WO2016126452A1 - Automated vehicle protected and aerodynamically located sensors - Google Patents

Automated vehicle protected and aerodynamically located sensors Download PDF

Info

Publication number
WO2016126452A1
WO2016126452A1 PCT/US2016/014797 US2016014797W WO2016126452A1 WO 2016126452 A1 WO2016126452 A1 WO 2016126452A1 US 2016014797 W US2016014797 W US 2016014797W WO 2016126452 A1 WO2016126452 A1 WO 2016126452A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
vehicle
cover
leading
corner edge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2016/014797
Other languages
French (fr)
Inventor
Matthew J. LEWIS
John P. ABSMEIER
Michael H. LAUR
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Delphi Technologies Inc
Original Assignee
Delphi Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delphi Technologies Inc filed Critical Delphi Technologies Inc
Priority to US15/549,025 priority Critical patent/US10525901B2/en
Publication of WO2016126452A1 publication Critical patent/WO2016126452A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
    • B60R2011/0026—Windows, e.g. windscreen
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R2011/0294—Apparatus with multi-functionalities, e.g. radio and telephone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness

Definitions

  • This invention relates to sensor systems on vehicle of the type suitable for autonomously driven vehicles.
  • a sensor 12 will have a predetermined spread or "cone" of sensing within which it optimally works, as seen in Figure 1, and labeled O.C.
  • O.C is centered about the lateral or X axis of the vehicle 10, normal to the length or Y axis. It's desirable as well to have the flexibility to place such sensors so as to get full perimeter sensing, perhaps with some overlap, but certainly with no significant gap. As seen in Figure 1, this is relatively simple when the sides of the vehicle 10 to which the side sensors 12 are mounted form substantially right angles with the front.
  • the sensors 12 on the front side can be easily mounted near the front corner of the vehicle 10, potentially inside the outer skin of the vehicle 10, protected and facing in the optimal sensing direction, with the sensing cone OC essentially centered on the X or lateral axis of the vehicle 10.
  • the central sensors 14 on the can be easily mounted centered near the front of the vehicle 10, potentially inside the outer skin of the vehicle 10, protected and facing in the optimal sensing direction, with the sensing cone OC centered on the longitudinal axis Y.
  • the front side sensors 12 are placed interior to the rounded front perimeter surface 16, while the sensor 12 is protected and aerodynamic, its sensing cone, indicated at SC to distinguish, diverges substantially from the optimal sensing cone OC by a differential angle alpha.
  • the subject invention provides a mounting for the front side sensors which gives environmental and structural protection, with minimal disturbance to the aerodynamic profile of the vehicle, as well as a closer to optimal sensing location.
  • a front side mounted sensor is fixed to the vehicle body in an orientation that is tipped away from its optimal orientation in terms of sensing, but also tipped away from a position where it can be entirely enclosed inside the perimeter surface of the curved front side of the vehicle. Instead, it is oriented with a leading corner edge outset from, and a trailing corner edge inset from, that perimeter surface. This orients the sensor closer to, but not right at, the optimal orientation that it could have if the perimeter surface of the vehicle were squared off, rather than curved.
  • the senor is covered by a combination of lens and trim piece that together smooth the transition between the perimeter surface and the sensor location, thereby largely preserving the aerodynamics, while covering and protecting the sensor.
  • Figure 1 is a plan view of the front of a prior art sensor placement as described above;
  • Figure 2 is a plan view of another example of a prior art sensor placement;
  • Figure 3 shows an obvious variant of Figure 1
  • Figure 4 shows a plan view of a preferred embodiment of the sensor placement of the invention.
  • Figure 5 is a schematic showing the orientation of a sensor.
  • Figure 6 is a view of the lens cover and trim piece used to cover the sensor
  • Figure 7 is a view of just the lens
  • Figure 8 is a view of a typical LIDAR sensor
  • Figure 9 is an enlarged perspective view of the front of the vehicle.
  • LIDAR is not an acronym, as is commonly believed, but is shorthand for Light Detection and Ranging, an amalgam of Light and Radar. In effect, it is a ranging radar that uses laser light instead of radio waves. LIDAR uses ultraviolet, visible or near infrared light to image objects, and is capable of doing so with a very high level of resolution. Two types of pulse models are available, micropulse, and high energy, with the lower energy, "eye safe" systems being preferable for mobile sensing applications, as here.
  • LIDAR 12 is an ibeo LUX 2010 Laserscanner, referred to hereafter simply as LIDAR 12 for convenience. It is of the general type described above, with a sensing cone SC as described above of approximately 100 degrees symmetrically arrayed about its center. It is roughly a rectangular prism, with a length L of
  • the rectangular prism within which the sensor 12 is contained has a leading or front corner edge 20 and a trailing or rear corner edge 22, both of which are contiguous to the front face 24 of sensor 12, but are designated front and rear in terms of the location relative to the front and rear of the vehicle 10'. As the driver side front sensor 12 is shown, the front and rear edge designation would be reversed if the sensor were to be mounted on the passenger side.
  • the essential point is that the front face 24 of the sensor 12 is bounded by two edges 22 and 24, which are oriented as described next to achieve the desired result.
  • sensor 12 is mounted to the vehicle, and relative to the line 16 that defines the front surface 16 of vehicle 10', in an orientation that tips the leading corner edge 20 outside of, and the trailing corner concurrently inside of, the front surface 16, so as to bring the front face 26 of the sensor closer toward a position parallel to the length axis of the vehicle, that is, closer than it would be if both corner edges 22 and 24 were inboard of the front surface 16. Again, by comparison, both corners are in that inboard location as shown in Figure 3.
  • the angle of tip T is approximately 45 degrees, though it could be more or less, likely anywhere in a range of 70 to 10 degrees, or any subrange thereof.
  • the point is, that by tipping the leading or front corner edge outboard of, and the rear of trailing corner edge inboard of the front perimeter surface of the vehicle, the sensor is placed in the orientation of Figure 4, which is closer to the ideal orientation of Figure 2 than it would be if it were mounted entirely inboard of perimeter surface 16, as shown in Figure 3.
  • a translucent or transparent polycarbonate or acrylic glass cover indicated generally at 28, which is generally L shaped, with a shorter leading leg 30 and longer trailing leg 32.
  • cover 28 can be tinted to match or blend with a desired vehicle body color, such as light gray, so long as it is
  • Cover 28 is mounted within a perimeter trim piece 34 that is fitted to the front of vehicle 10' so as to orient the cover 28 over sensor 12, with the longer, trailing leg 32 generally parallel to sensor front surface 26, and with shorter, leading leg 30 located over the sensor front or leading corner edge 20.
  • both legs 30 and 32 intersect and generally blend into the vehicle front surface 16, thereby creating an aerodynamic profile that does not depart very far from the original surface 16.
  • the seal between the cover 28 and trim piece 34, and in turn between the supporting the trim piece 34 and the vehicle body, is weather tight and protective.
  • the cover 28 presents a relatively smooth and aerodynamic profile.
  • the short, leading leg 30 presents a convex, wind cutting profile while the longer leg 32 presents a longer and less abrupt trailing profile that steadies the air currents and does not become concave relative to the front surface 16 until relatively close to its own trailing edge. That trailing edge concavity can, depending of the angle of tip, be minimized.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

