JP2023177797A - sensor device - Google Patents

Abstract

To provide a sensor device which allows for adjusting the position and posture of a side sensor.SOLUTION: A sensor device 1 provided herein is mounted on a side of a vehicle 2. The sensor device 1 comprises a millimeter wave radar 10 for detecting the environmental condition on the side of the vehicle 2, a linear motor 11 for moving the millimeter wave radar 10 in a width direction (Y-direction) of the vehicle 2, and a yaw angle servo motor 12 for turning the millimeter wave radar 10 about an axis in a vertical direction (Z-direction) of the vehicle 2 perpendicular to the width direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to a sensor device.

For example, Patent Document 1 describes an on-vehicle radar that measures distances to other vehicles around the vehicle by emitting millimeter-wave radio waves and receiving radio waves reflected from objects in front of the vehicle. . A vehicle-mounted radar has an antenna that can change an angle in an elevation direction with respect to a vehicle.

Patent No. 5141036

For example, there is a system that detects the environmental condition on the rear side of the vehicle using a side sensor such as a millimeter wave radar mounted on the side of the vehicle to prevent the vehicle from getting caught when turning right or left. The side sensor is generally fixed to the body frame of the vehicle via a bracket by welding, bolts, or the like. Therefore, it is impossible to adjust the position and orientation of the side sensor with respect to the vehicle body frame. Therefore, it is difficult to meet mounting requirements that vary depending on the vehicle type.

An object of the present invention is to provide a sensor device that can adjust the position and orientation of a side sensor.

One aspect of the present invention provides a sensor device mounted on the side of a vehicle, which includes a side sensor that detects an environmental condition on the side of the vehicle, a movement drive unit that moves the side sensor in the width direction of the vehicle, and a side sensor that detects an environmental condition on the side of the vehicle. and a first rotation drive unit that rotates the sensor around an axis in the vertical direction of the vehicle that is perpendicular to the vehicle width direction.

In such a sensor device, the position of the side sensor in the vehicle width direction can be changed by moving the side sensor in the vehicle width direction using the movement drive section. Further, by rotating the side sensor around the vertical axis of the vehicle using the first rotation drive unit, it is possible to change the yaw angle of the side sensor. As described above, the position and orientation of the side sensor can be adjusted.

The sensor device includes a second rotation drive unit that rotates the side sensor around an axis in the vehicle width direction, and a third rotation drive unit that rotates the side sensor around an axis in the longitudinal direction of the vehicle that is perpendicular to the vehicle width direction and the vertical direction. It may further include.

In such a configuration, the roll angle of the side sensor can be changed by rotating the side sensor around the axis in the vehicle width direction using the second rotation drive section. Further, by rotating the side sensor around the axis in the longitudinal direction of the vehicle by the third rotation drive unit, it is possible to change the pitch angle of the side sensor. As described above, the attitude of the side sensor can be adjusted in directions around the three axes.

The sensor device includes a first bracket that connects the movable drive section and the third rotation drive section, a second bracket that connects the third rotation drive section and the first rotation drive section, and a first bracket that connects the first rotation drive section and the second rotation drive section. The side sensor may be fixed to the second rotary drive section.

In such a configuration, by providing the first bracket, the second bracket, and the third bracket, a structure for changing the position of the side sensor in the vehicle width direction and the yaw angle, roll angle, and pitch angle of the side sensor is provided. It can be simplified. Thereby, the overall structure of the sensor device can be simplified.

According to the present invention, the position and orientation of the side sensor can be adjusted.

