WO2021032593A1 - Dachmodul mit umfeldsensor - Google Patents
Dachmodul mit umfeldsensor Download PDFInfo
- Publication number
- WO2021032593A1 WO2021032593A1 PCT/EP2020/072767 EP2020072767W WO2021032593A1 WO 2021032593 A1 WO2021032593 A1 WO 2021032593A1 EP 2020072767 W EP2020072767 W EP 2020072767W WO 2021032593 A1 WO2021032593 A1 WO 2021032593A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- roof
- sensor
- roof module
- vehicle
- module
- Prior art date
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
- B60R11/02—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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
- B62D25/06—Fixed roofs
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/02—Stabilising vehicle bodies without controlling suspension arrangements by aerodynamic means
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- 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
-
- 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
- G01S2013/9327—Sensor installation details
Definitions
- the invention relates to a roof module of a motor vehicle, which comprises a roof substructure, a roof skin and a sensor module with an environment sensor for detecting a vehicle environment.
- a vehicle control system In order to enable autonomous or partially autonomous driving of the motor vehicle that meets high safety requirements, a vehicle control system must be connected to a large number of environment sensors with which the environment of the motor vehicle is recorded so that the current traffic situation can be determined and analyzed based on the respective measurement result . It is known that sensor modules with environment sensors for monitoring the vehicle environment are attached to the vehicle roof, since the vehicle roof is usually the highest elevation of a vehicle from which the vehicle environment can be clearly seen.
- a sensor module is used that is placed on a roof skin, which results in a less harmonious appearance.
- the resulting vehicle roof does not meet high requirements in terms of aerodynamics, which in turn is reflected in the energy consumption of the vehicle in question.
- the invention is based on the object of creating a roof module that includes a sensor module and that meets high demands with regard to aerodynamics and visual appearance. According to the invention, this object is achieved by the roof module having the features of claim 1.
- the invention thus uses the basic idea of dividing a roof skin, which forms an outer visible surface of the roof module, into a central section and an edge section which is adjacent to the central section and whose slope is greater than the slope of the central section and that for the environment sensor or for the wavelength used by the environment sensor is transparent.
- the environment sensor can thus “look” through the edge section with the great slope, which in turn enables the environment sensor to be arranged at least partially below a roof surface defined by the roof skin.
- the edge section can be used as a window that is permeable for the environment sensor or the wavelength used by the environment sensor.
- the environment sensor can thus be integrated harmoniously into the roof structure, which offers great advantages in terms of design, optics, crash safety, functional integration of cleaning elements, heating elements, cooling elements and / or the like.
- the environment sensor of the roof module according to the invention can be designed in many ways and can be, for example, a lidar sensor, a radar sensor, an optical sensor such as a camera or the like.
- the roof module according to the invention it is achieved that outside corners and outside edges and especially sloping roof lines in this area are used to arrange the environment sensor in such a way that it is an integrated fixed part of the roof module that only requires a small amount of space.
- the sloping edge section which is transparent for the environment sensor, provides the necessary field of vision.
- elements or areas of the roof skin that are already present can be used that mask the environment sensor or the sensor module that includes the environment sensor.
- the edge section which can be curved or arched and which has the greater gradient compared to the likewise usually curved or arched central section, is in particular made of a material that is continuous for the radiation or wavelength used by the environment sensor and can, for example, be a screen represent, which is made of glass or plastic.
- the edge section of the roof skin is thus a screen which in turn forms a viewing window for the environment sensor.
- the edge section can be formed in one piece with the central section.
- the roof module according to the invention can be designed as a pure fixed roof or comprise a roof opening system. It can be designed in such a way that it can be placed on a vehicle body shell by a vehicle manufacturer as a structural unit which comprises in an integrated manner devices for autonomous or semi-autonomous driving using driver assistance systems.
- the roof module can be designed for use in a passenger car or in a utility vehicle.
- the edge section forms a front cowl or a rear cowl of the vehicle concerned.
