle 100 is configured to receive a second plurality of second casting fasteners 320 through a second plurality of second casting holes 314 to secure a second casting 274 with vehicle 100 .

As shown, the first cast fasteners 312, the first plurality of second cast fasteners 304, and the second plurality of second cast fasteners 320 are bolts; Each of the fittings 312, the first plurality of second cast fasteners 304, and the second plurality of second cast fasteners 320 may additionally or alternatively be the same as the first plurality of second cast fasteners 320 without departing from the scope of this disclosure. Other fastener types configured to secure second casting 272 and second casting 274 to each other and to vehicle 100 may be included.

As shown in FIG. 21, the first casting 272 and the second casting 274 are connected to the vehicle 100 via a first casting fastener 312 (FIG. 20) and a second plurality of second casting fasteners 320, respectively. It is mounted on a frame 196. The first casting 272 and the second casting 274 are fastened together and mounted on the frame 196 such that the second casting 274 supports the first casting 272 and the first electronic device 294 relative to the frame 196. has been done.

First casting 272 is positioned along first lateral side 132 of vehicle 100 and extends longitudinally of vehicle 100 along second support beam 202 . External portion 292 of first casting 272 extends beyond frame 196 in the longitudinal direction of vehicle 100. A second casting 274 extends from the first casting exterior portion 292 laterally of the vehicle 100 and overlaps the frame 196 in the longitudinal direction of the vehicle 100. As such, the first casting 272 and the second casting 274 extend from the first lateral side 132 of the vehicle 100 around the second longitudinal end 104 of the vehicle 100 and extend in the longitudinal direction of the vehicle 100. A first electronic device 294 is supported from a position on the frame 196 disposed along the second support beam 202 and along the second longitudinal end 104 in the lateral direction of the vehicle 100 .

A first casting fastener 312 is disposed through the first casting 272 and into the frame 196 in the lateral direction of the vehicle 100 , and a second plurality of second casting fasteners 320 are disposed in the longitudinal direction of the vehicle 100 through the first casting 272 and into the frame 196 . It is placed through the casting 274 and into the frame 196. With this structure, the first casting 272 is fastened to the frame 196 in the lateral direction of the vehicle 100, and the second casting 274 is fastened to the frame 196 in the longitudinal direction of the vehicle 100.

As shown in FIG. 22 , the second second casting 272 is positioned such that the cover 322 is at least partially disposed over the first electronic device 294 and the external portion 292 of the first casting 272 relative to the external environment of the vehicle 100 . The first module support system 154 in the twin module support system 150 includes a cover 322 secured to an exterior portion 292 of the first casting 272 . A portion of the first electronic device 294 is mounted on the cover 322 such that the cover 322 supports the first electronic device 294 on the exterior portion 292 of the first casting 272 .

The cover 322 of the first module support system 154 in the second pair of module support systems 150 shields the first electronic device 294 and the exterior portion 292 of the first casting 272 from the external environment of the vehicle 100 and It includes similar features and functions similarly to the cover 192 of the first module support system 130 in the first pair of module support systems 122 with respect to supporting one electronic device 294 on the first casting 272 .

As shown in FIG. 23, frame 196 includes a third support beam 324 extending in the height direction of vehicle 100. As shown in FIG. The first support beam 200 and the third support beam 324 are connected to each other to form a second corner 330 of the frame 196 at the roof 206 of the vehicle 100 at the second longitudinal end 104 .

A vertical support mount 332 is fixed to the third support beam 324 and extends along the third support beam 324 in the height direction of the vehicle 100. Vertical support mount 332 defines a plurality of vertical support mount holes 334 that are aligned with third support beam 324 laterally of vehicle 100 . The plurality of vertical support mount holes 334 are configured to receive fasteners pushed into the third support beam 324 to secure the vertical support mount 332 to the third support beam 324 in the interior 112 of the vehicle 100. has been done.