1 is a front view, a side view, and a rear view showing a sensor device according to an embodiment of the present invention. FIG. 1 is a plan view, a side view, and a bottom view showing a sensor device according to an embodiment of the present invention. FIG. 3 is a side view of a vehicle equipped with the sensor device shown in FIGS. 1 and 2. FIG. FIG. 3 is a side view showing how the position of the millimeter wave radar in the vehicle width direction is adjusted by the direct-acting motor shown in FIGS. 1 and 2. FIG. FIG. 3 is a plan view showing how the yaw angle of the millimeter wave radar is adjusted by the yaw angle servo motor shown in FIGS. 1 and 2. FIG. FIG. 3 is a front view showing how the roll angle of the millimeter wave radar is adjusted by the roll angle servo motor shown in FIGS. 1 and 2. FIG. FIG. 3 is a side view showing how the pitch angle of the millimeter wave radar is adjusted by the pitch angle servo motor shown in FIGS. 1 and 2. FIG. 3 is a block diagram showing the configuration of a position and orientation control device applied to the sensor device shown in FIGS. 1 and 2. FIG. 9 is a flowchart showing the procedure of control processing executed by the initial control processing section shown in FIG. 8. 9 is a flowchart showing the procedure of control processing executed by the dynamic control processing section shown in FIG. 8. FIG. 3 is a plan view showing a comparison between the detection range of a millimeter-wave radar when the vehicle is running normally and the detection range of the millimeter-wave radar when the vehicle is running at high speed. FIG. 3 is a front view showing a comparison between the detection range of a millimeter-wave radar when the vehicle is traveling straight and the detection range of the millimeter-wave radar when the vehicle is traveling on a curve. FIG. 3 is a side view showing a comparison between the detection range of a millimeter-wave radar when the vehicle is running on a flat road and the detection range of the millimeter-wave radar when the vehicle is running on a rough road. FIG. 3 is a front view showing a comparison between the position of the millimeter wave radar when the side door is closed and the position of the millimeter wave radar when the side door is open.

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

FIG. 1 is a front view, a side view, and a rear view showing a sensor device according to an embodiment of the present invention. FIG. 2 is a top view, a side view, and a bottom view showing a sensor device according to an embodiment of the present invention. Note that FIG. 1(b) and FIG. 2(b) are the same side views.

In FIGS. 1 and 2, two sensor devices 1 of this embodiment are mounted on the right and left sides of a vehicle 2, as shown in FIG. The vehicle 2 is, for example, a truck having side gates 3 and rear gates 4.

The sensor device 1 is applied to a driving support system (not shown) that provides driving support for a vehicle 2. The driving support system includes a system that detects an obstacle present at the rear side of the vehicle 2 when the vehicle 2 turns right or left, and prevents the vehicle 2 from getting involved in the obstacle. The obstacles include pedestrians, bicycles, motorbikes, etc.

The sensor device 1 is attached to a body frame 5 of a vehicle 2. The sensor device 1 includes a millimeter wave radar 10, a linear motor 11, a yaw angle servo motor 12, a roll angle servo motor 13, a pitch angle servo motor 14, and brackets 15 to 17.

The millimeter wave radar 10 is a side sensor that detects the environmental condition on the side of the vehicle 2. The millimeter wave radar 10 detects whether an object (including an obstacle) exists on the side of the vehicle 2 using millimeter wave radio waves. Specifically, the millimeter-wave radar 10 transmits millimeter-wave radio waves to the side of the vehicle 2 and receives radio waves reflected from an object located on the side of the vehicle, thereby determining the distance and angle to the object. and measure relative speed. One of the two millimeter wave radars 10 transmits millimeter wave radio waves to an area including the rear side of the vehicle 2, and the other of the two millimeter wave radars 10 transmits a millimeter wave radio wave to an area including the front side of the vehicle 2. transmits millimeter wave radio waves to (see Figure 11).

The direct drive motor 11 is a movement drive unit that moves the millimeter wave radar 10 in the width direction of the vehicle 2. The vehicle width direction of the vehicle 2 corresponds to the left-right direction (Y direction) of the vehicle 2. Note that the arrow side in the Y direction in the figure is the outer side of the vehicle 2 in the vehicle width direction. The linear motor 11 includes a motor body 21, a rod 22 that can move forward and backward with respect to the motor body 21, and a mounting portion 23 fixed to the tip of the rod 22. The rod 22 extends in the width direction of the vehicle 2.

