Patent Application
20250085398
Autonomous and semi-autonomous vehicles typically include a variety of sensors. Some sensors detect the position or orientation of the vehicle, for example, global positioning system (GPS) sensors; accelerometers, such as piezo-electric or microelectromechanical systems; gyroscopes such as rate, ring laser, or fiber-optic gyroscopes; inertial measurement units; and magnetometers. Some sensors detect objects external to a vehicle, for example, radar sensors, cameras, and light detection and ranging (lidar) devices. Sensors may be positioned at locations of a vehicle to provide a field-of-view of an environment external to the vehicle.
An example sensor assembly can include a vehicle roof, a bracket mounted to the vehicle roof in an attachment area of the vehicle roof. The bracket can cover the attachment area. The bracket can include a cantilevered portion that extends in a vehicle-forward direction from the forwardmost point of the attachment area. The sensor assembly can include a sensor mounted to the cantilevered portion forward of the forwardmost point.
The bracket of the sensor assembly can be connected to a reinforcing beam, in which the reinforcing beam can be connected to a first structural component at a first side of an exterior surface of a vehicle that includes the sensor assembly.
The reinforcing beam can be connected to a second structural component at a second side of the exterior surface of the vehicle.
An area defined by a vertically projection of the cantilevered portion downward onto the vehicle roof can be outside of a windshield of a vehicle that includes the sensor assembly.
The bracket and the sensor mounted within the bracket can have a combined structural resonance frequency of greater than 2.5 hertz.
The bracket can include two members to support the cantilevered portion, the support members can be separated in a vehicle-lateral direction by a gap of between about 200 millimeters and about 400 millimeters.
The cantilevered portion can include a bottom panel supporting the sensor, the bottom panel being positioned between about 40 millimeters and about 80 millimeters vertically above the vehicle roof.
The sensor can be a lidar sensor.
The bracket can be arranged to restrict displacement of the sensor to between about 3.5 millimeters and about 8.0 millimeters in any direction with respect to the vehicle roof.
The bracket can be sized to restrict angular displacement to between about 1.0 degree and about 3.0 degrees with respect to a longitudinal axis of a vehicle including the sensor assembly.
The sensor assembly can additionally include a fan positioned in the cantilevered portion, in which the cantilevered portion includes a bottom panel supporting the sensor, and the fan can be positioned to draw airflow into the cantilevered portion through an opening in the bottom panel of the cantilevered portion.
The fan can be coupled to an air passage that extends from the fan and away from the bottom panel.
The cantilevered portion can include a top panel positioned vertically upward from the sensor, the cantilevered portion defines an air passage to permit airflow to pass directly above the sensor and directly below the top panel.
The cantilevered portion can include an outlet air vent positioned to receive the airflow from the fan and to supply the airflow to a sensing surface of the sensor.
The cantilevered portion can include an outlet air vent that extends in a vehicle-lateral direction to supply the airflow across a sensing surface of the sensor in a vertically downward direction.
The bracket of the sensor assembly can include two support members supporting the cantilevered portion, in which the support members are separated in a vehicle-lateral direction, and the opening is located between the support members along the vehicle-lateral direction.
The sensor assembly can additionally include a nozzle positioned in the cantilevered portion that is fluidly coupled to a washer fluid reservoir of a vehicle that includes the sensor assembly.
The sensor assembly can additionally include a first nozzle positioned in the cantilevered portion and aimed at a first portion of a sensing surface of the sensor. The sensor assembly can additionally include a second nozzle positioned in the cantilevered portion and aimed at a second portion of the sensing surface of the sensor, wherein the first and second portions of the sensing surface are non-overlapping.
The cantilevered portion can be positioned to provide a field-of-view of the sensor that includes a vehicle-forward portion of a hood of a vehicle that includes the sensor assembly.
A bottom panel and a top panel of the cantilevered portion can each be shaped so as to provide an airflow velocity at the bottom panel that is equal to the airflow velocity at the top panel during vehicle travel in a forward direction.