A sixth exterior panel 340 and a seventh exterior panel 342 included in the exterior paneling 110 at the second longitudinal end 104 form a body portion that defines the exterior 114 of the vehicle 100 and a first exterior panel in the lateral direction of the vehicle 100 . It has a flange that extends into the interior 112 of the vehicle 100 over the support beam 200 and the third support beam 324 . A sixth exterior panel 340 extends from the sixth exterior panel body portion 350 and into the interior 112 of the vehicle 100 over the second support beam 202 and the third support beam 324 in the lateral direction of the vehicle 100 . including an external panel flange 344. A sixth exterior panel body portion 350 forms the exterior 114 of the vehicle 100 along the roof 206 and extends longitudinally of the vehicle 100 from the second corner 330.

The seventh external panel 342 is arranged on the vehicle 100 at a distance below the sixth external panel 340 in the height direction of the vehicle 100. Seventh exterior panel 342 includes a seventh exterior panel flange 352 extending from a seventh exterior panel body portion 354 and into interior 112 of vehicle 100 . A seventh exterior panel body portion 354 forms the exterior 114 of the vehicle 100 along the first lateral side 132 of the vehicle 100 . The seventh outer panel flange 352 and the seventh outer panel body portion 354 overlap the third support beam 324 in the lateral direction of the vehicle 100 and extend from the third support beam 324 in the longitudinal direction of the vehicle 100 to the third support beam 324 in the longitudinal direction of the vehicle 100. 1 along the lateral side 132.

The sixth exterior panel body portion 350 and the seventh exterior panel body portion 354 are spaced apart from each other in the height direction of the vehicle 100 , and the sixth exterior panel flange 344 and the seventh exterior panel flange 352 are spaced apart from each other in the height direction of the vehicle 100 . 112 to define a recess 360 extending from the exterior 114 to the interior 112 between the sixth exterior panel 340 and the seventh exterior panel 342. Recess 360 is configured to receive interior portion 280 of first casting 272 in second pair of module support systems 150 .

As shown in FIG. 24, the plurality of first casting flanges 282 and first casting body portion 284 of the first casting 272 are attached to the sixth exterior panel 340 and the seventh exterior panel 342 in the lateral direction of the vehicle 100. Overlap. Fasteners 362 are disposed in the plurality of first casting holes 290 through the vertical support mount 332 and the sixth exterior panel 340. Fasteners 362 extend into frame 196 and connect first casting 272 , first electronic device 294 , and second electronic device 300 into frame 196 through vertical support mount 332 and sixth exterior panel 340 . Fixed.

The interior portion 280 of the first casting 272 is mounted on the second support beam 202 and the third support beam 324 in the recess 360 in the interior 112 of the vehicle 100 . External portion 292 is separate from interior portion 280 and extends outwardly from frame 196 in interior 112 of vehicle 100 and beyond exterior 114 of vehicle 100 in the lateral and longitudinal directions of vehicle 100. In this configuration, the interior portion 280 is disposed in a recess 360 within the interior 112 of the vehicle 100 between the frame 196 and the exterior paneling 110 and supports an exterior portion 292 extending outwardly from the exterior 114 of the vehicle 100. do.

The first electronic device 294 is supported on the outer portion 292 of the first casting 272 above the frame 196 in the height direction of the vehicle 100 in which the inner portion 280 of the first casting 272 is mounted on the frame 196. ing. The first electronic device 294 is also mounted on an external portion 292 of the first casting 272 spaced apart from the frame 196 in the longitudinal and lateral directions of the vehicle 100 in which the internal portion 280 of the first casting 272 is mounted on the frame 196. It is supported by In this configuration, the first electronic device 294 is positioned to collect information representing the external environment of the vehicle 100 above and around the frame 196 at the second corner 330 of the second lateral side 142 of the vehicle 100. ing.

The first electronic device 294 is wired to a circuit 302 that extends along the first casting 272 to an interior portion 280 of the first casting 272 and into the interior 112 of the vehicle 100 . Circuit 302 connects first electronic device 294 and second electronic device 300 to a data system and electrical system on vehicle 100 for receiving electrical power and communicating with a computer on vehicle 100 .

As shown in FIG. 25, the cover 322 is placed over the first electronic device 294 and the external portion 292 of the first casting 272 with respect to the external environment of the vehicle 100. 272 and is secured to the outer portion 292 of the 272. Cover 322 is thus configured to prevent water, snow, and debris from reaching exterior portion 292 and first electronic device 294 from the exterior environment of vehicle 100 .