A sensor (12) mounting arrangement suitable for an autonomous or automated vehicle (10') having an aerodynamic generally rounded or curved front perimeter surface (16) symmetrically arranged relative to a longitudinal axis of the vehicle (10'). The sensor (12) is mounted so as to be tipped toward a more optimal sensing direction, bringing a leading portion outboard of, and a trailing portion inboard of, the ideal front perimeter surface (16), but putting the sensor (12) in a more optimal sensing orientation. A transparent cover (28) protects the sensor (12) and blends aerodynamically into the front perimeter body surface.

Description

AUTOMATED VEHICLE WITH PROTECTED AND AERODYNAMICALLY
LOCATED SENSORS
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims the benefit under 35 U.S.C. § 119(e) of U.S.
Provisional Patent Application No. 62/112,783, filed February 6, 2015, the entire disclosure of which is hereby incorporated herein by reference.
TECHNICAL FIELD OF INVENTION
[0002] This invention relates to sensor systems on vehicle of the type suitable for autonomously driven vehicles.
BACKGROUND OF INVENTION
[0003] Autonomously driven vehicles, and other vehicles using sensors as part of a safety system, utilize radar, LIDAR, sonar, and other sensors mounted around the perimeter of the vehicle to sense the vehicle surroundings. Increasingly, it is desirable that the surroundings be sensed all around the perimeter of the vehicle 10, a full 360 degrees. Typically, a sensor 12 will have a predetermined spread or "cone" of sensing within which it optimally works, as seen in Figure 1, and labeled O.C. O.C is centered about the lateral or X axis of the vehicle 10, normal to the length or Y axis. It's desirable as well to have the flexibility to place such sensors so as to get full perimeter sensing, perhaps with some overlap, but certainly with no significant gap. As seen in Figure 1, this is relatively simple when the sides of the vehicle 10 to which the side sensors 12 are mounted form substantially right angles with the front.
[0004] With a flat fronted vehicle, the sensors 12 on the front side can be easily mounted near the front corner of the vehicle 10, potentially inside the outer skin of the vehicle 10, protected and facing in the optimal sensing direction, with the sensing cone OC essentially centered on the X or lateral axis of the vehicle 10. The central sensors 14 on the can be easily mounted centered near the front of the vehicle 10, potentially inside the outer skin of the vehicle 10, protected and facing in the optimal sensing direction, with the sensing cone OC centered on the longitudinal axis Y.
[0005] As seen in Figure 2, the situation is not as optimal with a vehicle 10' in which the perimeter surface 16 of the front end or grill is rounded, both for aesthetic and aerodynamic considerations, wrapping around to the sides of the vehicle 10'. This is far more typical for non-commercial passenger vehicles. Then, in order to place the front side mounted sensors 12 in an equivalent position, they must be placed on an exterior bracket 18, exposed and non-aerodynamic. This places the optimal cone OC of the sensor 12 in substantially the identical position to Figure 1, but with the obvious drawbacks noted. If, instead, as shown in Figure 3, the front side sensors 12 are placed interior to the rounded front perimeter surface 16, while the sensor 12 is protected and aerodynamic, its sensing cone, indicated at SC to distinguish, diverges substantially from the optimal sensing cone OC by a differential angle alpha. SUMMARY OF THE INVENTION
[0006] The subject invention provides a mounting for the front side sensors which gives environmental and structural protection, with minimal disturbance to the aerodynamic profile of the vehicle, as well as a closer to optimal sensing location.
[0007] In the preferred embodiment disclosed, a front side mounted sensor is fixed to the vehicle body in an orientation that is tipped away from its optimal orientation in terms of sensing, but also tipped away from a position where it can be entirely enclosed inside the perimeter surface of the curved front side of the vehicle. Instead, it is oriented with a leading corner edge outset from, and a trailing corner edge inset from, that perimeter surface. This orients the sensor closer to, but not right at, the optimal orientation that it could have if the perimeter surface of the vehicle were squared off, rather than curved.
[0008] Once fixed, the sensor is covered by a combination of lens and trim piece that together smooth the transition between the perimeter surface and the sensor location, thereby largely preserving the aerodynamics, while covering and protecting the sensor.
[0009] Further features and advantages will appear more clearly on a reading of the following detailed description of the preferred embodiment, which is given by way of non-limiting example only and with reference to the accompanying drawings.
BRIEF DESCRIPTION OF DRAWINGS
[0010] The present invention will now be described, by way of example with reference to the accompanying drawings, in which:
[0011] Figure 1 is a plan view of the front of a prior art sensor placement as described above; [0012] Figure 2 is a plan view of another example of a prior art sensor placement;
[0013] Figure 3 shows an obvious variant of Figure 1;
[0014] Figure 4 shows a plan view of a preferred embodiment of the sensor placement of the invention.
[0015] Figure 5 is a schematic showing the orientation of a sensor.
[0016] Figure 6 is a view of the lens cover and trim piece used to cover the sensor
[0017] Figure 7 is a view of just the lens;