The yaw angle servo motor 12 is a servo motor for adjusting the yaw angle of the millimeter wave radar 10. The yaw angle servo motor 12 is a first rotation drive unit that rotates the millimeter wave radar 10 around an axis in the vertical direction (Z direction) of the vehicle 2 . The vertical direction of the vehicle 2 is a direction perpendicular to the width direction of the vehicle 2. Note that the arrow side in the Z direction in the figure is the upper side of the vehicle 2. The yaw angle servo motor 12 has a motor main body 24 , a rotating shaft 25 rotatable with respect to the motor main body 24 , and a mounting portion 26 fixed to the tip of the rotating shaft 25 . The rotation shaft 25 extends in the vertical direction of the vehicle 2.

The roll angle servo motor 13 is a servo motor for adjusting the roll angle of the millimeter wave radar 10. The roll angle servo motor 13 is a second rotational drive unit that rotates the millimeter wave radar 10 around an axis in the vehicle width direction (Y direction) of the vehicle 2 . The roll angle servo motor 13 has a motor main body 27, a rotating shaft 28 rotatable with respect to the motor main body 27, and a mounting portion 29 fixed to the tip of the rotating shaft 28. The rotating shaft 28 extends in the width direction of the vehicle 2.

The pitch angle servo motor 14 is a servo motor for pitch angle adjustment of the millimeter wave radar 10. The pitch angle servo motor 14 is a third rotation drive unit that rotates the millimeter wave radar 10 around an axis in the longitudinal direction (X direction) of the vehicle 2. The longitudinal direction of the vehicle 2 is a direction perpendicular to the vehicle width direction and the vertical direction of the vehicle 2. Note that the arrow side in the X direction in the figure is the front side of the vehicle 2. The pitch angle servo motor 14 has a motor main body 30, a rotating shaft 31 rotatable with respect to the motor main body 30, and a mounting portion 32 fixed to the tip of the rotating shaft 31. The rotating shaft 31 extends in the longitudinal direction of the vehicle 2.

The bracket 15 is a first bracket that connects the linear motor 11 and the pitch angle servo motor 14. The bracket 15 has an L-shape. A mounting portion 23 for the direct-acting motor 11 is fixed to one end of the bracket 15 . A motor main body 30 of the pitch angle servo motor 14 is fixed to the other end of the bracket 15 .

The bracket 16 is a second bracket that connects the pitch angle servo motor 14 and the yaw angle servo motor 12. The bracket 16 has an L-shape. A mounting portion 32 of the pitch angle servo motor 14 is fixed to one end of the bracket 16 . A motor main body 24 of the yaw angle servo motor 12 is fixed to the other end of the bracket 16 .

The bracket 17 is a third bracket that connects the yaw angle servo motor 12 and the roll angle servo motor 13. The bracket 17 has an L-shape. A mounting portion 26 for the yaw angle servo motor 12 is fixed to one end of the bracket 17 . A motor body 27 of the roll angle servo motor 13 is fixed to the other end of the bracket 17 .

The millimeter wave radar 10 is fixed to a roll angle servo motor 13. Specifically, the millimeter wave radar 10 is fixed to a mounting portion 29 of the roll angle servo motor 13. The front face 10a of the millimeter wave radar 10 faces outward in the width direction of the vehicle 2 (to the side of the vehicle 2).

In the sensor device 1 as described above, when the linear motor 11 is driven, the rod 22 moves forward and backward with respect to the motor body 21, as shown in FIG. Then, the millimeter wave radar 10 moves in the vehicle width direction (Y direction) of the vehicle 2 via the bracket 15, pitch angle servo motor 14, bracket 16, yaw angle servo motor 12, bracket 17, and roll angle servo motor 13.

When the yaw angle servo motor 12 is driven, the rotating shaft 25 rotates with respect to the motor body 24. Then, as shown in FIG. 5, the millimeter wave radar 10 rotates around the vertical axis (Z direction) of the vehicle 2 via the bracket 17 and the roll angle servo motor 13.

When the roll angle servo motor 13 is driven, the rotating shaft 28 rotates with respect to the motor body 27. Then, as shown in FIG. 6, the millimeter wave radar 10 rotates around the axis of the vehicle 2 in the vehicle width direction (Y direction).

When the pitch angle servo motor 14 is driven, the rotating shaft 31 rotates with respect to the motor body 30. Then, as shown in FIG. 7, the millimeter wave radar 10 rotates around the longitudinal axis (X direction) of the vehicle 2 via the bracket 16, yaw angle servo motor 12, bracket 17, and roll angle servo motor 13. .