Cover 322 is formed from a plurality of cover panels 364 secured to each other and to exterior portion 292 of first casting 272 . As shown, cover 322 includes four cover panels 364, although cover 322 may be placed over first electronic device 294 and exterior portion 292 of first casting 272 without departing from the scope of the present disclosure. It can contain more or fewer panels than it does.

As shown in FIG. 26, an eighth exterior panel 370 is molded to be received in a recess 360 in the interior 112 of the vehicle 100 over the interior portion 280 of the first casting 272. As shown in FIG. A fan 372 is mounted on the eighth exterior panel 370 and draws atmospheric air through the eighth exterior panel 370 from the interior side 374 of the eighth exterior panel 370 to the exterior side 380 of the eighth exterior panel 370 shown in FIG. It is configured as follows.

Continuing to refer to FIG. 26, a third electronic device 382 is mounted on the interior side 374 of the eighth exterior panel 370. The third electronic device 382 is configured to collect information representative of the external environment of the vehicle 100 and includes a sensor wired to the circuit 302 to receive power from the vehicle 100 and communicate information to the vehicle 100. Third electronic device 382 includes similar features and functions in a similar manner as first electronic device 294 and second electronic device 300.

As shown in FIG. 27, the interior of the vehicle 100 is arranged so that the exterior side 380 forms the exterior 114 of the vehicle 100 between the sixth exterior panel 340 and the seventh exterior panel 342 in the height direction of the vehicle 100. At 112, an eighth exterior panel 370 is mounted in the recess 360. Eighth exterior panel 370 covers interior portion 280, second electronic device 300, third electronic device 382, and circuitry 302 from the exterior environment of vehicle 100.

The fan 372 is configured to direct atmospheric air from the exterior environment of the vehicle 100 to the interior 112 of the vehicle 100 and into the recess 360 toward the second electronic device 300 and the third electronic device 382. It is located inside 112 of vehicle 100. Fan 372 is thus configured to cool second electronic device 300 and third electronic device 382 with atmospheric air from the environment outside vehicle 100 .

As shown in FIG. 28, a cover 322 extends over a second corner 330 formed at the second longitudinal end 104 of the vehicle 100 with respect to the height direction of the vehicle 100 and extends over a second corner 330 formed at the second longitudinal end 104 of the vehicle 100. A cover 322 is positioned on frame 196 to extend laterally of vehicle 100 about lateral side 142 . More specifically, the cover 322 is mounted on the second corner 330 and has a plurality of holes extending downward from the second corner 330 along the third support beam 324 in the height direction of the vehicle 100. Includes a first cover panel 384 in cover panel 364. A first cover panel 384 is positioned on the frame 196 such that the first cover panel 384 overlaps the second support beam 202 and the third support beam 324 in the longitudinal direction of the vehicle 100.

The cover 322 also includes a plurality of cover panels 364 mounted on the second corner 330 and extending downwardly from the second corner 330 along the third support beam 324 in the height direction of the vehicle 100. 2 cover panels 390. A second cover panel 390 is disposed on the frame 196 such that the first cover panel 384 overlaps the second support beam 202 and the third support beam 324 in the lateral direction of the vehicle 100. First cover panel 384 and second cover panel 390 are secured to each other, to frame 196, and to the remaining panels in plurality of cover panels 364.

15 and 26, a method of assembling each of the first module support system 130 in the first pair of module support systems 122 and the first module support system 154 in the second pair of module support systems 150 is illustrated. , mounting the first casting 164, 272 to the frame 196, the first casting 164, 272 being disposed within the interior 112 of the vehicle 100 and mounted on the frame 196; A first casting 164 , 272 is threaded outwardly from the frame 196 through the outer paneling 110 to include an outer portion 180 , 292 extending outwardly from the exterior 114 of the vehicle 100 . extends up to The method also includes providing a first electronic device 182, 294 supported on an external portion 180, 292 of the first casting 164, 272. The method also includes attaching the cover 192, 322 to the first casting such that the cover 192, 322 is positioned over the exterior portion 180, 292 and the first electronic device 182, 294 relative to the exterior environment of the vehicle 100. 164 , 272 with external portions 180 , 292 .