[0018] Figure 8 is a view of a typical LIDAR sensor; and
[0019] Figure 9 is an enlarged perspective view of the front of the vehicle.
DETAILED DESCRIPTION
[0020] Referring first to Figure 4, the mounting of front side sensor 12, described in more detail below, puts the sensing cone SC nearer to the optimal cone location OC, differing therefrom by a smaller differential angle Beta. This is done in such a way as to give sensor 12 complete environmental protection, while substantially preserving the aerodynamic profile.
[0021] Referring next to Figure 8, details of a typical LIDAR sensor 12 are disclosed. While the invention is not limited to such a sensor, it is a typical one in the location indicated for autonomous vehicles. LIDAR is not an acronym, as is commonly believed, but is shorthand for Light Detection and Ranging, an amalgam of Light and Radar. In effect, it is a ranging radar that uses laser light instead of radio waves. LIDAR uses ultraviolet, visible or near infrared light to image objects, and is capable of doing so with a very high level of resolution. Two types of pulse models are available, micropulse, and high energy, with the lower energy, "eye safe" systems being preferable for mobile sensing applications, as here. The particular LIDAR device 12 or 14 used here, though the invention is not limited to such, is an ibeo LUX 2010 Laserscanner, referred to hereafter simply as LIDAR 12 for convenience. It is of the general type described above, with a sensing cone SC as described above of approximately 100 degrees symmetrically arrayed about its center. It is roughly a rectangular prism, with a length L of
approximately 150 mm, a width W of approximately 90 millimeters (at the front) and a depth D of approximately 90 mm. The rectangular prism within which the sensor 12 is contained has a leading or front corner edge 20 and a trailing or rear corner edge 22, both of which are contiguous to the front face 24 of sensor 12, but are designated front and rear in terms of the location relative to the front and rear of the vehicle 10'. As the driver side front sensor 12 is shown, the front and rear edge designation would be reversed if the sensor were to be mounted on the passenger side. The essential point is that the front face 24 of the sensor 12 is bounded by two edges 22 and 24, which are oriented as described next to achieve the desired result.
[0022] Referring next to Figure 5, sensor 12 is mounted to the vehicle, and relative to the line 16 that defines the front surface 16 of vehicle 10', in an orientation that tips the leading corner edge 20 outside of, and the trailing corner concurrently inside of, the front surface 16, so as to bring the front face 26 of the sensor closer toward a position parallel to the length axis of the vehicle, that is, closer than it would be if both corner edges 22 and 24 were inboard of the front surface 16. Again, by comparison, both corners are in that inboard location as shown in Figure 3. Considering the line that defines the front surface 16 to be essentially straight at the point where the plane of sensor front surface 26 crosses it in Figure 5, the angle of tip T is approximately 45 degrees, though it could be more or less, likely anywhere in a range of 70 to 10 degrees, or any subrange thereof. The point is, that by tipping the leading or front corner edge outboard of, and the rear of trailing corner edge inboard of the front perimeter surface of the vehicle, the sensor is placed in the orientation of Figure 4, which is closer to the ideal orientation of Figure 2 than it would be if it were mounted entirely inboard of perimeter surface 16, as shown in Figure 3.
[0023] Referring next to Figures 5, 6 and 7, the protection of sensor 12 from the ambient is provided by a translucent or transparent polycarbonate or acrylic glass cover, indicated generally at 28, which is generally L shaped, with a shorter leading leg 30 and longer trailing leg 32. Being transparent or translucent, cover 28 can be tinted to match or blend with a desired vehicle body color, such as light gray, so long as it is
operationally transparent to infrared light. In the case of some other sensor, the cover would be of a material "transparent" to whatever signal it emitted and or received, such as radio waves. Cover 28 is mounted within a perimeter trim piece 34 that is fitted to the front of vehicle 10' so as to orient the cover 28 over sensor 12, with the longer, trailing leg 32 generally parallel to sensor front surface 26, and with shorter, leading leg 30 located over the sensor front or leading corner edge 20.
[0024] Referring next to Figure 9, it can be seen that the surfaces of both legs 30 and 32 intersect and generally blend into the vehicle front surface 16, thereby creating an aerodynamic profile that does not depart very far from the original surface 16. The seal between the cover 28 and trim piece 34, and in turn between the supporting the trim piece 34 and the vehicle body, is weather tight and protective. The cover 28 presents a relatively smooth and aerodynamic profile. Specifically, the short, leading leg 30 presents a convex, wind cutting profile while the longer leg 32 presents a longer and less abrupt trailing profile that steadies the air currents and does not become concave relative to the front surface 16 until relatively close to its own trailing edge. That trailing edge concavity can, depending of the angle of tip, be minimized.
[0025] While this invention has been described in terms of the preferred embodiments thereof, it is not intended to be so limited, but rather only to the extent set forth in the claims that follow.