- the edge section with the greater gradient than the central section can form a lateral edge strip in relation to a vertical longitudinal roof center plane, which borders on a roof side member of a vehicle body when the roof module is installed.
- the edge section is delimited from the central section in such a way that the boundary line is defined, for example, by an inner edge of the sensor module facing the center of the roof. It is also conceivable that the boundary line is defined by an inner edge of a separate panel.
- the roof module according to the invention is preferably designed in such a way that the edge section or the roof line formed by the edge section drops off by a minimum angle in the area of the environment sensor.
- the environment sensor sends out a signal cone which, starting from a horizontal plane, causes an opening has angle of inclination, which is preferably smaller than the slope of the edge portion.
- the environment sensor thus has an undisturbed field of vision which is not disturbed by other vehicle or roof components.
- the opening angle of the signal cone is between 15 ° and 20 ° starting from a horizontal plane downwards, the slope of the edge section being at least 4 °, in particular at least 6 °, greater.
- the downward opening angle of the signal cone can also be greater than 20 ° or less than 15 °.
- the sensor module with the environment sensor is preferably integrated in the roof module in such a way that it is firmly connected to the roof substructure.
- the roof substructure can be formed by a roof frame and / or a transverse bow or, in a special embodiment of the roof module according to the invention, be part of the vehicle shell on which the roof module can be mounted. Due to the arrangement in the edge section, a cover or a housing of the sensor module does not protrude, or only protrudes slightly, over a virtual roof line that would be present in a roof module without a sensor module.
- the roof module according to the invention therefore has no essential structures or projections that could interfere with the appearance. It is also conceivable that the sensor module is attached to the roof skin or an edge section thereof.
- Figure 1 is a plan view of a motor vehicle with a roof module according to
- FIG. 2 shows a section through the roof module along the line II-II in FIG. 1;
- FIG. 3 shows a section through the roof module along the line III-III in FIG. 1;
- Figure 4 shows a section through the roof module along the line IV-IV in Figure 1,
- FIG. 5 shows a section corresponding to FIG. 4 through an alternative embodiment
- FIG. 6 shows a section through a further embodiment of a vehicle roof.
- a vehicle roof 10 is shown, which is designed as a roof module and is placed as a unit on a vehicle body, of which in Figure 1 based on a vertical longitudinal roof center plane on both sides an A-pillar 12, B-pillar 14 and C-pillars 16 are shown, which are connected to one another via a respective longitudinal roof member 18.
- the longitudinal roof members 18 delimit the roof module or vehicle roof 10 laterally.
- the roof module 10 comprises a roof substructure 20 which forms a roof frame and specifies the rigidity of the roof module 10, as well as a roof skin 22 which forms an outer visible surface of the roof module 10.
- a sensor module 30 is provided at the front and in the center of the vehicle, and a sensor module 31 is provided at the rear and in the center of the vehicle.
- the sensor modules 24A, 24B, 26A, 26B, 28A, 28B, 30 and 31 each include an environment sensor 32, by means of which the vehicle environment can be detected in order to implement autonomous driving of the vehicle in question. By evaluating the measurement signals of the surroundings sensors 32 by means of a control device, a respective traffic situation can thus be determined so that the vehicle in question can autonomously or partially autonomously adapt to the traffic situation.
- the environment sensors 32 of the sensor modules 24A, 24B, 26A, 26B, 28A, 28B, 30 and 31 can be designed in many ways and, for example, a lidar sensor, a radar sensor, a camera (mono / multi / multi focal - and / or stereo camera) and / or another suitable sensor. As shown with reference to FIGS.
- the environment sensors 32 each emit a signal cone 34 which has an opening angle that is adapted to the respective requirements.
- the roof skin 22 of the roof module 10 has a central section 36 which is arched and therefore slopes downwards from a roof center both in the longitudinal direction of the vehicle backwards and forwards and in the transverse direction of the vehicle on both sides following a curved path.
- a curved edge section 38 In the longitudinal direction of the vehicle, at the front or at the front of the central section 36, a curved edge section 38, which forms a front cowl adjacent to a windshield 40 and which has a greater gradient than the central section 36.