As shown in FIG. 21, a method of assembling a first module support system 154 in a second pair of module support systems 150 includes fastening a first casting 272 to a second casting 274; mounting the second casting 274 onto the frame 196 such that the second casting 274 supports the first casting 272 and the first electronic device 294 relative to the frame 196. In one embodiment of this method, the first casting 272 is fastened to the second casting 274 before the first casting 272 is mounted on the frame 196, and the first casting 272 is fastened to the second casting 274. It is also mounted on the frame 196.

As shown in FIGS. 15 and 24, in one embodiment, the first module support system 130 in the first pair of module support systems 122 and the first module support system 154 in the second pair of module support systems 150 The method for assembling each of the first castings 164, 272 includes mounting a first casting 164, 272 along a first lateral side 132 of the vehicle 100 to extend longitudinally of the vehicle 100; External portions 180, 292 of 272 extend beyond frame 196 in the longitudinal direction of vehicle 100. As shown in FIG. 21, a method of assembling the first module support system 154 in the second pair of module support systems 150 includes a second casting 274 extending laterally of the vehicle 100 from the first casting 272. , including the step of fastening the second casting 274 to the first casting 272 and the vehicle 100 so as to overlap the frame 196 in the longitudinal direction of the vehicle 100 from a position outside the frame 196 in the longitudinal direction of the vehicle 100.

As shown in FIGS. 15 and 24, in one embodiment, the first module support system 130 in the first pair of module support systems 122 and the first module support system 154 in the second pair of module support systems 150 The method for assembling each of the first castings 164, 272 includes mounting the first castings 164, 272 on the frame 196, and fastening the first castings 164, 272 to the frame 196 in a lateral direction of the vehicle 100. Referring to FIG. 21, a method of assembling a first module support system 154 in a second pair of module support systems 150 includes mounting a second casting 274 to a frame 196 that 2 to the frame 196.

As shown in FIGS. 15 and 24, in one embodiment, the first module support system 130 in the first pair of module support systems 122 and the first module support system 154 in the second pair of module support systems 150 The method for assembling each of the first castings 164, 272 includes mounting the interior portions 170, 280 of the first castings 164, 272 onto the first support beam 200 and third support beam 324, respectively; mounting the inner portions 170, 280 onto the second support beam 202. Referring to FIG. 15, a method for assembling a first module support system 130 in a first pair of module support systems 122 includes a method for assembling a first module support system 130 in a first pair of module support systems 122 on a joint 210 between a first support beam 200 and a second support beam 202. including loading a first casting 164;

As shown in FIGS. 15-17 and 24-27, in one embodiment, the first module support system 130 in the first pair of module support systems 122 and the first module support system 130 in the second pair of module support systems 150 The method for assembling each of the first module support systems 154 includes mounting the second electronic devices 184, 300 onto the interior portions 170, 280 of the first castings 164, 272 and attaching them to the fifth exterior panel 254 and the fifth exterior panel 254, respectively. 8 exterior panels 370 over the second electronic device 184 , 300 and the interior portions 170 , 280 of the first casting 164 , 272 relative to the exterior 114 of the vehicle 100 . The method also includes connecting the first electronic device 182, 294 and the second electronic device between the fifth exterior panel 254 and the eighth exterior panel 370 and the interior portions 170, 280 of the first casting 164, 272. Fans 260, 372 are mounted on fifth exterior panel 254 and eighth exterior panel 370, respectively, such that fans 260, 372 are configured to direct atmospheric air from the exterior environment of vehicle 100 over 184, 300, respectively. including steps to

15 and 24, the method also includes wiring the first electronic device 182, 294 in a circuit 190, 302, the circuit 190, 302 along the first casting 164, 272. It extends to the interior portion 170, 280 of the first casting 164, 272 in the interior 112 of the vehicle 100. This method also allows the interior portions 170, 280 of the first castings 164, 272 to be positioned above the frame 196 and the exterior portions 180, 292 of the first castings 164, 272 in the height direction of the vehicle 100 in which the interior portions 170, 280 of the first castings 164, 272 are mounted on the frame 196. , the first electronic device 182, 294 is placed on the cover 192, 322 such that the cover 192, 322 supports the first electronic device 182, 294 on the outer portion 180, 292 of the first casting 164, 272. including the step of installing it on the

It will be appreciated that various of the above-disclosed and other features and functionality, or alternatives or variations thereof, may be desirably combined into many other different systems or applications. Additionally, various presently unforeseen or unforeseeable alternatives, modifications, variations, or improvements therein may subsequently occur to those skilled in the art and are intended to be covered by the following claims.