Claims

WE CLAIM:
1. In a vehicle (10') having a generally curved front perimeter body surface that is generally symmetrically defined about a longitudinal body axis, and a side mounted sensor (12) having a generally planar, outwardly facing front surface (16) defined between leading and trailing corner edges (22), a sensor (12) mounting comprising,
said leading sensor (12) edge being mounted to said vehicle (10') with said leading corner edge (20) outboard of, and said trailing corner edge inboard of, said perimeter surface (16), and a substantially transparent cover (28) mounted to said vehicle (10') so as to cover (28) said sensor (12) in a weather tight fashion and so as to blend aerodynamically into said front perimeter surface (16).
2. A mounting according to claim 1, in which said sensor (12) is a lidar (12) unit and said cover (28) is transparent to light.
3. A mounting according to claim 1, in which said sensor (12) cover (28) has a
relatively short leg covering said sensor (12) leading corner edge (20) and a relatively longer leg (32) covering said sensor front surface (26).
4. A mounting according to claim 1 in which said cover (28) is in turn mounted in a trim piece (34) fixed to said vehicle (10').
PCT/US2016/014797 2015-02-06 2016-01-26 Automated vehicle protected and aerodynamically located sensors Ceased WO2016126452A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/549,025 US10525901B2 (en) 2015-02-06 2016-01-26 Automated vehicle protected and aerodynamically located sensors

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562112783P 2015-02-06 2015-02-06
US62/112,783 2015-02-06

Publications (1)

Publication Number Publication Date
WO2016126452A1 true WO2016126452A1 (en) 2016-08-11

Family

ID=56564487

Family Applications (3)

Application Number Title Priority Date Filing Date
PCT/US2015/064283 Ceased WO2016126322A1 (en) 2015-02-06 2015-12-07 Autonomous vehicle with unobtrusive sensors
PCT/US2016/014797 Ceased WO2016126452A1 (en) 2015-02-06 2016-01-26 Automated vehicle protected and aerodynamically located sensors
PCT/US2016/016045 Ceased WO2016126626A1 (en) 2015-02-06 2016-02-02 Concealed mounting for autonomous vehicle sensor

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/US2015/064283 Ceased WO2016126322A1 (en) 2015-02-06 2015-12-07 Autonomous vehicle with unobtrusive sensors

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/US2016/016045 Ceased WO2016126626A1 (en) 2015-02-06 2016-02-02 Concealed mounting for autonomous vehicle sensor

Country Status (2)