With reference to the Figures, wherein like numerals indicate like parts throughout the several views,
Vehicle 100 includes vehicle body 102. Vehicle 100 may be of a unibody construction, in which a frame and body 102 of vehicle 100 are a single component. Vehicle 100 may, alternatively, be of a body-on-frame construction, in which the frame supports body 102 that is a separate component from the frame. In accordance with body-on-frame construction of vehicle body 102, vehicle body 102 includes two components, which may include a body component and a frame component. A body component of vehicle body 102 may include a basic structure that forms the cabin, engine bay, and cargo area. The body component may be fixed to a frame, which supports the vehicle's weight and retains the suspension components of vehicle body 102. Vehicle body 102 or frame may include first structural component 114, second structural component 116, and reinforcing beam 105. First structural component 114 and second structural component 116 may include roof rails on opposite lateral sides of vehicle 100. The frame and body 102 may be formed of any suitable material, for example, steel, aluminum, etc.
Vehicle 100 may additionally include computer 104, which may utilize vehicle communications bus 106 to communicate with sensor set 108, vehicle components 110, actuators 112, human-machine interface (HMI), and a communication subsystem. Computer 104 may include programming to operate one or more brakes of vehicle 100, propulsion (e.g., control of acceleration in the vehicle by controlling one or more of an internal combustion engine, electric motor, hybrid engine, etc.), steering, climate control, interior and/or exterior lights, etc. Vehicle communications bus 106 can include an internal wired and/or wireless network, such as a controller area network (CAN) or the like, and/or other wired and/or wireless mechanisms. Vehicle computer 104 includes a processor and a memory, which can include one or more forms of computer-readable media, and stores instructions executable by vehicle computer 104 for performing various operations, including those disclosed herein. Vehicle computer 104 may include or be communicatively coupled to more than one processor, e.g., included in electronic controller units (ECUs) or the like included in vehicle 100 for monitoring, actuating, and/or controlling various vehicle actuators 112, e.g., a powertrain actuator, a brake actuator, a steering actuator, electromechanical actuators etc. Further, vehicle computer 104 may receive signals, via a communications subsystem, from a satellite positioning system, e.g., GPS.
Sensor set 108 of vehicle 100 can include any sensor for detecting the attributes of an environment external to vehicle 100, such as objects and/or characteristics of surroundings of the vehicle. Accordingly, sensor set 108 may operate to detect other vehicles, road markings, traffic lights and/or signs, pedestrians, natural objects, etc. For example, sensor set 108 may include radar sensors, ultrasonic sensors, lidar devices (e.g., sensor 108A), and image processing sensors such as cameras. As an example, vehicle computer 104 may obtain an estimate of the position of vehicle 100, which may include, for example, fusing output data from sensor set 108 with satellite positioning signals from GPS satellites. The location data may be in a known form, e.g., geo-coordinates in a global-reference frame (i.e., latitudinal and longitudinal). Sensors of sensors set 108 can include any number of additional devices, which may be mounted at a top portion of vehicle body 102, at a rear portion of vehicle body 102, at windshield 130, around vehicle body 102, etc. Such sensors may provide relative locations, sizes, and shapes of objects and/or conditions surrounding vehicle body 102. Sensors of sensor set 108 may cooperate with each other to provide sensor fusion capabilities. For example, sensor 108A may include a lidar sensor, which may cooperate with a camera sensor to provide, for example, a range to a camera-detected object. Thus, in one example, a camera device of sensor set 108 may capture an image of a stationary or moving object located in a forward direction with respect to vehicle 100. Sensor 108A (e.g., a lidar sensor) may then provide range data, which may permit sensor fusion processing programming of computer 104 to determine a distance between the camera-detected object and vehicle 100.
Windshield 130 may be mounted to vehicle body 102. Windshield 130 may extend from the front hood of vehicle body 102 and terminate at a front portion of vehicle roof 103. Windshield 130 may be formed from any suitably durable transparent material, including glass such as laminated, tempered glass or plastic such as Plexiglas® or polycarbonate.