- the three sensor modules 24A, 24B and 30 are arranged below the edge section 38, which forms the front cowl, with the sensor modules 24A and 24B being arranged in the corner areas of the roof module 10 and the sensor module 30 being arranged centrally in relation to the roof module transverse extent.
- the three sensor modules 28A, 28B and 31 are assigned to a rear edge region 44 which forms a rear cowl.
- the environment sensors 32 of the sensor modules 24A, 24B and 30 each transmit the signal cone 34 in the bow direction during operation, which, as can be seen in FIGS. 2 and 3, has an opening angle of approximately 17 downwards from a horizontal plane ° has.
- the front cowl which is formed by the front edge section 38 of the roof module 10, has a gradient of 24.5 ° starting from the horizontal plane, that is, the opening angle of the signal cone 34 is smaller than the gradient of the edge section 38 downwards the surroundings sensors 32 provide a free field of vision in the respective intended viewing directions that is not disturbed by other vehicle parts and, as can be seen from FIG. 3, can reach through the windshield 40.
- the front cowl formed by the edge section 38 is made of a cover made of plastic or glass, which is transparent for the wavelengths with which the environment sensors 32 work.
- the roof module 10 has a middle sensor module 26A or 26B on both sides with respect to the vertical longitudinal roof center plane with a respective environment sensor 32, which is also designed, for example, as a so-called lidar sensor and is shown in FIG.
- the sensor modules 26A and 26B each lie below an edge section 42 of the roof skin 22, which adjoins the central section 36 in the transverse direction of the roof and has a gradient that is greater than that of the Central section 36, so that the surroundings sensors 32 can detect the vehicle surroundings in a lateral direction through the respective edge section 42 formed from a plastic cover.
- the lateral edge sections 42 each border with their outer edges on the relevant longitudinal roof spar 18 assigned to the vehicle body, which is outside the field of view of the relevant sensor module 26A or 26B.
- FIG. 5 shows a section through an alternative embodiment of a roof module, which largely corresponds to that according to FIGS. 1 to 4, but differs from this in that the edge sections 42 of the roof skin 22 overlap the roof side members 18, i.e. lie above them. Otherwise, reference is made to the description of the embodiment according to FIGS. 1 to 4.
- the sensor module 26 A is arranged so that the signal cone 34 of the environment sensor 32A is above a roof line 46, which is formed by an edge section 38 on the bow side, but the sensor module 26 A is partially below the virtually continued towards the center of the vehicle Roof line 46 lies.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Body Structure For Vehicles (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/632,908 US20220266917A1 (en) | 2019-08-19 | 2020-08-13 | A Roof Module Having an Environment Sensor |
CN202080058523.5A CN114258359A (zh) | 2019-08-19 | 2020-08-13 | 具有环境传感器的顶部模块 |
KR1020227006390A KR20220038153A (ko) | 2019-08-19 | 2020-08-13 | 환경 센서를 가진 루프 모듈 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019122175.7A DE102019122175B3 (de) | 2019-08-19 | 2019-08-19 | Dachmodul mit Umfeldsensor |
DE102019122175.7 | 2019-08-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021032593A1 true WO2021032593A1 (de) | 2021-02-25 |
Family
ID=72290988
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2020/072767 WO2021032593A1 (de) | 2019-08-19 | 2020-08-13 | Dachmodul mit umfeldsensor |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220266917A1 (de) |
KR (1) | KR20220038153A (de) |
CN (1) | CN114258359A (de) |
DE (1) | DE102019122175B3 (de) |