Country Link
US (3) US20170371036A1 (en)
WO (3) WO2016126322A1 (en)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10800329B2 (en) 2010-04-19 2020-10-13 SMR Patents S.à.r.l. Rear view mirror simulation
US10703299B2 (en) 2010-04-19 2020-07-07 SMR Patents S.à.r.l. Rear view mirror simulation
US11237556B2 (en) 2012-06-22 2022-02-01 Knowm, Inc. Autonomous vehicle
US10678261B2 (en) 2015-02-06 2020-06-09 Aptiv Technologies Limited Method and apparatus for controlling an autonomous vehicle
US20180012492A1 (en) 2015-02-06 2018-01-11 Delphi Technologies, Inc. Method of automatically controlling an autonomous vehicle based on electronic messages from roadside infrastructure or other vehicles
US20170371036A1 (en) * 2015-02-06 2017-12-28 Delphi Technologies, Inc. Autonomous vehicle with unobtrusive sensors
CN107757613A (en) * 2016-08-15 2018-03-06 法乐第(北京)网络科技有限公司 A kind of turn inside diameter householder method and device
US10434924B2 (en) 2016-09-09 2019-10-08 Dematic Corp. Free ranging automated guided vehicle and operational system
DE102016011647A1 (en) 2016-09-26 2018-03-29 Blickfeld GmbH Excitation of fibers with bending piezoactuators
US10564261B2 (en) 2017-05-11 2020-02-18 Ford Global Technologies, Llc Autonomous vehicle LIDAR mirror
DE102017214020B4 (en) * 2017-08-11 2023-12-21 Audi Ag Motor vehicle with several radar sensors for detecting the surroundings
CN107672599B (en) * 2017-09-06 2020-09-22 北京汽车集团越野车有限公司 Radar system control method and device and automobile
CN108399753B (en) * 2018-03-01 2020-08-11 山东建筑大学 Vehicle track tracking method and system based on ultrasonic wave recording information
CN108540934A (en) * 2018-04-23 2018-09-14 湖南汽车工程职业学院 A kind of automatic Pilot distance detection device
US10921819B2 (en) 2018-08-28 2021-02-16 Asi Technologies, Inc. Automated guided vehicle system and automated guided vehicle for use therein
CN109085840B (en) * 2018-09-21 2022-05-27 大连维德集成电路有限公司 Vehicle navigation control system and control method based on binocular vision
CN109460025A (en) * 2018-11-16 2019-03-12 北汽福田汽车股份有限公司 The control device and system of vehicle
CN109375635A (en) * 2018-12-20 2019-02-22 安徽江淮汽车集团股份有限公司 A kind of autonomous driving vehicle road environment sensory perceptual system and method
CN109743688A (en) * 2019-01-03 2019-05-10 南通理工学院 Communication system for networking automobile technology communication
CN110264586A (en) * 2019-05-28 2019-09-20 浙江零跑科技有限公司 L3-level automatic driving system road driving data collection, analysis and upload method
SE543613C2 (en) * 2019-06-13 2021-04-20 Scania Cv Ab A cover device, a sensor arrangement comprising such a cover device and a vehicle comprising such a cover device
CN112305499B (en) * 2019-08-02 2024-06-21 华为云计算技术有限公司 A method and device for positioning based on light source
DE102019122206B4 (en) * 2019-08-19 2021-07-08 Webasto SE Roof module to form a vehicle roof with a surrounding sensor
CN111402630B (en) * 2020-03-11 2022-01-18 浙江吉利汽车研究院有限公司 Road early warning method, device and storage medium
US12172582B2 (en) 2022-06-24 2024-12-24 Honda Motor Co., Ltd. Multiple side component mount on casting for sensor packaging
US20230415833A1 (en) * 2022-06-24 2023-12-28 Honda Motor Co., Ltd. Applique attachment on casting