2 Sensor module 2A Front left sensor module 2B Front right sensor module 2C Rear left sensor module 2D Rear right sensor module 4 Vehicle 6A Front right corner 6B Front left corner 6C Rear right corner 6D Rear left corner 8 Controller/Navigation system 10 Frame 12 Proximal end 14 Distal end 16 Sensor 18 External environment 20 Inside the vehicle 22 Outside the vehicle 24 Lidar 26 Radar 28A Surround camera 28B Medium resolution camera 30 Near field sensor 32 SPAM
34 wireless communication connection 36 Ethernet switch 38 fan 40 display 42 manifold 44 plate 46 nozzle 48 fluid line 50 appliqué 52 fastener 54 aperture 56 head section 58 through hole 60 shaft section 62 outer surface of sensor module 64 outer surface of vehicle 66 outer body panel 68 seal 70 corner component 100 vehicle 102 first longitudinal end 104 second longitudinal end 110 outer paneling 112 interior 114 exterior 120 first pair of sensor modules 122 first pair of module support system 124 first 1 sensor module 130 first module support system 132 first lateral side 134 second sensor module 140 second module support system 142 second lateral side 144 second pair of sensor modules 150 second pair of sensor modules Module Support System 152 First Sensor Module 154 First Module Support System 160 Second Sensor Module 162 Second Module Support System 164 First Casting 170 Internal Portion 172 First Casting Flange 174 First Casting Body Portion 176 first casting hole 180 external part 182 first electronic device 184 second electronic device 190 circuit 192 cover 194 cover panel 196 frame 200 first support beam 202 second support beam 204 first corner 206 roof 210 Junction 212 Plate portion 214 Junction hole 220 Distal end 222 First exterior panel 224 Second exterior panel 230 Third exterior panel 232 Fourth exterior panel 234 Third exterior panel flange 240 Third exterior Panel body portion 242 Fourth exterior panel flange 244 Fourth exterior panel body portion 250 Recess 252 Fastener 254 Fifth exterior panel 260 Fan 262 Interior side 264 Exterior side 270 Third electronic device 272 First casting 274 2 casting 280 internal part 282 first casting flange 284 first casting body part 290 first casting hole 292 external part 294 first electronic device 300 second electronic device 302 circuit 304 second of first plurality Cast fasteners 310 First plurality of second cast holes 312 First cast fasteners 314 Second plurality of second cast holes 320 Second plurality of second cast fasteners 322 Cover 324 Third support beam 330 second corner 332 vertical support mount 334 vertical support mount hole 340 sixth external panel 342 seventh external panel 344 sixth external panel flange 350 sixth external panel body portion 352 seventh external panel Flange 354 Seventh external panel body portion 360 Recess 362 Fastener 364 Cover panel 370 Eighth external panel 372 Fan 380 External side 382 Third electronic device 384 First cover panel 390 Second cover panel

Claims (20)

