WO2020198945A1 - 应用于车辆的传感器支架、传感器模块和车辆 - Google Patents

应用于车辆的传感器支架、传感器模块和车辆 Download PDF

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Publication number
WO2020198945A1
WO2020198945A1 PCT/CN2019/080449 CN2019080449W WO2020198945A1 WO 2020198945 A1 WO2020198945 A1 WO 2020198945A1 CN 2019080449 W CN2019080449 W CN 2019080449W WO 2020198945 A1 WO2020198945 A1 WO 2020198945A1
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WO
WIPO (PCT)
Prior art keywords
sensor
support
vehicle
vehicle according
bracket
Prior art date
Application number
PCT/CN2019/080449
Other languages
English (en)
French (fr)
Inventor
周中琴
黄永结
贾鑫宇
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/080449 priority Critical patent/WO2020198945A1/zh
Priority to CN201980004984.1A priority patent/CN111225831B/zh
Publication of WO2020198945A1 publication Critical patent/WO2020198945A1/zh

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    • 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
    • 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
    • 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
    • G01S13/88—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
    • 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
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • 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
    • 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
    • B60R2011/0028—Ceiling, e.g. roof rails
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • This application relates to the technical field of vehicle automatic driving, and in particular to a sensor bracket, a sensor module and a vehicle applied to a vehicle.
  • Self-driving cars can realize 360-degree perception of the surrounding environment through multiple sensors, and conduct autonomous navigation to lead passengers to their destinations.
  • the selection and location design of different types of sensors will have an important impact on the calibration, environment perception, control decision-making and other modules of the multi-sensor in the automatic driving system.
  • Different sensors have their own strengths and weaknesses. For example, visible light cameras can detect various vehicles and pedestrians, but they may have a greater probability of false detection when the light is too strong or too dark.
  • Lidar cannot provide color information, However, it can provide stable distance detection information, which is of great significance for automatic obstacle avoidance; in addition, sensors such as wheel odometer, ultrasonic, millimeter wave radar have important practical value for car navigation and positioning and environmental perception. .
  • the sensors for autonomous driving technology mainly include external sensors and built-in sensors.
  • External sensors also include two solutions: installing corresponding sensors at various positions of the car shell, and sensors exposed outside the car.
  • the built-in sensor solution is to install corresponding sensors in various positions in the car.
  • the embodiments of the present application provide a sensor bracket, a sensor module, and a vehicle applied to a vehicle, so as to realize the integrated installation of the first sensor and the second sensor. Compared with independent installation, the structure and structure of the vehicle can be reduced. The appearance is damaged and easy to install.
  • an embodiment of the present application provides a sensor bracket applied to a vehicle.
  • the sensor bracket includes a first support member, a second support member, and a mounting member, and the first support member and the second support member are connected ,
  • the first support member is used to install the first sensor
  • the second support member is used to install the second sensor, and fix the relative position between the first sensor and the second sensor, and transmit or collect
  • the mounting member is used to connect with the vehicle, so that the sensor bracket is fixed on the vehicle.
  • an embodiment of the present application provides a sensor module applied to a vehicle, including a first sensor, a second sensor, and a sensor bracket.
  • the sensor bracket includes a first support, a second support, and a mounting member.
  • the first support is connected to the second support, the first sensor is mounted on the first support, the second sensor is mounted on the second support, and the first sensor is connected to the second support.
  • the relative positions of the second sensors are fixed, and the information in the same direction is transmitted or collected, and the mounting member is used for connecting with the vehicle, so that the sensor bracket is fixed on the vehicle.
  • an embodiment of the present application provides a vehicle on which the sensor module described in the second aspect is applied to the vehicle.
  • the sensor bracket applied to a vehicle provided by the first aspect of the application the sensor bracket is used to integrate the first sensor and the second sensor, and then the sensor bracket is connected and fixed to the vehicle through the mounting piece, which reduces the trouble when multiple sensors are installed independently. Damage to the structure and appearance of the vehicle.
  • the first sensor and the second sensor are integrated and installed on the sensor bracket, and then connected and fixed to the vehicle through the mounting member, which reduces the risk of the vehicle when multiple sensors are installed independently. Destruction of structure and appearance.
  • the vehicle provided by the third aspect of the present application is provided with a sensor module, which enables the vehicle to detect object information while reducing damage to the structure and appearance of the vehicle caused by the separate installation of multiple sensors, and facilitates the installation of unified wiring .
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a sensor module according to an embodiment
  • FIG. 2 is a schematic front view of the structure of the sensor module of FIG. 1;
  • FIG. 3 is a schematic top view of the structure of the sensor module of FIG. 1;
  • FIG. 4 is a schematic diagram of the right side structure of the sensor module of FIG. 1;
  • FIG. 5 is a schematic bottom view of the structure of the sensor module of FIG. 1;
  • Fig. 6 is a schematic diagram of a three-dimensional structure of a vehicle according to an embodiment.
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • an embodiment of the present application provides a sensor module 100 applied to a vehicle 1000, including a first sensor 101, a second sensor 102, and a sensor bracket.
  • the sensor bracket includes a first support 10, a second support 20, a wiring plug 40 and a mounting member (not shown in the figure).
  • connection mode may be direct connection or indirect connection.
  • first support 10 and the second support 20 are indirectly connected, that is, both the first support 10 and the second support 20 are connected to the main body 50.
  • first support 10 and the second support 20 are directly connected.
  • the first sensor 101 is mounted on the first support 10 and the second sensor 102 is mounted on the second support 20.
  • the first sensor 101 and the second sensor 102 are installed in a detachable connection.
  • the first support 10 and the second support 20 are provided with mounting grooves, mounting holes and other structures, and the first sensor 101 and the second sensor 102 are clamped and screwed to the mounting grooves, mounting holes and other structures to realize the first
  • the connection between one sensor 101 and the second sensor 102 is fixed.
  • the first sensor 101 is non-removably connected to the first support 10
  • the second sensor 102 is non-removably connected to the second support 20. Therefore, the relative position between the first sensor 101 and the second sensor 102 is fixed.
  • the connection plug 40 is used to electrically connect the first sensor 101 and the second sensor 102 and to the vehicle 1000.
  • the wiring plug 40 may be a wiring plug connected to the vehicle 1000 and simultaneously connected to the first sensor 101 and the second sensor 102; the wiring plug 40 may also include multiple wiring plugs to be connected to the first sensor 101 and the second sensor 102 respectively.
  • the wiring plug 40 includes a first wiring plug 41 and a second wiring plug 42.
  • the first wiring plug 41 is used to connect to the first sensor 101
  • the second wiring plug 42 is used to connect to the second sensor 102.
  • the first wiring plug 41 and the second wiring plug 42 provide electrical signals or receive electrical signals for the first sensor 101 and the second sensor 102, respectively.
  • the first connection plug 41 and the second connection plug 42 also supply power to the first sensor 101 and the second sensor 102, respectively, that is, realize the functions of transmitting electric signals and powering at the same time.
  • the wiring plug 40 is integrated into one, that is, a unified wiring plug 40 is electrically connected to the first sensor 101 and the second sensor 102 at the same time.
  • the integrated wiring plug 40 provides or receives electrical signals for the first sensor 101 and the second sensor 102 at the same time.
  • the integrated wiring plug 40 also supplies power to the first sensor 101 and the second sensor 102 at the same time, that is, simultaneously realizes the function of transmitting electrical signals and currents.
  • the mounting member can be a mounting hole, a mounting slot, or a buckle provided on the sensor bracket.
  • the mounting member is used to connect with the vehicle 1000 so that the sensor module 100 is fixed on the vehicle 1000.
  • the connection mode can be screw connection, snap connection, buckle connection, etc.
  • the first sensor 101 and the second sensor 102 are integrated and installed on the sensor bracket, and then connected and fixed to the vehicle 1000 by the mounting member, which reduces the damage to the structure and appearance of the vehicle when multiple sensors are installed independently.
  • the relative positions of the first sensor 101 and the second sensor 102 are fixed, the calibration between the first sensor 101 and the second sensor 102 is not required.