FIG. 8 is a block diagram showing the configuration of a position and orientation control device applied to the sensor device 1 described above. In FIG. 8, the position and orientation control device 40 is mounted on the vehicle 2. In FIG. The position and orientation control device 40 controls the position and orientation of the millimeter wave radar 10 with respect to the vehicle 2 by controlling the linear motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 of the sensor device 1. It is a device that controls the

The position and attitude control device 40 includes an input device 41, a vehicle speed sensor 42, a yaw rate sensor 43, a steering angle sensor 44, a vehicle height sensor 45, an instruction switch 46, and an ECU 47 (Electronic Control Unit) for position and attitude control. It is equipped with

The input device 41 is a device for an operator to input data regarding the driving of the linear motor 11 , yaw angle servo motor 12 , roll angle servo motor 13 , and pitch angle servo motor 14 . As the input device 41, for example, a car navigation system, a tablet terminal, or the like is used.

Data regarding the drive of the direct-acting motor 11 includes the stroke length and stroke direction of the direct-acting motor 11. Data related to driving the yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 includes the rotation angle and rotation direction of the yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14.

The vehicle speed sensor 42 is a sensor that detects the vehicle speed of the vehicle 2. The yaw rate sensor 43 is a sensor that detects the yaw rate of the vehicle 2. The steering angle sensor 44 is a sensor that detects the steering angle of the steering wheel (not shown) of the vehicle 2. The vehicle height sensor 45 is a sensor that detects the vehicle height of the vehicle 2.

The instruction switch 46 is a manually operated switch used by the driver of the vehicle 2 to issue instructions regarding control of the position and attitude of the millimeter wave radar 10. As the instruction switch 46, for example, like the input device 41, a car navigation system, a tablet terminal, or the like is used. The driver issues an instruction to change the position of the millimeter wave radar 10 using the instruction switch 46, for example, when the side gate 3 is in an expanded state.

The ECU 47 includes a CPU, RAM, ROM, input/output interface, and the like. The ECU 47 is a separate unit from the driving support ECU (not shown). The ECU 47 includes an initial control processing section 48 and a dynamic control processing section 49.

The initial control processing unit 48 performs processing to control the position and attitude of the millimeter wave radar 10 with respect to the vehicle 2 while the vehicle 2 is not started. The initial control processing section 48 is basically executed in the factory before the vehicle 2 is shipped. The initial control processing unit 48 controls the linear motor 11 , the yaw angle servo motor 12 , the roll angle servo motor 13 , and the pitch angle servo motor 14 based on the data input by the input device 41 .

FIG. 9 is a flowchart showing the procedure of the control process executed by the initial control processing section 48. In FIG. 9, the initial control processing unit 48 first obtains input data from the input device 41 (step S101).

Then, the initial control processing unit 48 calculates control values for the linear motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 based on the input data from the input device 41 (step S102). ). The control value is, for example, a current value. Subsequently, the control value obtained by the calculation is output to the linear motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 (step S103).

As a result, the linear motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 are automatically controlled according to the input data from the input device 41. The above steps S101 to S103 are repeatedly executed until the position and orientation of the millimeter wave radar 10 are determined.

Returning to FIG. 8, the dynamic control processing unit 49 performs processing to control the position and attitude of the millimeter wave radar 10 with respect to the vehicle 2 while the vehicle 2 is started. The dynamic control processing unit 49 is basically executed when the vehicle 2 is running. The dynamic control processing section 49 includes a vehicle state estimation section 50 and a position/orientation control section 51.

The vehicle state estimation unit 50 estimates the state of the vehicle 2 based on detection data from the millimeter wave radar 10 , vehicle speed sensor 42 , yaw rate sensor 43 , steering angle sensor 44 , and vehicle height sensor 45 and instruction information from the instruction switch 46 . do.

The position and orientation control unit 51 controls the linear motor 11, the yaw angle servo motor 12, the roll angle servo motor 13, and the pitch angle servo motor 14 based on the state of the vehicle 2 estimated by the vehicle state estimation unit 50. The position and attitude of the millimeter wave radar 10 with respect to the vehicle 2 are thereby controlled.