Vehicle roof 103 may extend from the rear edge of windshield 130 to provide an upper boundary of the cabin of vehicle 100. Vehicle roof 103 may be formed of any suitably durable transparent material, including glass such as laminated, tempered glass or plastic such as Plexiglas® or polycarbonate. The transparent material permits operators and passengers of vehicle 100 to view objects located to the front of the vehicle as well as objects located above the vehicle as the vehicle proceeds along path 150.
Vehicle roof 103 may be supported, at least in part, by reinforcing beam 105. Reinforcing beam 105 may be connected to first structural component 114 at a first lateral side or edge of vehicle body 102 (e.g., the left side) and may be connected to second structural component 116 at a second lateral side or edge of vehicle body 102 (e.g., the right side). Reinforcing beam 105 may support vehicle roof 103 for an entire lateral width of vehicle roof 103. Reinforcing beam 105 may be formed from any suitable material, such as steel, aluminum, etc.
Sensor bracket 109 may be fixed to reinforcing beam 105, such as shown in
As shown in
Sensor bracket 109 may be sized so as to support sensor 108A, which may include a weight of between 1.5 kilograms and 3.0 kilograms. In an example, sizing of bracket 109 can restrict movement, e.g., displacement, of sensor 108A to between about 3.5 millimeters and about 8.0 millimeters in any direction (e.g., along vehicle longitudinal axis 101 and/or along lateral direction 111) with respect to vehicle roof 103. In an example, sizing of bracket 109 can additionally restrict angular displacement of sensor 108A to between about 1.0 degree and about 3.0 degrees with respect to vehicle longitudinal axis 101. Accordingly, programming of computer 104 can execute sensor fusion operations, such as by combining output data from a camera of sensor set 108 with range data output from sensor 108A. Thus, in response to image processing programming of computer 104 detecting and classifying a static or moving object in the driving environment of vehicle 100, programming of computer 104 may utilize output signals from sensor 108A to determine the range to the static or moving object. In the example of
Sensor bracket 109 can include support members 109A and 109B, which may be mounted to reinforcing beam 105 at attachment area 120. Cantilevered portion 124 of sensor bracket 109, supported by support members 109A and 109B, is shown as being located forward of attachment area 120 as described in reference to
Sensor bracket 109 can be formed from any suitable material capable of supporting a sensor, e.g., sensor 108A having a weight of between 1.5 and 3.0 kilograms, while vehicle body 102 proceeds along path 150. Structural properties and features of sensor bracket 109, in combination with sensor 108A, e.g., located within and supported by cantilevered portion 124, can be analyzed utilizing any suitable computerized structural modeling tool. For example, elements of sensor bracket 109, within which sensor 108A is mounted, may be analyzed using a finite element analysis technique. In an example, elements of sensor bracket 109 can be analyzed utilizing Ansys Mechanical Finite Element Analysis (FEA) Software for Structural Engineering available from ANSYS, Inc., located at 2600 Ansys Drive Canonsburg, PA 15317, USA. In an example, sensor bracket 109 housing sensor 108A can be designed to include a structural resonance frequency of greater than 2.5 hertz. In an example, via designing of sensor bracket 109 to include a structural resonance frequency of greater than 2.5 hertz, effects of structural oscillations resulting from wind loading during vehicle travel (e.g., along path 150) at various vehicle speeds can be minimized. In an example, to achieve a structural resonance frequency of greater than 2.5 hertz, the shape and composition of support members 109A and 109B of bracket 109 may be adjusted to add mass to the structural elements, add stiffening or reinforcing material, or modify bracket 109 in another way to adjust the structural resonance of the bracket. In an example, by moving the structural resonance frequency to greater than 2.5 hertz, vibrations brought about by wind loading during vehicle travel can be adjusted to, for example, 2.75 hertz, 3.0 hertz, 5.0 hertz, etc.