  • the position of the other sensor is automatically determined. Instead of adjusting the position of each sensor when the first sensor 101 and the second sensor 102 are installed independently, the difficulty of installation is reduced, and there is no need to calibrate the relative position between the first sensor 101 and the second sensor 102.
  • the first sensor 101 and the second sensor 102 when the first sensor 101 and the second sensor 102 are active sensors, such as millimeter wave radar, ultrasonic radar, and lidar, the first sensor 101 and the second sensor 102 can emit detection signals,
  • the detection signal can be electromagnetic waves, ultrasonic waves or lasers, etc.
  • the first sensor 101 and the second sensor 102 receive the reflected detection signal, thereby Collect the information of the object.
  • the first sensor 101 and the second sensor 102 are passive sensors, such as a visible light camera, the first sensor 101 and the second sensor 102 do not emit light, but instead receive the light reflected from the object by the ambient light And form an image to collect information about the object.
  • the first sensor 101 and the second sensor 102 are the same type of sensor and have the same function.
  • the first sensor 101 and the second sensor 102 are both visible light cameras, and the combination of the first sensor 101 and the second sensor 102 forms a binocular vision depth imaging system, which is similar to the eyes of a person.
  • the information of the collected object is easy to calculate distance.
  • the specific principle of the binocular vision depth imaging system can be referred to the prior art, which will not be repeated here.
  • the first sensor 101 and the second sensor 102 are different sensors with different functions.
  • the first sensor 101 is a millimeter wave radar
  • the second sensor 102 is a lidar
  • the first sensor 101 emits electromagnetic waves that are reflected by the object and collected by the first sensor 101
  • the second sensor 102 emits laser light that is emitted by the object and is emitted by the second sensor 102 collection.
  • Millimeter wave radar and lidar detect object information in the same direction at the same time.
  • the two technical methods detect objects. Using multiple sensors in the same environment can obtain mutually redundant data. Compared with the technical solution of only one radar, it is improved The accuracy and credibility of the collected object information data.
  • the distance between the object and the vehicle 1000 can be obtained by calculation, so that it can be judged whether the vehicle 1000 is safe.
  • the calculation and judgment of the information of the object can be carried out through the sensor module or the vehicle 1000.
  • the calculation and judgment process usually involves the participation of a processor, and the specific calculation and judgment are not limited here.
  • the first sensor 101 and the second sensor 102 are used to transmit or collect information in the same direction.
  • the first sensor 101 and the second sensor 102 simultaneously transmit or collect information in front of the vehicle 1000.
  • the first sensor 101 and the second sensor 102 emit or collect information in the same direction, which means that the first sensor 101 and the second sensor 102 can emit or collect information in a certain field of view in front of the vehicle.
  • the information of the horizontal field of view 160° and the information of the vertical field of view 60° are jointly transmitted or collected.
  • the field of view can also be any other angle; it should be understood that the first sensor 101 and the second sensor 102 emit Or collecting information in the same direction does not necessarily mean that the two sensors are facing the same direction.
  • the direction of the optical axis of the two cameras is the same, and it does not necessarily require that the two cameras emit or collect the same viewing angle, or they can be different, such as partially overlapping. Either adjacent or separated, there is no limitation here.
  • the first sensor 101 and the second sensor 102 emit or collect information in the same direction, so that the six directions of the front, rear, left, right, up and down of the vehicle 1000, each direction is provided with a sensor module according to the embodiment of the present application 100 can realize the transmission or collection of information in various directions of the vehicle 1000.
  • this embodiment can be equipped with six sensor modules to realize the comprehensive collection of information around the vehicle 1000, which greatly reduces the number of sensors installed and reduces the need for the vehicle 1000. Structure and appearance are destroyed.
  • the vehicle 1000 can also be provided with sensor modules in other directions, such as front left, front right, rear left, rear right, etc., or multiple sensor modules can be provided in the same direction to achieve the effect of redundant backup. In this embodiment There is no restriction on this.
  • the information emitted or collected in the same direction by the first sensor 101 and the second sensor 102 may also include the following situations: the directions of the information emitted or collected by the first sensor 101 and the second sensor 102 overlap but are not the same.
  • the first sensor 101 transmits or collects information in front of the vehicle 1000
  • the second sensor 102 transmits or collects information in at least one of the front, rear, left, right, up, and down directions of the vehicle 1000. That is, the information transmitted or collected by the second sensor 1000 includes information about the front and at least one other direction.
  • the first sensor 101 collects information about the front of the vehicle 1000
  • the second sensor 102 collects information about 360° directions in front, rear, left, and right of the vehicle 1000.
  • Other situations may include the first sensor 101 collecting information in front of the vehicle 1000, the second sensor collecting information in two directions in front of and behind the vehicle 1000, or the second sensor collecting information in three directions in front, left and right of the vehicle 1000 The information, etc., is no longer enumerated.
  • the wiring plug 40 is provided to electrically connect the first sensor 101 and the second sensor 102, which reduces the independent wiring of each sensor 101 arranged everywhere in the vehicle 1000.
  • the wiring plug 40 serves as a unified terminal to facilitate electrical connection with the vehicle 1000.
  • the wiring plug 40 may be provided on the first support 10 or the second support 20.
  • the connection plug 40 includes a first connection plug 41 and a second connection plug 42 and is respectively connected to the first sensor 101 and the second sensor 102
  • the first connection plug 41 is arranged on the first support 10
  • the second connection plug 42 is arranged on the second support 20.
  • wires can be arranged inside the sensor bracket to connect the wiring plug 40 with the first sensor 101 and the second sensor 102 respectively.
  • a circuit board may also be arranged inside the sensor bracket, and the circuit board may include a processor.
  • the connection plug 40 is connected to the circuit board first, and then the circuit board is connected to the first sensor 101 and the second sensor 102.
  • the processor is used to process electrical signals emitted or collected by the first sensor 101 and the second sensor 102. Specifically, it can be used to control the electrical signals provided by the wiring plug 40 to the first sensor 101 and the second sensor 102; or, the electrical signals collected by the first sensor 101 and the second sensor 102 are filtered, denoised, calculated, and judged by the processor. After any process, it is transmitted to the connection plug 50, so that the vehicle 1000 can quickly obtain the required information, such as the distance information of the object, after receiving the electrical signal of the connection plug 50.
  • the first support 10 and the second support 20 are arranged side by side.
  • the first support 10 includes a first mounting part 12, and the first mounting part 12 is used for mounting the first sensor 101.
  • the second support 20 includes a second mounting portion 22 for mounting the second sensor 102.
  • the extending directions of the first mounting portion 12 and the second mounting portion 22 are parallel. The arrangement of the sensor bracket in this way facilitates the arrangement of the first sensor 101 and the second sensor 102 to realize the function of transmitting or collecting information in the same direction.
  • the overall extension direction of the first sensor 101 intersects the first mounting portion 12, which may be perpendicular; the overall extension direction of the second sensor 102 intersects the second mounting portion 22 , Can be vertical.
  • the overall extension directions of the first sensor 101 and the second sensor 102 are parallel.
  • the first support 10 further includes a first connecting portion 11, and the first mounting portion 12 is connected and fixed to the first connecting portion 11.
  • the second support 20 includes a second connecting portion 21, and the second mounting portion 22 is connected and fixed to the second connecting portion 21.
  • the first connection portion 11 and the second connection portion 21 are connected and fixed.
  • the first support member 10 and the second support member 20 are both connected to the main body member 50, the first connection portion 11 and the second connection portion 21 are both connected to the main body member 50.
  • the first connecting portion 11 has a U-shaped bent plate structure as a whole, that is, it includes two opposite side plates and a bottom plate connected between the two side plates.
  • the first mounting portion 12 is connected between the two side plates and can be connected to the bottom plate, so that the first mounting portion 12 is located in the space enclosed by the "U"-shaped structure of the first connecting portion 11 as a whole.
  • the structure of the second connecting portion 21 is similar to that of the first connecting portion 11, so refer to.