WO (1) | WO2021032593A1 (de) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2860820A1 (de) * | 2013-10-10 | 2015-04-15 | Volvo Car Corporation | Fahrzeugscheibenanordnung und Verfahren zur Montage einer Fahrzeugfensteranordnung |
EP3078987A1 (de) * | 2015-04-09 | 2016-10-12 | Toyota Jidosha Kabushiki Kaisha | Anordnungsstruktur für näheninformationsdetektionssensor |
US20160297482A1 (en) * | 2015-04-09 | 2016-10-13 | Toyota Jidosha Kabushiki Kaisha | Vehicle upper portion structure |
US20170307421A1 (en) * | 2016-04-26 | 2017-10-26 | Toyota Jidosha Kabushiki Kaisha | Mounting structure for a peripheral information detection sensor |
US20170369003A1 (en) * | 2016-06-27 | 2017-12-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicles and vehicle roof structures for concealing one or more sensors |
US20190248421A1 (en) * | 2018-02-09 | 2019-08-15 | Cnh Industrial America Llc | Roof assembly for an autonomous work vehicle |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19958605A1 (de) * | 1999-12-06 | 2001-06-21 | Webasto Vehicle Sys Int Gmbh | Dachmodul |
AU2002328264A1 (en) * | 2002-04-29 | 2003-11-17 | Magna Donnelly Gmbh & Co. Kg | Cover module |
DE10238935A1 (de) * | 2002-08-24 | 2004-03-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Befestigung und Ausrichtung eines Sensors |
US20070216768A1 (en) * | 2006-03-14 | 2007-09-20 | Ford Global Technologies, Llc | Device and method for outwardly looking ir camera mounted inside vehicles particularly suited for pre-crash sensing and pedestrian detection |
JP4522419B2 (ja) * | 2007-01-22 | 2010-08-11 | 節男 黒木 | 固定式ワイパー装置付ビデオカメラ透明保護具をルーフ上に設けた視認カメラ装着車 |
DE102015220709A1 (de) * | 2015-10-23 | 2017-05-11 | Bayerische Motoren Werke Aktiengesellschaft | Kraftfahrzeug |
US10071773B2 (en) * | 2016-08-04 | 2018-09-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle roof structures for concealing one or more sensors |
US10099630B1 (en) * | 2017-06-29 | 2018-10-16 | Ford Global Technologies, Llc | Vehicle sensor mount |
US10514303B2 (en) * | 2017-06-29 | 2019-12-24 | Ford Global Technologies, Llc | Sensor pod with breathable cabin interface |
US10668793B2 (en) * | 2018-01-05 | 2020-06-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Retractable autonomous roof panel |
-
2019
- 2019-08-19 DE DE102019122175.7A patent/DE102019122175B3/de active Active
-
2020
- 2020-08-13 US US17/632,908 patent/US20220266917A1/en not_active Abandoned
- 2020-08-13 WO PCT/EP2020/072767 patent/WO2021032593A1/de active Application Filing
- 2020-08-13 KR KR1020227006390A patent/KR20220038153A/ko not_active Application Discontinuation
- 2020-08-13 CN CN202080058523.5A patent/CN114258359A/zh active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2860820A1 (de) * | 2013-10-10 | 2015-04-15 | Volvo Car Corporation | Fahrzeugscheibenanordnung und Verfahren zur Montage einer Fahrzeugfensteranordnung |
EP3078987A1 (de) * | 2015-04-09 | 2016-10-12 | Toyota Jidosha Kabushiki Kaisha | Anordnungsstruktur für näheninformationsdetektionssensor |
US20160297482A1 (en) * | 2015-04-09 | 2016-10-13 | Toyota Jidosha Kabushiki Kaisha | Vehicle upper portion structure |
US20170307421A1 (en) * | 2016-04-26 | 2017-10-26 | Toyota Jidosha Kabushiki Kaisha | Mounting structure for a peripheral information detection sensor |
US20170369003A1 (en) * | 2016-06-27 | 2017-12-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicles and vehicle roof structures for concealing one or more sensors |
US20190248421A1 (en) * | 2018-02-09 | 2019-08-15 | Cnh Industrial America Llc | Roof assembly for an autonomous work vehicle |
Also Published As
Publication number | Publication date |
---|---|
KR20220038153A (ko) | 2022-03-25 |
CN114258359A (zh) | 2022-03-29 |
DE102019122175B3 (de) | 2021-01-28 |
US20220266917A1 (en) | 2022-08-25 |
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