FIG. 10 is a flowchart showing the procedure of the control process executed by the dynamic control processing unit 49. In FIG. 10, the dynamic control processing unit 49 first acquires detection data from the millimeter wave radar 10, vehicle speed sensor 42, yaw rate sensor 43, steering angle sensor 44, and vehicle height sensor 45, and instruction information from the instruction switch 46 ( Step S111).

Subsequently, the dynamic control processing unit 49 determines the current state based on the detection data of the millimeter wave radar 10, vehicle speed sensor 42, yaw rate sensor 43, steering angle sensor 44, and vehicle height sensor 45, and the instruction information of the instruction switch 46. The state of the vehicle 2 is estimated (step S112).

For example, the dynamic control processing unit 49 estimates whether the vehicle 2 is traveling at high speed based on the detection data of the vehicle speed sensor 42. Furthermore, the dynamic control processing unit 49 estimates whether the vehicle 2 is traveling on a curve based on the detection data of the yaw rate sensor 43 and the steering angle sensor 44. Furthermore, the dynamic control processing unit 49 estimates whether the vehicle 2 is traveling on a rough road based on the detection data of the millimeter wave radar 10 and the vehicle height sensor 45.

Next, the dynamic control processing unit 49 performs linear motion control based on the current state of the vehicle 2 and the detection data of the millimeter wave radar 10, vehicle speed sensor 42, yaw rate sensor 43, steering angle sensor 44, and vehicle height sensor 45. Control values for the motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 are calculated (step S113).

Subsequently, the control value obtained by the calculation is output to the linear motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 (step S114), and the above step S111 is executed again.

Here, the vehicle state estimation unit 50 executes the above steps S111 and S112. The position and orientation control unit 51 executes the above steps S113 and S114.

Thereby, the direct drive motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14 are automatically controlled according to the current state of the vehicle 2.

For example, as shown in FIG. 11, when the vehicle 2 is running at high speed (see FIG. 11(b)), the detection of the millimeter wave radar 10 is more difficult than when the vehicle 2 is running normally (see FIG. 11(a)). The yaw angle servo motor 12 is controlled so that the range R becomes wider in the longitudinal direction of the vehicle 2. Note that normal driving is, for example, driving on a general road at a legal speed. High-speed driving means, for example, driving on an expressway at a legal speed.

The detection range R1 of the millimeter-wave radar 10 when the vehicle 2 is running at high speed is a specified distance La and Lb in front and behind the vehicle 2, respectively, compared to the detection range R0 of the millimeter-wave radar 10 when the vehicle 2 is running normally. It's getting wider. Note that in FIG. 11, only the left side of the vehicle 2 is shown for convenience. Furthermore, in FIG. 11, the millimeter wave radar 10, side tilter 3, and rear tilter 4 are omitted for convenience.

Furthermore, as shown in FIG. 12, when the vehicle 2 is traveling on a curve (see FIG. 12(b)), the vehicle 2 is in a rolling state compared to when the vehicle 2 is traveling straight (see FIG. 12(a)). Therefore, the pitch angle servo motor 14 is controlled so that the detection range R of the millimeter wave radar 10 becomes wider inside the curve.

The detection range R1 of the millimeter-wave radar 10 when the vehicle 2 is traveling on a curve is longer than the detection range R0 of the millimeter-wave radar 10 when the vehicle 2 is traveling straight. Only W is wider. Note that also in FIG. 12, only the left side of the vehicle 2 is shown for convenience. Further, in FIG. 12, the millimeter wave radar 10 is omitted for convenience.

Furthermore, as shown in FIG. 13, when the vehicle 2 is traveling on a rough road (see FIG. 13(b)), the vehicle 2 pitches more than when the vehicle 2 is traveling on a flat road (see FIG. 13(a)). Since this condition is likely to occur, the roll angle servo motor 13 is controlled so that the detection range R of the millimeter wave radar 10 becomes wider in the longitudinal direction of the vehicle 2.