  • the entire first sensor 101 is also located in the space enclosed by the "U"-shaped structure of the first connecting portion 11 as much as possible. If the overall size of the first sensor 101 is too long, at least ensure that the front end of the first sensor 101 for transmitting and receiving signals does not exceed the space enclosed by the "U"-shaped structure of the first connecting portion 11, so that the first The "U"-shaped structure of the connecting portion 11 can protect the first sensor 101 from being damaged by collision.
  • the sensor module 100 further includes a third sensor 103, the third sensor 103 is installed on the first mounting part 12, and the third sensor 103 and the first sensor 101 are arranged side by side, And transmit or receive information in the same direction.
  • the third sensor 103 and the first sensor 101 have different functions.
  • the first sensor 101 and the second sensor 102 are visible light cameras
  • the third sensor 103 is any one of millimeter wave radar, ultrasonic radar, and lidar.
  • the combination of active sensors and passive sensors can further provide object information
  • the redundant data can improve the accuracy and credibility of the collected object information, and ensure the safety and reliability of the 1000 vehicles.
  • the sensor module 100 further includes a fourth sensor 104, the fourth sensor 104 is installed on the second mounting portion 22, and the fourth sensor 104 and the second sensor 102 are arranged side by side, and transmit or receive information in the same direction.
  • the fourth sensor 104 and the second sensor 102 have different functions.
  • the first sensor 101 and the second sensor 102 are visible light cameras
  • the fourth sensor 104 is any one of millimeter wave radar, ultrasonic radar, and lidar.
  • the fourth sensor 104 may be the same as or different from the third sensor 103.
  • the combination of multiple sensors of the active sensor and the passive sensor can further provide redundant data of the object information, improve the accuracy and credibility of the collected object information data, and ensure the safety and reliability of the vehicle 1000 driving.
  • the third sensor 103 and the fourth sensor 104 include any one of a visible light camera, millimeter wave radar, ultrasonic radar, and lidar, and are not limited to the types in the above examples.
  • the first support member 10 and the second support member 20 are connected on two opposite sides of the main body member 50.
  • a side plate of the first connecting portion 11 may be connected to the main body member 50, and the connection method may be a detachable connection method such as screw connection, plug connection, and snap connection.
  • the first support member 10 and the second support member 20 It can also be an integral non-detachable structure with the main body 50.
  • FIG. 4 shows a technical means for fixing the second support member 20 on the main body member 50 by using screws 61.
  • the wiring plug 40 includes a first wiring plug 41, a second wiring plug 42, a third wiring plug 43, and a fourth wiring plug 44.
  • the first connection plug 41 and the third connection plug 43 are arranged on the first support 10 and connected to the first sensor 101 and the third sensor 103 respectively.
  • the second connection plug 42 and the fourth connection plug 44 are arranged on the second support 20 and connected to the second sensor 102 and the fourth sensor 104 respectively.
  • the integrated wiring plug 40 can be provided on the main body 50, and the wiring plug 40 is electrically connected to the first support 10 and the second support 20.
  • the first supporting member 10 is used for electrically connecting with the first sensor 101
  • the second supporting member 20 is used for electrically connecting with the second sensor 102.
  • the electrical connection of the wiring plug 40 and the first support 10 and the second support 20 can be achieved by using wires or metal wires printed inside the main member 50, the first support 10 and the second support 20.
  • the terminal of the first sensor 101 is connected to the wire or metal trace on the first support 10.
  • a socket and a plug can be provided. When 101 is installed, the socket and the plug are automatically butted, thereby facilitating installation and realizing electrical connection.
  • the connection of the second sensor 102 and the second supporting member 20 is similar to this, so please refer to it.
  • first wiring plug 41 and a second wiring plug 42 there can be two wiring plugs 40, such as a first wiring plug 41 and a second wiring plug 42, the first wiring plug 41 and the second wiring plug 42 are used for active sensors and passive sensors, respectively.
  • the first connection plug 41 and the combination of the first sensor 101 and the second sensor 102 of the binocular depth imaging system provide or receive electrical signals, where the first sensor 101 and the second sensor 102 are visible light cameras with passive sensors;
  • the connection plug 42 provides or receives electrical signals for the third sensor 103 and the fourth sensor 104, where the third sensor 103 and the fourth sensor 104 are any one of millimeter wave radar, ultrasonic radar, and lidar in active sensors. It is understandable that there are multiple other possible embodiments for the connection combination of the first wiring plug 41 and the second wiring plug 42 and each sensor, which will not be enumerated here.
  • FIGS. 1 to 3 In an embodiment, please refer to FIGS. 1 to 3.
  • rectangular dashed lines are used to represent the fifth sensor 105 and the sixth sensor 106.
  • the dotted lines indicate that the fifth sensor 105 and the sixth sensor 106 are generally arranged inside and cannot be seen from the outside.
  • the fifth sensor 105 and the sixth sensor 106 can also be exposed outside.
  • the sensor holder further includes a third support 30 connected to the main body 50 and located between the first support 10 and the second support 20, and the third support 30 is used for mounting the fifth sensor 105.
  • the first sensor 101 and the second sensor 102 are used as a combination of a set of visible light cameras of a binocular depth imaging system to collect information of objects greater than a preset distance.
  • the distance between the information of the object that the first sensor 101 and the second sensor 102 can collect is greater than 200 m.
  • the third sensor 103 and the fourth sensor 104 are used as a combination of the visible light camera of another set of binocular depth imaging system for collecting information of objects larger than a preset angle.
  • the viewing angle of the third sensor 103 and the fourth sensor 104 may be greater than 100°.
  • the first sensor 101 and the second sensor 102 can have a small viewing angle while having a long-distance detection range; the third sensor 103 and the fourth sensor 104 can have a large-angle detection range at the same time. , Can have a closer visual distance.
  • the fifth sensor 105 is any one of millimeter wave radar, ultrasonic radar and lidar. Taking the fifth sensor 105 as a lidar as an example, the detectable angle is 90° horizontally and 60° vertically, and the detection distance can reach 100 m.
  • the two sets of binocular depth imaging systems collect information greater than the preset distance and greater than the preset angle, and then use the active sensor of the fifth sensor 105 to detect the object. The use of multiple detection methods ensures that the object can be detected To.
  • the visible light camera relies on good ambient light
  • the combination of the above two sets of visible light cameras may not be able to collect information in scenes with poor light such as driving at night. Therefore, the setting of the fifth sensor 105 can at least ensure that the light is poor. Under the circumstances, the collection of object information can still be achieved to ensure driving safety.
  • the first sensor 101 and the second sensor 102 are used as a combination of visible light cameras of a set of binocular depth imaging systems
  • the third sensor 103, the fourth sensor 104 and the fifth sensor 105 are millimeter wave radar, Either ultrasonic radar or lidar.
  • the third sensor 103, the fourth sensor 104, and the fifth sensor 105 are millimeter wave radar, ultrasonic radar, and lidar respectively; or, the third sensor 103, the fourth sensor 104, and the fifth sensor 105 are all millimeter wave radar, Either ultrasonic radar or lidar, etc.
  • this embodiment enhances the detection capability of the active sensor and can face more complex driving scenes.
  • the third supporting member 30 is also used to install a sixth sensor 106, and the sixth sensor 106 and the fifth sensor 105 are used to transmit or receive information in the same direction as the first sensor 101.
  • the sixth sensor 106 is any one of millimeter wave radar, ultrasonic radar, and lidar that is an active sensor.
  • the sixth sensor 106 and the fifth sensor 105 may be the same type of sensor, but the specific parameters are different.
  • the fifth sensor 105 is a lidar
  • the sixth sensor 106 may also be a lidar, and its detectable angle is 30°, and the detecting distance may be greater than 100m. That is, the fifth sensor 105 realizes the detection of information greater than the preset angle, and the sixth sensor 106 realizes the detection of information greater than the preset distance, thereby providing a comprehensive object detection function.
  • the third support 30 has a rectangular parallelepiped shape, and the top surface of the third support 30 is connected to the bottom surface of the main body 50, and the connection mode can be detachable connection or integral molding.