DE102022120705A1 (en) 2022-08-16 2024-02-22 Volkswagen Aktiengesellschaft Rear bodywork end part of a motor vehicle, motor vehicle and method for producing a rear bodywork end part of a motor vehicle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07190732A (en) * 1993-12-27 1995-07-28 Sumitomo Wiring Syst Ltd Collision sensor for vehicle
JP2010260493A (en) * 2009-05-11 2010-11-18 Honda Motor Co Ltd Bumper structure
US20130127190A1 (en) * 2010-04-13 2013-05-23 Toyota Jidosha Kabushiki Kaisha Pedestrian collision detection device
US8480142B2 (en) * 2011-02-04 2013-07-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Screening panel for a sensor unit of a motor vehicle
US20140204599A1 (en) * 2011-08-08 2014-07-24 Fu-se Vacuum Forming CO., LTD. Vehicle functional component

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4410895B4 (en) * 1994-03-29 2004-11-25 Robert Bosch Gmbh Method and device for concealed installation of an ultrasonic sensor in an outer part of a motor vehicle
FR2791147B1 (en) * 1999-03-19 2002-08-30 Saint Gobain Vitrage ELECTROCHEMICAL DEVICE OF THE ELECTROCOMMANDABLE DEVICE TYPE WITH VARIABLE OPTICAL AND / OR ENERGY PROPERTIES
DE19947766A1 (en) * 1999-10-02 2001-05-10 Bosch Gmbh Robert Device for monitoring the surroundings of a parking vehicle
JP4088100B2 (en) * 2002-05-14 2008-05-21 株式会社村上開明堂 Rearview mirror with built-in camera
US7725258B2 (en) * 2002-09-20 2010-05-25 M7 Visual Intelligence, L.P. Vehicle based data collection and processing system and imaging sensor system and methods thereof
EP1817784B1 (en) * 2004-12-03 2009-04-29 Magna International Inc Non-contact dead front actuation system
JP2007106199A (en) * 2005-10-12 2007-04-26 Mitsuba Corp Vehicle periphery monitor device
US7504957B2 (en) * 2006-01-10 2009-03-17 Guardian Industries Corp. Light sensor embedded on printed circuit board
JP2012505115A (en) * 2008-10-08 2012-03-01 デルファイ・テクノロジーズ・インコーポレーテッド Integrated radar-camera sensor
US20100238006A1 (en) * 2009-03-17 2010-09-23 Ford Global Technologies, Llc Concealed display for an external surface of a vehicle
CN102460000B (en) * 2009-04-24 2016-08-10 3M创新有限公司 Lamp assembly
DE102009048493A1 (en) * 2009-09-25 2011-04-07 Valeo Schalter Und Sensoren Gmbh A driver assistance system for a vehicle, vehicle with a driver assistance system, and method for assisting a driver in driving a vehicle
US9069059B2 (en) * 2010-05-13 2015-06-30 Laser Lions LLC Concealed light detection and ranging system
DE102010034140A1 (en) * 2010-08-12 2012-02-16 Valeo Schalter Und Sensoren Gmbh Method for displaying images on a display device and driver assistance system
DE102012101781B4 (en) * 2012-03-02 2014-07-10 Continental Automotive Gmbh Support frame for sensor devices in vehicles
US20170371036A1 (en) * 2015-02-06 2017-12-28 Delphi Technologies, Inc. Autonomous vehicle with unobtrusive sensors
US10144424B2 (en) * 2015-04-09 2018-12-04 Toyota Jidosha Kabushiki Kaisha Arrangement structure for vicinity information detection sensor
US10829044B2 (en) * 2016-08-08 2020-11-10 Koito Manufacturing Co., Ltd. Vehicle monitoring system using a plurality of cameras
JP6786302B2 (en) * 2016-08-12 2020-11-18 株式会社小糸製作所 Lighting device
US10514303B2 (en) * 2017-06-29 2019-12-24 Ford Global Technologies, Llc Sensor pod with breathable cabin interface
CN111108409A (en) * 2017-09-20 2020-05-05 株式会社小糸制作所 Vehicle exterior panel with sensor
US10668793B2 (en) * 2018-01-05 2020-06-02 Toyota Motor Engineering & Manufacturing North America, Inc. Retractable autonomous roof panel