The detection range R1 of the millimeter-wave radar 10 when the vehicle 2 is traveling on a rough road is wider by a specified distance Lc in front of the vehicle 2 than the detection range R0 of the millimeter-wave radar 10 when the vehicle 2 is traveling on a flat road. There is. Note that in FIG. 13, the millimeter wave radar 10 is omitted for convenience.

Further, as shown in FIG. 14, when the side gate 3 is deployed, the side gate 3 tends to interfere with the millimeter wave radar 10. Therefore, when the side gate 3 is open (see FIG. 14(b)), the millimeter-wave radar 10 is more sensitive to the vehicle width of the vehicle 2 than when the side gate 3 is closed (see FIG. 14(a)). The linear motor 11 is controlled so as to retract inward in the direction.

By the way, when the millimeter wave radar 10 is attached to the body frame 5 of the vehicle 2 by bolts directly or via a bracket, the position and orientation of the millimeter wave radar 10 with respect to the body frame 5 can be adjusted by loosening the bolts. can be adjusted. Furthermore, the position and attitude of the millimeter wave radar 10 relative to the vehicle body frame 5 can also be adjusted by axis adjustment (aiming) using internal software. However, in either case, the adjustable amount is very small, and it is impossible to accommodate mounting requirements that vary depending on the type of vehicle 2.

To solve such problems, in this embodiment, the position of the millimeter wave radar 10 in the vehicle width direction can be changed by moving the millimeter wave radar 10 in the vehicle width direction of the vehicle 2 using the direct-acting motor 11. It is possible. Further, by rotating the millimeter wave radar 10 around the vertical axis of the vehicle 2 using the yaw angle servo motor 12, the yaw angle of the millimeter wave radar 10 can be changed. As described above, the position and attitude of the millimeter wave radar 10 can be adjusted.

Further, in this embodiment, the roll angle of the millimeter wave radar 10 can be changed by rotating the millimeter wave radar 10 around an axis in the vehicle width direction of the vehicle 2 using the roll angle servo motor 13. Further, by rotating the millimeter wave radar 10 around the axis in the longitudinal direction of the vehicle 2 using the pitch angle servo motor 14, it is possible to change the pitch angle of the millimeter wave radar 10. As described above, the attitude of the millimeter wave radar 10 can be adjusted in directions around the three axes.

Furthermore, in this embodiment, by providing the brackets 15 to 17, the structure for changing the position of the millimeter wave radar 10 in the vehicle width direction and the yaw angle, roll angle, and pitch angle of the millimeter wave radar 10 is simplified. can do. Thereby, the overall structure of the sensor device 1 can be simplified.

As described above, since the position and attitude around the three axes of the millimeter wave radar 10 can be easily adjusted, the linear motor 11, the yaw angle servo motor 12, the roll angle servo motor 13, and the pitch angle servo motor 14 can be easily adjusted. Within the movable range, the millimeter wave radar 10 that differs depending on the vehicle type of the vehicle 2 can be mounted by simply controlling any of the direct drive motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14. Able to meet requirements.

Therefore, the options for the mounting position of the sensor device 1 including the millimeter wave radar 10 are expanded, and the man-hours required for considering the mounting and the man-hours required for designing parts can be reduced accordingly. Further, as the overall structure of the sensor device 1 is simplified as described above, the number of parts of the sensor device 1 is reduced, so that the assembly process and the number of assembly steps at the factory can also be reduced.

Furthermore, even after the vehicle 2 is shipped, you can adjust the millimeter to match the dimensions and shape of the bodywork by simply changing the control values of the direct drive motor 11, yaw angle servo motor 12, roll angle servo motor 13, and pitch angle servo motor 14. Since the position and attitude of the wave radar 10 are adjustable, the difficulty level of consideration regarding mounting the sensor device 1 can be reduced.

Note that the present invention is not limited to the above embodiments. For example, in the above embodiment, the roll angle servo motor 13 rotates the millimeter wave radar 10 around an axis in the vehicle width direction of the vehicle 2, and the pitch angle servo motor rotates the millimeter wave radar 10 around an axis in the longitudinal direction of the vehicle 2. 14, but at least one of the roll angle servo motor 13 and the pitch angle servo motor 14 may not be provided. In this case, since the number of parts of the sensor device 1 is further reduced, unnecessary costs can be reduced.