  • the first support member 10 and the second support member 20 are respectively connected to two side surfaces of the main body member 50, and the bottom surface is respectively connected to the two side surfaces, so that the third support member 30 is located on the first support member 10 and the second support member 20 between.
  • the two opposite side surfaces of the third support member 30 are flush with the two side surfaces of the main body member 50 respectively, and at least part of the first support member 10 and the second support member 20 may also be aligned with the side surfaces of the third support member 30.
  • the connection makes the overall structure more stable and ensures the structural stability of the installed sensors.
  • the third supporting member 30 further includes a bottom surface 33 opposite to the main body member 50, and a front surface 31 connected between the top surface and the bottom surface.
  • a cavity is provided inside the third support 30 for accommodating the fifth sensor 105 and the sixth sensor 106, and the fifth sensor 105 and the sixth sensor 106 transmit or receive signals through the front surface 31.
  • the front surface 31 is made of a non-metallic material. In addition to providing protection, it also prevents metal materials from shielding and interfering with the detection of information by the fifth sensor 105 and the sixth sensor 106. When the fifth sensor 105 and the sixth sensor 106 are exposed outside, the front surface 31 may not be provided.
  • the bottom surface 33 is a detachable structure. As shown in FIG.
  • the bottom surface 33 is fixed by a plurality of screws 62.
  • the fifth sensor 105 and the sixth sensor 106 are installed on the third support 30, the fifth sensor 105 and the sixth sensor 106 are installed by opening the bottom surface 33, and after the installation, the bottom surface 33 is connected and fixed.
  • the wiring plug 40 may further include a fifth wiring plug 45 and a sixth wiring plug 46.
  • the fifth wiring plug 45 and the sixth wiring plug 46 are arranged on the main body 50 and used to communicate with the fifth sensor 105 and the sixth sensor 106, respectively. connection.
  • the six plugs of the first wiring plug 41 to the sixth wiring plug 46 can be integrated into a total wiring plug 40, which can further reduce the number of connection wires.
  • each support is provided with a waterproof and dustproof structure, such as a sealing ring, a sealing film, etc., to realize the waterproof and dustproof protection function for each sensor.
  • a waterproof and dustproof structure such as a sealing ring, a sealing film, etc.
  • the first sensor 101 to the sixth sensor 106 may be any one of visible light camera, millimeter wave radar, ultrasonic radar, and lidar.
  • the first sensor 101 and the second sensor 102 are a combination of visible light cameras to achieve detection of information greater than a preset distance
  • the third sensor 103 and the fourth sensor 104 are a combination of visible light cameras to achieve greater than a preset distance.
  • the fifth sensor 105 and the sixth sensor 106 are a combination of two lidars, which respectively realize the detection of information greater than a preset angle and greater than a preset distance.
  • the main body 50 is also used to install a heat dissipation structure (not shown in the figure), and the heat dissipation structure is used to discharge the first support 10, the second support 20, and the third support.
  • the heat of each sensor of the support 30 is also used to install a heat dissipation structure (not shown in the figure), and the heat dissipation structure is used to discharge the first support 10, the second support 20, and the third support. The heat of each sensor of the support 30.
  • the main body 50 is provided with a first circular hole 51 and a second circular hole 52
  • the heat dissipation structure is two fans, and the two fans are respectively installed in the first circular hole 51 And the second circular hole 52.
  • the outside air is blown into the first support 10, the second support 20 and the third support 30, or the hot air of the first support 10, the second support 20 and the third support 30 Suction to the outside world, in short, heat dissipation is achieved through air flow.
  • the heat dissipation structure may also be other structures, for example, heat dissipation fins are provided for natural heat dissipation, a liquid path structure for liquid flow heat dissipation, etc., and heat dissipation can also be achieved.
  • the specific structure can refer to conventional heat dissipation structures. No more details.
  • a unified heat dissipation structure is provided to realize the heat dissipation of each sensor of the first support 10, the second support 20, and the third support 30, thereby avoiding the high cost and cost caused by the separate heat dissipation structure for each sensor.
  • Complex structure is provided to realize the heat dissipation of each sensor of the first support 10, the second support 20, and the third support 30, thereby avoiding the high cost and cost caused by the separate heat dissipation structure for each sensor.
  • the first support 10 is provided with a plurality of first weight reduction holes 13, and the first weight reduction holes 13 may be provided on the first connecting portion 11 and the first mounting portion 12.
  • the second support 20 is provided with a plurality of second weight reduction holes 23, and the second weight reduction holes 23 may also be provided on the second connecting portion 21 and the second mounting portion 22.
  • the third support 30 is provided with a plurality of third weight reduction holes 32, and the third weight reduction holes 32 may be provided on other surfaces except the front surface 31 and the bottom surface 33.
  • the main body 50 is provided with a plurality of fourth lightening holes 53.
  • the above-mentioned weight-reducing holes are not limited in shape and location. On the basis of ensuring the structural strength, as many weight-reducing holes as possible can be provided.
  • the embodiment of the present invention also provides a vehicle 1000 on which the sensor module 100 provided by the embodiment of the present application is installed.
  • the vehicle 1000 may be various types of vehicles such as a car, a passenger car, and a truck.
  • the vehicle 1000 By providing the sensor module 100, the vehicle 1000 not only realizes the detection of object information, but also reduces the damage to the vehicle structure and appearance caused by the separate installation of multiple sensors, and facilitates the installation of unified wiring.
  • the vehicle 1000 includes a front windshield 200 and an inner rearview mirror 300.
  • the sensor module 100 is installed at a position between the front windshield 200 and the inner rearview mirror 300 and is used to transmit or collect information in front of the vehicle.
  • the sensor module 100 may also be arranged on the inside of the rear windshield, the left or right glass of the vehicle 1000, and also on the bottom or roof of the vehicle.