Bottom panel 315, which abuts and is fixed to support members 109A and 109B, cooperates with the support members to bear the weight of sensor 108A. Accordingly, bottom panel 315, top panel 320, and support members 109A and 109B, cooperate to form an enclosure that protects sensor 108A from weather, such as sunlight, rain, intrusion of dust, dirt, and/or other contaminants. Sensor 108A can be secured to bottom panel 315 so as to prevent movement of sensor 108A within an enclosure formed by the support members 109A-B, the top panel 320, and the bottom panel 315 of the cantilevered sensor assembly depicted in
As shown in
First nozzle 515 and second nozzle 520 may be aimed in the direction of sensing surface 308 of sensor 108A. In the example of
In general, the computing systems and/or devices described may employ any of a number of computer operating systems, including, but by no means limited to, versions and/or varieties of the Ford Sync® application, AppLink/Smart Device Link middleware, the Microsoft Automotive® operating system, the Microsoft Windows® operating system, the Unix operating system (e.g., the Solaris® operating system distributed by Oracle Corporation of Redwood Shores, California), the AIX UNIX operating system distributed by International Business Machines of Armonk, New York, the Linux operating system, the Mac OSX and iOS operating systems distributed by Apple Inc. of Cupertino, California, the BlackBerry OS distributed by Blackberry, Ltd. of Waterloo, Canada, and the Android operating system developed by Google, Inc. and the Open Handset Alliance, or the QNX® CAR Platform for Infotainment offered by QNX Software Systems. Examples of computing devices include, without limitation, an on-board vehicle computer, a computer workstation, a server, a desktop, notebook, laptop, or handheld computer, or some other computing system and/or device.
Computing devices generally include computer-executable instructions, where the instructions may be executable by one or more computing devices such as those listed above. Computer executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Matlab, Simulink, Stateflow, Visual Basic, Java Script, Python, Perl, HTML, etc. Some of these applications may be compiled and executed on a virtual machine, such as the Java Virtual Machine, the Dalvik virtual machine, or the like. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer readable media. A file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random-access memory, etc.
A computer-readable medium (also referred to as a processor-readable medium) includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that may be read by a computer (e.g., by a processor of a computer). Such a medium may take many forms, including, but not limited to, non-volatile media and volatile media. Instructions may be transmitted by one or more transmission media, including fiber optics, wires, wireless communication, including the internals that comprise a system bus coupled to a processor of a computer. Common forms of computer-readable media include, for example, RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.
Databases, data repositories or other data stores described herein may include various kinds of mechanisms for storing, accessing, and retrieving various kinds of data, including a hierarchical database, a set of files in a file system, an application database in a proprietary format, a relational database management system (RDBMS), a nonrelational database (NoSQL), a graph database (GDB), etc. Each such data store is generally included within a computing device employing a computer operating system such as one of those mentioned above and are accessed via a network in any one or more of a variety of manners. A file system may be accessible from a computer operating system and may include files stored in various formats. An RDBMS generally employs the Structured Query Language (SQL) in addition to a language for creating, storing, editing, and executing stored procedures, such as the PL/SQL language mentioned above.
In some examples, system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on computer readable media associated therewith (e.g., disks, memories, etc.). A computer program product may comprise such instructions stored on computer readable media for carrying out the functions described herein.
In the drawings, the same reference numbers indicate the same elements. Further, some or all of these elements could be changed. With regard to the media, processes, systems, methods, heuristics, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It should further be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted.
All terms used in the claims are intended to be given their plain and ordinary meanings as understood by those skilled in the art unless an explicit indication to the contrary is made herein. In particular, use of the singular articles such as “a,” “the,” “said,” etc. should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary. The adjectives “first,” “second,” and “third” are used throughout this document as identifiers and are not intended to signify importance, order, or quantity. Use of “in response to” and “upon determining” indicates a causal relationship, not merely a temporal relationship.
The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.