Further, in the above embodiment, the brackets 15 to 17 all have an L-shape, but the shape of the brackets 15 to 17 is not particularly limited to the L-shape, and can be changed in various ways. Further, in order to increase the strength of the brackets 15 to 17, ribs may be provided on the brackets 15 to 17.

Further, in the embodiment described above, a plurality of sensor devices 1 having the millimeter wave radar 10 are mounted on both left and right sides of the vehicle 2, but the sensor device 1 is not limited to such a configuration. For example, if the sensor device 1 is applied only to a system that prevents entanglement when the vehicle 2 turns right or left, one sensor device 1 may be mounted on each of the left and right sides of the vehicle 2. In this case, the millimeter wave radar 10 detects the environmental condition on the rear side of the vehicle 2 .

Furthermore, in the above embodiment, the millimeter wave radar 10 is moved in the width direction of the vehicle 2 by the direct-acting motor 11, but as a movement drive unit that moves the millimeter wave radar 10 in the width direction of the vehicle 2, In particular, it is not limited to a linear motor, but may be a solenoid or the like, or may include a rotary motor and a mechanism for changing the rotational motion of the rotary motor into linear motion.

Furthermore, in the above embodiment, the millimeter wave radar 10 is rotated around the vertical axis of the vehicle 2 by the yaw angle servo motor 12. The one-rotation drive unit is not particularly limited to a servo motor, and may include other types of rotary motors and sensors that detect the rotational position of the rotary motor. The same applies to the second rotation drive unit that rotates the millimeter wave radar 10 around the axis in the vehicle width direction of the vehicle 2 and the third rotation drive unit that rotates the millimeter wave radar 10 around the axis in the longitudinal direction of the vehicle 2. be.

Further, in the above embodiment, the ECU 47 having the initial control processing section 48 and the dynamic control processing section 49 is configured as a separate unit from the driving support ECU, but is not limited to that form in particular; The control processing section 48 and the dynamic control processing section 49 may be part of the functions of the driving support ECU. Further, the initial control processing section 48 and the dynamic control processing section 49 may be configured by separate ECUs.

Further, in the above embodiment, the environmental condition on the side of the vehicle 2 is detected by the millimeter wave radar 10, but as a side sensor for detecting the environmental condition on the side of the vehicle 2, a radar such as a millimeter wave radar may be used. The sensor is not limited to, and may be, for example, a laser sensor such as LIDAR (Light Detection And Ranging) or an image sensor such as a camera.

Further, in the above embodiment, the vehicle 2 on which the sensor device 1 is mounted is a truck, but the vehicle 2 is not particularly limited to a truck, and may be a passenger car, a bus, or the like.

DESCRIPTION OF SYMBOLS 1...Sensor device, 2...Vehicle, 10...Millimeter wave radar (side sensor), 11...Direct motor (moving drive part), 12...Yaw angle servo motor (first rotation drive part), 13...Roll angle servo motor (second rotation drive section), 14... pitch angle servo motor (third rotation drive section), 15... bracket (first bracket), 16... bracket (second bracket), 17... bracket (third bracket).

Claims (3)

In a sensor device mounted on the side of a vehicle,
a side sensor that detects an environmental condition on the side of the vehicle;
a movement drive unit that moves the side sensor in the vehicle width direction of the vehicle;
A sensor device comprising: a first rotation drive unit that rotates the side sensor around an axis in the vertical direction of the vehicle that is perpendicular to the vehicle width direction. a second rotation drive unit that rotates the side sensor around an axis in the vehicle width direction;
The sensor device according to claim 1, further comprising a third rotation drive unit that rotates the side sensor around an axis in the longitudinal direction of the vehicle that is perpendicular to the vehicle width direction and the up-down direction. a first bracket that connects the moving drive section and the third rotation drive section;
a second bracket connecting the third rotation drive section and the first rotation drive section;
further comprising a third bracket connecting the first rotation drive section and the second rotation drive section,
The sensor device according to claim 2, wherein the side sensor is fixed to the second rotation drive section.

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