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Abstract

一种应用于车辆的传感器支架、传感器模块和车辆。传感器支架包括第一支撑件（10）、第二支撑件（20）和安装件，第一支撑件和第二支撑件连接，第一支撑件用于安装第一传感器（101），第二支撑件用于安装第二传感器（102），且使得第一传感器和第二传感器之间相对位置固定，并发射或采集同一方向的信息，安装件用于与车辆连接，以使传感器支架固定在车辆上。传感器支架用于集成安装第一传感器和第二传感器，再通过安装件将传感器支架连接固定到车辆上，减少了多个传感器独立安装时对车辆的结构和外观的破坏，且便于安装。

Description

应用于车辆的传感器支架、传感器模块和车辆 技术领域
本申请涉及车辆自动驾驶技术领域，具体涉及一种应用于车辆的传感器支架、传感器模块和车辆。
背景技术
自动驾驶汽车可通过多传感器实现360度感知周围环境，进行自主导航，从而带领乘客到达目的地。不同类型的传感器的选择和位置的设计，对自动驾驶系统中多传感器的标定、环境感知、控制决策等模块都会产生重要的影响。不同的传感器具有各自的优势和弱点，比如可见光相机能够检测各种车辆和行人，但是在光照过强或过暗的情况下可能会出现更大的误检测概率，激光雷达虽然不能提供色彩信息，但是能提供稳定的距离检测信息，对自动避障有很重要的意义；此外，车轮里程表(wheel odometer)、超声波、毫米波雷达等传感器对汽车的导航定位、环境感知都有重要的实用价值。
自动驾驶技术的传感器主要有外置式传感器和内置式传感器。外置式传感器又包括在车的外壳的各个位置分别安装对应所需的传感器，和在车外露出的传感器两种方案。内置式传感器方案为在车内各个位置安装对应所需的传感器。
在车外壳或车内分散安装多个传感器，对车的结构破坏较大，安装难度高。而在车外例如在车顶设置的激光雷达由于体积庞大而不能与车融合形成整体，对车的外观影响较大。
发明内容
为解决上述技术问题，本申请实施例提供一种应用于车辆的传感器支架、传感器模块和车辆，实现第一传感器和第二传感器的集成安装，相比于独立安装，能减少对车辆的结构和外观的破坏，且便于安装。
第一方面，本申请实施例提供一种应用于车辆的传感器支架，所述传感器支架包括第一支撑件、第二支撑件和安装件，所述第一支撑件和所述第二支撑件连接，所述第一支撑件用于安装第一传感器，所述第二支撑件用于安装第二传感器，且使得所述第一传感器和所述第二传感器之间相对位置固定，并发射或采集同一方向的信息，所述安装件用于与所述车辆连接，以使所述传感器支架固定在所述车辆上。
第二方面，本申请实施例提供一种应用于车辆的传感器模块，包括第一传感器、第二传感器和传感器支架，所述传感器支架包括第一支撑件、第二支撑件和安装件，所述第一支撑件和所述第二支撑件连接，所述第一传感器安装在所述第一支撑件上，所述第二传感器安装在所述第二支撑件上，所述第一传感器和所述第二传感器之间相对位置固定，并发射或采集同一方向的信息，所述安装件用于与所述车辆连接，以使所述传感器支架固定在所述车辆上。
第三方面，本申请实施例提供一种车辆，所述车辆上安装有第二方面所述的应用于车辆的传感器模块。
本申请第一方面提供的应用于车辆的传感器支架，传感器支架用于集成安装第一传感 器和第二传感器，再通过安装件将传感器支架连接固定到车辆上，减少了多个传感器独立安装时对车辆的结构和外观的破坏。
本申请第二方面提供的应用于车辆的传感器模块，将第一传感器和第二传感器集成安装在传感器支架上，再通过安装件连接固定到车辆上，减少了多个传感器独立安装时对车辆的结构和外观的破坏。
本申请第三方面提供的车辆，通过设置有传感器模块，使得车辆在实现对物体的信息的探测的同时，还减少了多个传感器单独设置造成的车辆结构和外观的破坏，便于设置统一的接线。
附图说明
图1是一种实施例的传感器模组的立体结构示意图；
图2是图1的传感器模组的正视结构示意图；
图3是图1的传感器模组的俯视结构示意图；
图4是图1的传感器模组的右视结构示意图；
图5是图1的传感器模组的仰视结构示意图；
图6是一种实施例的车辆的立体结构示意图。
具体实施例
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参考图1和图6，本申请实施例提供一种应用于车辆1000的传感器模块100，包括第一传感器101、第二传感器102和传感器支架。其中，传感器支架包括第一支撑件10、第二支撑件20、接线插头40和安装件(图中未示出)。
第一支撑件10和第二支撑件20连接。本实施例中，连接的方式可以为直接连接或间接连接。图1所示的实施例为第一支撑件10和第二支撑件20间接连接，即第一支撑件10和第二支撑件20均连接在主体件50上。另一种实施例中，第一支撑件10和第二支撑件20直接连接。
第一传感器101安装在第一支撑件10上，第二传感器102安装在第二支撑件20上。本实施例中，第一传感器101和第二传感器102的安装方式为可拆卸连接。例如第一支撑件10和第二支撑件20上设有安装槽、安装孔等结构，第一传感器101和第二传感器102卡接、螺接在该安装槽、安装孔等结构处，实现第一传感器101和第二传感器102的连接固定。另一种实施例中，第一传感器101不可拆卸地连接在第一支撑件10上，第二传感器102不可拆卸地连接在第二支撑件20上。从而第一传感器101和第二传感器102之间相对位置固定。
接线插头40用于与第一传感器101和第二传感器102电连接，并电连接至车辆1000。接线插头40可以为一个接线插头与车辆1000连接，并同时与第一传感器101和第二传感器102连接；接线插头40也可以包括多个接线插头分别与第一传感器101和第二传感器102连接。
本实施例中，接线插头40包括第一接线插头41和第二接线插头42，第一接线插头41用于与第一传感器101连接，第二接线插头42用于与第二传感器102连接。并且，第一接线插头41和第二接线插头42分别为第一传感器101和第二传感器102提供电信号或接收电信号。可选的，第一接线插头41和第二接线插头42还分别为第一传感器101和第二传感器102供电，即同时实现传输电信号和供电的作用。
其他实施例中，接线插头40集成为一个，即一个统一的接线插头40同时与第一传感器101和第二传感器102电连接。并且，集成的接线插头40同时为第一传感器101和第二传感器102提供电信号或接收电信号。可选的，集成的接线插头40还同时为第一传感器101和第二传感器102供电，即同时实现传输电信号和电流的作用。
安装件可以为在传感器支架上开设的安装孔、安装槽，或者设置在传感器支架上的卡扣等结构，安装件用于与车辆1000连接，以使传感器模块100固定在车辆1000上，具体的连接方式可以为螺接、卡接、扣接等。
本实施例中，将第一传感器101和第二传感器102集成安装在传感器支架上，再通过安装件连接固定到车辆1000上，减少多个传感器独立安装时对车辆的结构和外观的破坏。
由于第一传感器101和第二传感器102的相对位置固定，从而使得第一传感器101和第二传感器102之间不需要再进行标定。将传感器模块100安装到车辆1000上时，只要安装好第一传感器101或第二传感器102的任意一个，另一个的位置也自动确定。而不是第一传感器101和第二传感器102独立安装时需调整每个传感器的位置，降低了安装的难度，不需再标定第一传感器101和第二传感器102之间的相对位置。
一种实施例中，第一传感器101和第二传感器102为主动式传感器，如毫米波雷达、超声波雷达和激光雷达等任意一种时，第一传感器101和第二传感器102可以发射探测信号，探测信号可以为电磁波、超声波或激光等，发射的探测信号经第一传感器101和第二传感器102前方的物体反射回来时，第一传感器101和第二传感器102接收到反射回的探测信号，从而采集到物体的信息。
另一种实施例中，第一传感器101和第二传感器102为被动式传感器，如可见光相机时，第一传感器101和第二传感器102不发射光线，而是通过接收环境光在物体处反射的光线并形成图像，从而采集到物体的信息。
一种实施例中，第一传感器101和第二传感器102为同一种传感器，功能相同。例如，第一传感器101和第二传感器102均为可见光相机，第一传感器101和第二传感器102组合形成双目视觉深度成像系统，类似人的双眼，采集到的物体的信息便于计算得到物体的距离。具体的双目视觉深度成像系统的原理可参照现有技术即可，在此不再赘述。