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07190732A (en) * 1993-12-27 1995-07-28 Sumitomo Wiring Syst Ltd Collision sensor for vehicle
JP2010260493A (en) * 2009-05-11 2010-11-18 Honda Motor Co Ltd Bumper structure
US20130127190A1 (en) * 2010-04-13 2013-05-23 Toyota Jidosha Kabushiki Kaisha Pedestrian collision detection device
US8480142B2 (en) * 2011-02-04 2013-07-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Screening panel for a sensor unit of a motor vehicle
US20140204599A1 (en) * 2011-08-08 2014-07-24 Fu-se Vacuum Forming CO., LTD. Vehicle functional component

Also Published As

Publication number Publication date
US20170371036A1 (en) 2017-12-28
US10525901B2 (en) 2020-01-07
US20180037171A1 (en) 2018-02-08
US20180031696A1 (en) 2018-02-01
WO2016126322A1 (en) 2016-08-11
WO2016126626A1 (en) 2016-08-11

Similar Documents

Publication Publication Date Title
US10525901B2 (en) Automated vehicle protected and aerodynamically located sensors
ES2375080T3 (en) GLASS PANEL THAT HAS AN ELECTROMAGNETIC RADIATION DETECTOR.
US12214727B2 (en) Vehicular exterior rearview mirror assembly with extendable and retractable mirror head
EP3895413B1 (en) Common cover lens for camera and illuminators
EP2380776B1 (en) Side rear view mirror assembly indicator of blind spot occupancy
US10114218B2 (en) Head up display device
EP3405992B1 (en) Antenna module for a motor vehicle, driver assistance system as well as motor vehicle
ES2821916T3 (en) Vehicle composite moon with optimized beam path for a sensor mounted on it
CN102834298A (en) Camera arrangement for vehicle
US20230055797A1 (en) Vehicle Roof Comprising a Support and a Roof Module
KR101185834B1 (en) Helmet shield including ventilation structure
US20200124848A1 (en) Head-up display
ES2676561T3 (en) Vehicle glass with an optical filter
ES2824524T3 (en) Vehicle window with light-conducting body for one sensor
CN114502369A (en) Lidar detection device provided with laminated protective layer
US20210237403A1 (en) Laminated vehicle pane with opaque polymeric film
US20230194670A1 (en) Baffle of a detection device for automotive vehicle
US20200014101A1 (en) Radome
CN112074426A (en) Vehicle with external sun visor and sensor unit connected thereto
CN118651173A (en) Sensor module arranged on a vehicle panel member and related top module
ES2551513B2 (en) Proximity light for motor vehicle
CN208469707U (en) A kind of sensor sensing device for automatic Pilot
US10137835B2 (en) Rear imaging device
ES2951209T3 (en) Radome for vehicles
US20220266917A1 (en) A Roof Module Having an Environment Sensor

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16746971

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16746971

Country of ref document: EP

Kind code of ref document: A1