A modular support system for a vehicle, the vehicle comprising: an exterior paneling defining an interior and exterior of the vehicle; and a frame disposed within the interior of the vehicle;
a first casting mounted on the frame, the first casting disposed within the interior of the vehicle and mounted on the frame; a first casting extending outwardly from the frame, through the exterior paneling, and to the exterior of the vehicle to include an exterior portion extending in the direction;
a first electronic device supported on the external portion of the first casting;
a cover, the outer portion of the first casting such that the cover is positioned over the first electronic device and the outer portion of the first casting with respect to an external environment of the vehicle; a cover fixed to the
including a modular support system. the first electronic device includes a sensor configured to collect information representative of the external environment of the vehicle;
the sensor is supported on the external portion of the first casting above the frame in the height direction of the vehicle in which the internal portion of the first casting is mounted on the frame;
The module support system of claim 1. 3. The module support of claim 2, wherein the first electronic device is mounted on the cover such that the cover supports the first electronic device on the external portion of the first casting. system. the vehicle is an autonomous vehicle;
the sensor is configured to communicate the information representative of the external environment of the vehicle to a navigation system of the autonomous vehicle for maneuvering the autonomous vehicle;
A module support system according to claim 2. 2. The module support system of claim 1, wherein the first casting is a single integral piece and the interior portion is integrally formed with the exterior portion. 2. The module support system of claim 1, wherein the first casting is mounted on the frame at a corner of the vehicle. a second electronic device mounted on the interior portion of the first casting; a panel disposed over the interior portion of the first casting; and a fan mounted on the panel. In addition, it includes
the fan is configured to direct air towards the second electronic device;
The module support system of claim 1. The module of claim 1 , further comprising a second casting mounted on the frame and fastened to the first casting to support the first casting and the first electronic device with respect to the frame. support system. the first casting is disposed along the side of the vehicle and extends in the longitudinal direction of the vehicle;
the external portion of the first casting extends beyond the frame in the longitudinal direction of the vehicle;
the second casting extends from the first casting in the lateral direction of the vehicle and overlaps the frame in the longitudinal direction of the vehicle;
9. The module support system of claim 8. the first casting is fastened to the frame in a lateral direction of the vehicle;
the second casting is fastened to the frame in the longitudinal direction of the vehicle;
A module support system according to claim 9. the interior portion of the first casting is mounted on a first support beam and a second support beam included in the frame;
The first support beam extends in the height direction of the vehicle, and the second support beam extends in the longitudinal direction of the vehicle.
The module support system of claim 1. the interior portion of the first casting is mounted on a joint between a first support beam and a second support beam included in the frame;
The first support beam extends in the height direction of the vehicle, and the second support beam extends in the longitudinal direction of the vehicle,
The joint portion is a plate fixed to each of the first support beam and the second support beam,
The module support system of claim 1. When mounted on the frame, the first casting includes an inside part and an outside part of the car,
the first electronic device includes a plurality of sensors;
The plurality of sensors are mounted on the inside of the car of the casting and on the outside of the car of the casting,
The module support system of claim 1. The module support system of claim 1 , further comprising a harness configured to communicate with the first electronic device and provide a wired power connection between a power source of the vehicle and the first electronic device. 15. The module support system of claim 14, wherein the harness is further configured to provide a wired communication connection between the vehicle's navigation system and the first electronic device. A method of operating an autonomous vehicle, the autonomous vehicle comprising: an exterior paneling defining an interior and an exterior of the autonomous vehicle; and a frame disposed within the interior of the autonomous vehicle;
At each corner of the autonomous vehicle,
a first casting mounted on the frame, the first casting comprising an interior portion disposed within the interior of the autonomous vehicle and mounted on the frame, and an interior portion mounted on the frame; the first casting extends outwardly from the frame, through the outer paneling, and to the exterior of the autonomous vehicle, the first casting including an outer portion extending outwardly from the frame; ,
a sensor supported on the external portion of the first casting;
a cover secured to the external portion of the first casting such that the cover is positioned over the sensor and the external portion of the first casting with respect to an external environment of the autonomous vehicle; The cover and
providing a sensor module including;
sensing the environment around the autonomous vehicle with the sensor while the autonomous vehicle is operating;
communicating data about the environment from the sensor to a navigation system of the autonomous vehicle;
maneuvering the autonomous vehicle based on the data;
including methods. The sensor module includes an electronic device mounted on the internal portion of the first casting, a panel disposed over the internal portion of the first casting, and a fan mounted on the panel. , further comprising;
the fan is configured to blow air towards the electronic device;
17. The method according to claim 16. 17. The method of claim 16, wherein the sensor is mounted on the cover such that the cover supports the sensor on the external portion of the first casting. The sensor module at the rear corner of the autonomous vehicle is mounted on the frame and fastened to the first casting, and a second casting supporting the first casting and the first sensor relative to the frame. 17. The method of claim 16, further comprising a casting. In the sensor module at the rear corner of the autonomous vehicle, the first casting is located along a lateral side of the autonomous vehicle and extends in the longitudinal direction of the autonomous vehicle; an external portion extends beyond the frame in the longitudinal direction of the autonomous vehicle, and the second casting extends from the first casting in the lateral direction of the autonomous vehicle; 20. The method of claim 19, overlapping the frame at.