另一种实施例中，第一传感器101和第二传感器102为不同的传感器，功能不同。例如，第一传感器101为毫米波雷达，第二传感器102为激光雷达，第一传感器101发射电磁波经物体反射并被第一传感器101采集，第二传感器102发射激光经物体发射并被第二传感器102采集。毫米波雷达和激光雷达同时探测同一方向的物体信息，两种技术手段对物体进行探测，对于同一环境使用多个传感器可以得到互相冗余的数据，相比于只有一种雷达的技术方案，提升了采集到的物体信息的数据的精确度和可信度。物体物体物体
第一传感器101和第二传感器102采集到物体的信息后，通过计算可以得到物体与车辆1000的距离，从而可判断车辆1000是否安全。对物体的信息的计算和判断可以通过传感器模块进行，也可以通过车辆1000进行，计算和判断的过程通常有处理器的参与，具体如何计算和判断在此不限。
第一传感器101和第二传感器102用于发射或采集同一方向的信息。在图6所示的实施例中，第一传感器101和第二传感器102同时发射或采集车辆1000前方的信息。以采集车辆1000前方的信息为例，第一传感器101和第二传感器102发射或采集同一方向的信息，指的是第一传感器101和第二传感器102可以发射或采集车辆共同前方一定视野范围内的信息，例如共同发射或采集水平视野160°的信息以及垂直视野60°的信息，这里的视野角也可以是任意其他的角度；需要理解的是，这里第一传感器101和第二传感器102发射或采集同一方向的信息，并不一定代表两个传感器为同一朝向例如两个相机的光轴方向相同，也不一定需要二者的发射或采集的视野角相同，也可以不相同例如有部分重叠或者邻接或者存在间隔，此处并不作限制。第一传感器101和第二传感器102发射或采集同一方向的信息，使得车辆1000的前、后、左、右、上和下的六个方向上，每个方向设置一个本申请实施例的传感器模块100即可实现对车辆1000各个方向的信息的发射或采集。相对于现有的众多车载传感器零散的单独安装，本实施例可设置六个传感器模块即可实现对车辆1000的周围的信息的全面采集，大大的减少了传感器的安装数量，减少对车辆1000的结构和外观破坏。当然，车辆1000也可以在其他方向上设置传感器模块，例如左前、右前、左后、右后等方向，或者是在同一方向上设置多个传感器模块以达到冗余备份的效果，本实施例中对此并不作限制。
进一步的，第一传感器101和第二传感器102发射或采集的同一方向的信息还可以包括以下情形：第一传感器101和第二传感器102发射或采集的信息的方向有重叠但不相同。例如，参考图1和图6，第一传感器101发射或采集车辆1000前方的信息，第二传感器102发射或采集车辆1000前方以及后、左、右、上、下方中的至少1个方向的信息，即第二传感器1000发射或采集的信息包括前方和至少一个其他方向的信息。例如，第一传感器101采集车辆1000前方的信息，第二传感器102采集车辆1000前方、后方、左方和右方的360°的方向的信息。其他情形还可以包括第一传感器101采集车辆1000前方的信息，第二传感器采集车辆1000前方和后方的两个方向的信息，或第二传感器采集车辆1000前方、左方 和右方的三个方向的信息等，不再枚举。
设置接线插头40电连接第一传感器101和第二传感器102，减少了车辆1000内各处设置的每个传感器101独立的走线，接线插头40作为统一的接线端，便于与车辆1000电连接。
在第一支撑件10和第二支撑件20直接连接，且接线插头40集成为一个的实施例中，接线插头40可以设置在第一支撑件10或第二支撑件20上。在第一支撑件10和第二支撑件20间接连接，且接线插头40集成为一个的实施例中，即第一支撑件10和第二支撑件20均连接在主体件50上时，接线插头40可以设置在主体件50上。在接线插头40包括第一接线插头41和第二接线插头42，并分别与第一传感器101和第二传感器102连接的实施例中，第一接线插头41设置在第一支撑件10上，第二接线插头42设置在第二支撑件20上。
其中，传感器支架内部可以设置导线，以将接线插头40分别与第一传感器101和第二传感器102连接。传感器支架内部还可以设有电路板，电路板上可包括处理器。接线插头40先连接到电路板，电路板再连接到第一传感器101和第二传感器102。处理器用于处理第一传感器101和第二传感器102发射或采集的电信号。具体可用于控制接线插头40提供给第一传感器101和第二传感器102的电信号；或者，第一传感器101和第二传感器102采集的电信号经过处理器的滤波、去噪、计算、判断等任意过程后再传递至接线插头50，以便于车辆1000接收接线插头50的电信号后可迅速得到所需的信息，如物体的距离信息。
一种实施例中，请参考图1和图3，第一支撑件10和第二支撑件20并排设置。第一支撑件10包括第一安装部12，第一安装部12用于安装第一传感器101。第二支撑件20包括第二安装部22，第二安装部22用于安装第二传感器102。第一安装部12与第二安装部22的延伸方向平行。传感器支架的如此设置，便于使得第一传感器101和第二传感器102的布置，实现发射或采集同一方向的信息的功能。
第一传感器101和第二传感器102在安装时，第一传感器101的整体的延伸方向与第一安装部12相交，可以为垂直；第二传感器102的整体的延伸方向与第二安装部22相交，可以为垂直。第一传感器101和第二传感器102的整体的延伸方向平行。
第一支撑件10还包括第一连接部11，第一安装部12连接固定在第一连接部11上。第二支撑件20包括第二连接部21，第二安装部22连接固定在第二连接部21上。当第一支撑件10和第二支撑件20直接连接时，第一连接部11和第二连接部21连接固定。当第一支撑件10和第二支撑件20均连接在主体件50上时，第一连接部11和第二连接部21均与主体件50连接。
进一步的，第一连接部11整体呈“U”型的弯板结构，即包括相对的两个侧板和连接在两个侧板之间的底板。第一安装部12连接在两个侧板之间，并可以与底板连接，使得第一安装部12整体位于第一连接部11的“U”型结构所围合的空间内。第二连接部21的结构与第一连接部11类似，参照即可。
第一传感器101安装在第一安装部12上时，第一传感器101的整体也尽可能的位于第一连接部11的“U”型结构所围合的空间内。如第一传感器101的整体尺寸过长，则至少保证第一传感器101的用于发射和接收信号的前端不超出第一连接部11的“U”型结构所围合 的空间，从而使得第一连接部11的“U”型结构可以保护第一传感器101，避免磕碰而损坏。
一种实施例中，请参考图1和图2，传感器模块100还包括第三传感器103，第三传感器103安装在第一安装部12上，且第三传感器103与第一传感器101并排设置，并发射或接收同一方向的信息。其中，第三传感器103与第一传感器101的功能不同。
例如，第一传感器101和第二传感器102为可见光相机，第三传感器103为毫米波雷达、超声波雷达和激光雷达的任意一种，通过主动式传感器和被动式传感器的组合，可进一步提供物体的信息的冗余数据，提升采集的物体的信息的数据的精确度和可信度，保证车辆1000行车的安全可靠性。
进一步的，传感器模块100还包括第四传感器104，第四传感器104安装在第二安装部22上，且第四传感器104与第二传感器102并排设置，并发射或接收同一方向的信息。其中，第四传感器104与第二传感器102的功能不同。
例如，第一传感器101和第二传感器102为可见光相机，第四传感器104为毫米波雷达、超声波雷达和激光雷达的任意一种，第四传感器104可以与第三传感器103相同，也可不同。通过主动式传感器和被动式传感器的多个传感器的组合，可进一步提供物体的信息的冗余数据，提升采集的物体的信息的数据的精确度和可信度，保证车辆1000行车的安全可靠性。
应当理解，第三传感器103和第四传感器104包括可见光相机、毫米波雷达、超声波雷达和激光雷达的任意一种，并不限于以上举例中的类型。
下面对第一支撑件10和第二支撑件20间接连接的实施例做进一步说明。
一种实施例中，请参考图1和图3，第一支撑件10和第二支撑件20连接在主体件50相背的两个侧面上。具体可以是第一连接部11的一个侧板连接在主体件50上，连接的方式可以为螺接、插接、卡接等可拆卸连接方式，当然第一支撑件10、第二支撑件20和主体件50也可以为一体式的不可拆卸结构。图4示出了采用螺钉61将第二支撑件20固定在主体件50上的技术手段。
本实施例中，接线插头40包括第一接线插头41、第二接线插头42、第三接线插头43和第四接线插头44。第一接线插头41和第三接线插头43设置在第一支撑件10上，并分别与第一传感器101和第三传感器103连接。第二接线插头42和第四接线插头44设置在第二支撑件20上，并分别与第二传感器102和第四传感器104连接。
另一种实施例中，集成为一个的接线插头40可设置在主体件50上，且接线插头40与第一支撑件10和第二支撑件20电连接。第一支撑件10用于与第一传感器101电连接，第二支撑件20用于与第二传感器102电连接。接线插头40与第一支撑件10和第二支撑件20电连接的方式可以为采用导线或者印刷在主体件50、第一支撑件10和第二支撑件20内部的金属走线实现。并且，第一传感器101安装在第一支撑件10上时，第一传感器101的接线端与第一支撑件10上的导线或金属走线连接，具体可以设置插口和插头等结构，第一传感器101安装时该插口与插头自动对接，从而便于安装，实现电连接。第二传感器102和第二支撑件20的连接与此类似，参考即可。
另一种实施例中，接线插头40可设置为2个，如第一接线插头41和第二接线插头42，第一接线插头41和第二接线插头42分别用于为主动式传感器和被动式传感器提供或接收 电信号。例如，第一接线插头41与组合为双目深度成像系统的第一传感器101和第二传感器102提供或接收电信号，其中第一传感器101和第二传感器102为被动式传感器的可见光相机；第二接线插头42为第三传感器103和第四传感器104提供或接收电信号，其中第三传感器103和第四传感器104为主动式传感器中的毫米波雷达、超声波雷达和激光雷达的任意一种。可以理解的是，第一接线插头41和第二接线插头42与各个传感器的连接组合还有其他可能的多个实施例，在此不再枚举。
一种实施例中，请参考图1至图3，图1和图2中使用矩形的虚线表示第五传感器105和第六传感器106。虚线表示第五传感器105和第六传感器106一般设置在内部，从外面看不到，当然，第五传感器105和第六传感器106也可以显露在外。传感器支架还包括第三支撑件30，第三支撑件30与主体件50连接，并位于第一支撑件10和第二支撑件20之间，第三支撑件30用于安装第五传感器105。
本实施例中，第一传感器101和第二传感器102作为一组双目深度成像系统的可见光相机的组合，用于进行大于预设距离的物体的信息的采集。例如，第一传感器101和第二传感器102可以采集的物体的信息的距离大于200m。第三传感器103和第四传感器104作为另一组双目深度成像系统的可见光相机的组合，用于进行大于预设角度的物体的信息的采集。例如，第三传感器103和第四传感器104的可视角度可以为大于100°。在一个实施方式中，第一传感器101和第二传感器102在具有长距离探测范围的同时，可以有较小的可视角度；第三传感器103和第四传感器104在具有大角度探测范围的同时，可以有较近的可视距离。第五传感器105为毫米波雷达、超声波雷达和激光雷达的任意一种。以第五传感器105为激光雷达为例，其可探测的角度为水平90°及垂直60°，探测的距离可以达到100m。通过两组双目深度成像系统对大于预设距离和大于预设角度的信息的采集，再采用第五传感器105的主动式传感器对物体进行探测，多种探测手段的使用，确保物体能够被探测到。此外，由于可见光相机依赖于良好的环境光，在晚间行车等光线不良的场景中，上述两组可见光相机的组合可能无法进行信息的采集，故第五传感器105的设置，至少保证能够在光线不良的情况下，依然可以实现对物体的信息的采集，保证行车安全。
另一种实施例中，第一传感器101和第二传感器102作为一组双目深度成像系统的可见光相机的组合，第三传感器103、第四传感器104和第五传感器105分别为毫米波雷达、超声波雷达和激光雷达的任意一种。例如，第三传感器103、第四传感器104和第五传感器105分别为毫米波雷达、超声波雷达和激光雷达；或者，第三传感器103、第四传感器104和第五传感器105均为毫米波雷达、超声波雷达和激光雷达的任意一种等。相比于两组可见光相机的组合，本实施例增强了主动式传感器的探测能力，可以面对更复杂的行车场景。
进一步的，第三支撑件30还用于安装第六传感器106，第六传感器106与第五传感器105用于发射或接收与第一传感器101之同一方向的信息。第六传感器106为主动式传感器的毫米波雷达、超声波雷达和激光雷达的任意一种。其中，第六传感器106可以与第五传感器105为同一类型的传感器，但具体参数有所不同。结合上述对第五传感器105为激光雷达的举例，第六传感器106也可以为激光雷达，其可探测的角度为30°，探测的距离可大于100m。即第五传感器105实现大于预设角度的信息的探测，第六传感器106实现大 于预设距离的信息的探测，从而提供全面的物体的信息探测功能。
从结构上来说，第三支撑件30为长方体形，第三支撑件30的顶面与主体件50的底面连接，其连接方式可为可拆卸连接或者一体成型。第一支撑件10和第二支撑件20分别连接在主体件50的两个侧面，底面分别与该两个侧面连接，从而使得第三支撑件30位于第一支撑件10和第二支撑件20之间。
进一步的，第三支撑件30的相对的两个侧面分别与主体件50的两个侧面平齐，第一支撑件10和第二支撑件20的至少部分还可以与第三支撑件30的侧面连接，使得整体的结构更为稳定，保证安装的各个传感器的结构稳定。
进一步的，请参考图1、图2和图5，第三支撑件30还包括与主体件50相背的底面33，以及连接在顶面和底面之间的正面31。第三支撑件30内部设有腔室，用于容纳第五传感器105和第六传感器106，且第五传感器105和第六传感器106通过正面31发射或接收信号。正面31为非金属材料，在提供保护作用之外，还避免金属材料屏蔽和干扰第五传感器105和第六传感器106对信息的探测。当第五传感器105和第六传感器106显露在外时，可以不设正面31。底面33为可拆卸结构，如图5所示的，底面33通过多个螺钉62进行固定。第三支撑件30上安装第五传感器105和第六传感器106时，通过打开底面33进行第五传感器105和第六传感器106的安装，安装好后，再将底面33连接固定。
接线插头40还可以包括第五接线插头45和第六接线插头46，第五接线插头45和第六接线插头46设置在主体件50上，并分别用于与第五传感器105和第六传感器106连接。
可以理解的是，第一接线插头41至第六接线插头46的六个插头可以集成为一个总的接线插头40，可进一步减少连接走线的数量。
进一步的，第一支撑件10安装第一传感器101和第三传感器103时，第二支撑件20安装第二传感器102和第四传感器104时，以及，第三支撑件30安装第五传感器105和第六传感器106时，在各个支撑件上均设有防水防尘结构，例如设密封圈、密封膜等结构，以实现对各个传感器的防水防尘的防护功能。具体的防水防尘结构可以采用常规技术中的技术手段，在此不再详述。通过设置统一的防水防尘结构，避免了当各个传感器单独设置时进行防水防尘处理存在的成本高，技术复杂的问题。
理论上来说，第一传感器101至第六传感器106可以为可见光相机、毫米波雷达、超声波雷达和激光雷达的任意一种。可以的实施例中，第一传感器101和第二传感器102为可见光相机的组合，实现大于预设距离的信息的探测，第三传感器103和第四传感器104为可见光相机的组合，实现大于预设角度的信息的探测，第五传感器105和第六传感器106为两个激光雷达的组合，分别实现大于预设角度和大于预设距离的信息的探测。
一种实施例中，请参考图1和图3，主体件50还用于安装散热结构(图中未示出)，散热结构用于排出第一支撑件10、第二支撑件20和第三支撑件30的各个传感器的热量。
一致实施例中，如图1所示，主体件50上设有第一圆形孔51和第二圆形孔52，散热结构为两个风扇，两个风扇分别安装在第一圆形孔51和第二圆形孔52处。通过风扇的转动，将外界空气吹入第一支撑件10、第二支撑件20和第三支撑件30，或者将第一支撑件10、第二支撑件20和第三支撑件30的热空气吸出到外界，总之，通过空气流动实现散热。
其他实施例中，散热结构还可以为其他结构，例如，设置散热鳍片以进行自然散热、 液路结构以进行液体流动散热等，也可以实现散热，具体结构可参照常规的散热结构，此处不再详述。
本实施例通过设置统一的散热结构，实现对第一支撑件10、第二支撑件20和第三支撑件30的各个传感器的散热，避免了对每个传感器单独设散热结构造成的成本高、结构复杂的问题。
一种实施例中，请参考图1、图3和图4，为减轻重量，降低负荷，在传感器支架上设有多个减重孔。
具体的，第一支撑件10上设有多个第一减重孔13，第一减重孔13可以设在第一连接部11和第一安装部12上。第二支撑件20上设有多个第二减重孔23，第二减重孔23也可以设置在第二连接部21和第二安装部22上。第三支撑件30上设有多个第三减重孔32，第三减重孔32可以设置在除正面31和底面33外的其他面上。主体件50上设有多个第四减重孔53。上述的各个减重孔不限形状和设置位置，在保证结构强度的基础上，可尽可能的多设减重孔。
一种实施例中，请参考图1和图6，本发明实施例还提供了一种车辆1000，车辆1000上安装有本申请实施例提供的传感器模块100。车辆1000可以为小汽车、客车、卡车等各种类型的车辆。通过设置有传感器模块100，使得车辆1000在实现对物体的信息的探测的同时，还减少了多个传感器单独设置造成的车辆结构和外观的破坏，便于设置统一的接线。
可以的，车辆1000包括前挡风玻璃200和内后视镜300，传感器模块100安装在前挡风玻璃200和内后视镜300之间的位置，并用于发射或采集车辆前方的信息。
其他实施例中，传感器模块100还可设置在车辆1000的后挡风玻璃内侧、左方或右方玻璃内侧，以及，设置在车底或车顶等。
以上对本申请所提供的一种应用于车辆的传感器支架、应用于车辆的传感器模组和车辆进行了详细介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施例及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

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  1. 一种应用于车辆的传感器支架，其特征在于，所述传感器支架包括第一支撑件、第二支撑件和安装件，所述第一支撑件和所述第二支撑件连接，所述第一支撑件用于安装第一传感器，所述第二支撑件用于安装第二传感器，且使得所述第一传感器和所述第二传感器之间相对位置固定，并发射或采集同一方向的信息，所述安装件用于与所述车辆连接，以使所述传感器支架固定在所述车辆上。
  2. 如权利要求1所述的应用于车辆的传感器支架，其特征在于，所述传感器支架还包括接线插头，所述接线插头用于与所述第一传感器和所述第二传感器电连接，并电连接至所述车辆，以同时为所述第一传感器和所述第二传感器提供电信号或接收电信号。
  3. 如权利要求1所述的应用于车辆的传感器支架，其特征在于，所述第一支撑件和所述第二支撑件并排设置，所述第一支撑件包括第一安装部，所述第一安装部用于安装所述第一传感器；所述第二支撑件包括第二安装部，所述第二安装部用于安装所述第二传感器；所述第一安装部与所述第二安装部的延伸方向平行。
  4. 如权利要求2所述的应用于车辆的传感器支架，其特征在于，所述第一安装部还用于安装第三传感器，且使得所述第三传感器与所述第一传感器并排设置，并发射或接收同一方向的信息，其中，所述第三传感器与所述第一传感器的功能不同。
  5. 如权利要求4所述的应用于车辆的传感器支架，其特征在于，所述第二安装部还用于安装第四传感器，且使得所述第四传感器与所述第二传感器并排设置，并发射或接收同一方向的信息，其中，所述第四传感器与所述第二传感器的功能不同。
  6. 如权利要求1至5任一项所述的应用于车辆的传感器支架，其特征在于，所述传感器支架还包括主体件，所述第一支撑件和所述第二支撑件连接在所述主体件相背的两个侧面上。
  7. 如权利要求6所述的应用于车辆的传感器支架，其特征在于，所述接线插头连接在所述主体件上，且所述接线插头与所述第一支撑件和所述第二支撑件电连接，所述第一支撑件用于与所述第一传感器电连接，所述第二支撑件用于与所述第二传感器电连接。
  8. 如权利要求6所述的应用于车辆的传感器支架，其特征在于，所述传感器支架还包括第三支撑件，所述第三支撑件与所述主体件连接，并位于所述第一支撑件和所述第二支撑件之间，所述第三支撑件用于安装第五传感器。
  9. 如权利要求8所述的应用于车辆的传感器支架，其特征在于，所述第三支撑件还用于安装第六传感器，所述第六传感器与所述第五传感器用于发射或接收与所述第一传感器 之同一方向的信息。
  10. 如权利要求8所述的应用于车辆的传感器支架，其特征在于，所述主体件设有散热结构，所述散热结构用于排出所述第一支撑件、所述第二支撑件和所述第三支撑件的热量。
  11. 一种应用于车辆的传感器模块，其特征在于，包括第一传感器、第二传感器和传感器支架，所述传感器支架包括第一支撑件、第二支撑件和安装件，所述第一支撑件和所述第二支撑件连接，所述第一传感器安装在所述第一支撑件上，所述第二传感器安装在所述第二支撑件上，所述第一传感器和所述第二传感器之间相对位置固定，并发射或采集同一方向的信息，所述安装件用于与所述车辆连接，以使所述传感器支架固定在所述车辆上。
  12. 如权利要求11所述的应用于车辆的传感器模块，其特征在于，所述传感器模块还包括接线插头，所述接线插头与所述第一传感器和所述第二传感器电连接，并电连接至所述车辆，以同时为所述第一传感器和所述第二传感器提供电信号或接收电信号。
  13. 如权利要求11所述的应用于车辆的传感器模块，其特征在于，所述第一支撑件和所述第二支撑件并排设置，所述第一支撑件包括安装有所述第一传感器的第一安装部；所述第二支撑件包括安装有所述第二传感器的第二安装部；所述第一安装部与所述第二安装部的延伸方向平行。
  14. 如权利要求12所述的应用于车辆的传感器模块，其特征在于，所述传感器模块还包括第三传感器，所述第三传感器安装在所述第一安装部上，且所述第三传感器与所述第一传感器并排设置，并发射或接收同一方向的信息，其中，所述第三传感器与所述第一传感器的功能不同。
  15. 如权利要求14所述的应用于车辆的传感器模块，其特征在于，所述传感器模块还包括第四传感器，所述第四传感器安装在所述第二安装部上，且所述第四传感器与所述第二传感器并排设置，并发射或接收同一方向的信息，其中，所述第四传感器与所述第二传感器的功能不同。
  16. 如权利要求11至15任一项所述的应用于车辆的传感器模块，其特征在于，所述传感器支架还包括主体件，所述第一支撑件和所述第二支撑件连接在所述主体件相背的两个侧面上。
  17. 如权利要求16所述的应用于车辆的传感器模块，其特征在于，所述接线插头连接在所述主体件上，且所述接线插头与所述第一支撑件和所述第二支撑件电连接，所述第一支撑件与所述第一传感器电连接，所述第二支撑件与所述第二传感器电连接。
  18. 如权利要求16所述的应用于车辆的传感器模块，其特征在于，所述传感器模块还包括第五传感器，所述传感器支架还包括第三支撑件，所述第三支撑件与所述主体件连接，并位于所述第一支撑件和所述第二支撑件之间，所述第五传感器安装在所述第三支撑件上。
  19. 如权利要求18所述的应用于车辆的传感器模块，其特征在于，所述传感器模块还包括第六传感器，所述第六传感器安装在所述第三支撑件上，所述第六传感器与所述第五传感器发射或接收与所述第一传感器之同一方向的信息。
  20. 如权利要求18所述的应用于车辆的传感器模块，其特征在于，所述主体件设有散热结构，所述散热结构用于排出所述第一支撑件、所述第二支撑件和所述第三支撑件的热量。
  21. 如权利要求19所述的应用于车辆的传感器模块，其特征在于，所述第一传感器、所述第二传感器、所述第三传感器、所述第四传感器、所述第五传感器和所述第六传感器分别包括可见光相机、毫米波雷达、超声波雷达和激光雷达的任意一种。
  22. 如权利要求21所述的应用于车辆的传感器模块，其特征在于，所述第一传感器、所述第二传感器、所述第三传感器和所述第四传感器均为可见光相机；所述第五传感器和所述第六传感器为激光雷达。
  23. 如权利要求22所述的应用于车辆的传感器模块，其特征在于，所述第一传感器、所述第二传感器、所述第三传感器和所述第四传感器构成两组双目模组，其中一组双目模组用于采集大于预设距离的信息，另一组双目模组用于采集大于预设角度的信息。
  24. 如权利要求22所述的应用于车辆的传感器模块，其特征在于，所述第五传感器和所述第六传感器中的一个激光雷达用于采集大于预设距离的信息，另一个激光雷达用于采集大于预设角度的信息。
  25. 一种车辆，其特征在于，所述车辆上安装有如权利要求11至24任一项所述的应用于车辆的传感器模块。
  26. 如权利要求25所述的车辆，其特征在于，所述车辆包括前挡风玻璃和内后视镜，所述传感器模块安装在所述前挡风玻璃和所述内后视镜之间的位置，并用于发射或采集所述车辆前方的信息。
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