Patent Publication Number: US-2022229170-A1

Title: Sensor-cluster apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/724,345, filed on Dec. 22, 2019, which claims priority and the benefit of Korean Patent Application No. 10-2019-0134012, filed on Oct. 25, 2019, which is hereby incorporated by reference for all purposes as if set forth herein. 
    
    
     BACKGROUND 
     Field 
     Exemplary embodiments relate to a sensor-cluster apparatus capable of being applied to an advanced driver assistance system (ADAS), and more particularly, to a sensor-cluster apparatus that is capable of calibrating a sensor position and/or a sensor arrangement angle to correct twisting or position changing of sensors when the misalignment or position changing of the sensors is detected by a controller for controlling the sensors or monitoring sensor&#39;s functions. 
     Discussion of the Background 
     With the development of technology, autonomous vehicles are rapidly being developed in the vehicle fields for the convenience of living. “Autonomous vehicle” refers to a vehicle which can be driven by itself without any operation by its driver or passengers and various technologies are being developed to enable autonomous driving. 
     In particular, studies of an advanced driver assistance system (ADAS) are underway to complete autonomous driving technology. 
     The ADAS refers to a technology in which the vehicle itself recognizes some (or all) of a number of situations that may occur while driving and determines the recognized situations to control steering, braking, and acceleration/deceleration of the vehicle. 
     The ADAS is a system that encompasses several systems, such as, for example, an autonomous emergency braking (AEB) system by which the vehicle is decelerated or stopped by itself without the driver applying the brakes, a lane-keep assist system (LKAS) that automatically adjusts steering when the vehicle leaves the lane, and an around-view monitor (AVM) system that visually displays the information of the vehicle surroundings, and the like. 
     Thus, the ADAS essentially requires sensors that are capable of detecting and grasping the environment surrounding the vehicle. 
     The sensors are provided with sensors for recognizing a position of the vehicle and sensors for sensing the driving environment. An inertial measurement unit (IMU), a global positioning system (GPS), and the like are used as the sensors for recognizing the position of the vehicle. Also, a camera sensor, a lidar sensor, a radar sensor, and the like are used for detecting objects and the driving environments. 
     The sensors may be installed in a front bumper, a radiator grill, the vicinity of a headlight, a top surface of a roof panel, a trunk lid, etc., of the vehicle, respectively, as illustrated in  FIG. 1 , which illustrates positions of the sensors mounted on the vehicle in accordance with the related art. 
     However, the sensors have a problem in that the sensing function is limited depending on the external environments. For example, the camera sensor may be difficult to acquire valid data under a dark environment with no lighting or under severe weather, and the radar sensor may be deteriorated in reliability when radio waves are scattered in accordance with the environment and weather. 
     Therefore, there is a need for heterogeneous sensors to complement data from each other in accordance with the surrounding environments. That is, integration and convergence of different types of sensors have been required. 
     In order to realize the integration and convergence of such sensors, although software that controls the sensors and acquires the data is important, the necessity for physically collecting and arranging the sensors is required. 
     The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and, therefore, it may contain information that does not constitute prior art. 
     SUMMARY 
     Exemplary embodiments of the present invention provide a sensor-cluster apparatus that is capable of collecting and arranging heterogeneous sensors and capable of adjusting and correcting positions and arrangement angles of the sensors. 
     Additional features of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. 
     An exemplary embodiment of the present invention provides a sensor-cluster apparatus in which a sensor configured to detect and collect external environment information is mounted in a case. The sensor-cluster apparatus includes: a body member on which one kind or more of sensors are mounted on one surface thereof; a case in which an inner space is provided, and one surface thereof is opened to define an opening and on which the body member is mounted so that each of the sensors is exposed to the opening; and a position control device mounted inside the case to adjust a mounting position or a mounting angle of the body member. 
     The position control device may include: a ball joint in which a ball stud having a ball at an end thereof and a casing stud having a casing, which accommodates the ball and allows the ball stud to be freely rotated, at an end thereof are coupled to each other; a tension spring having one end connected to the case and the other end connected to the body member to provide elastic force that resists a tensile load; and an actuator configured to press the body member within the case. 
     One of the ball stud and the casing stud may be fixed to the body member, and the other may be fixed to the case, and a mounting position and a mounting angle of the body member may be maintained by the tension spring. When the actuator presses the body member, the actuator may overcome the elastic force of the tension spring, and the mounting position and the mounting angle of the body member are changed. That is, the mounting position and angle may be calibrated. 
     The ball joint, the tension spring, and the actuator may be mounted on a surface of the body member, which is opposite to the surface on which the sensors are mounted. 
     However, a portion of the ball joint, the tension spring, and the actuator may be mounted on the surface on which the sensors are mounted, with a range in which an interference with each of the sensors does not occur. 
     The actuator may operate through a hydraulic device, a pneumatic device, or another power supply device. However, in the present invention, the actuator may operate by driving an electromagnet or a motor through the supply of current so as to enable precise position control. 
     The actuator may include: a cylinder having a hollow cylindrical shape; and a piston slidably mounted inside the cylinder and disposed so that an end of the piston presses the body member. The piston may be configured to slide through the device, such as the motor or the electromagnet, which is rotatable forward and reverse. 
     The ball joint, the tension spring, and the actuator may form one adjustment set, and at least two or more adjustment sets may be installed at positions that are spaced apart from each other, respectively. 
     The body member may have a rectangular plate shape having four vertices, and the adjustment set may be disposed in the vicinity of two vertices which are diagonally connected to each other in the body member, respectively. 
     The ball joint and the tension spring may be additionally installed in the body member and the case in addition to the ball joint and the tension spring, which are provided in the adjustment set, respectively. 
     The ball joint and the tension spring that are additionally installed in addition to the ball joint and the tension spring, which are provided in the adjustment set, may be installed in the vicinity of one of remaining two vertices except for the two vertices at which the adjustment set is disposed in the body member. 
     The sensors may include: a camera sensor disposed within the case to face the opening, the camera sensor being configured to recognize an object in a visible light wavelength region; an infrared sensor disposed within the case to face the opening, the infrared sensor being configured to recognize an object in an infrared light wavelength region; a lidar sensor disposed within the case to face the opening, the lidar sensor being configured to emit an optical pulse and detect an object through a reflected carrier signal, thereby mapping a distance; and a radar sensor disposed within the case to face the opening, the radar sensor being configured to emit electromagnetic waves and detect an object through a reflected carrier signal, thereby mapping a distance. 
     One radar sensor, one camera sensor, two infrared sensors, and two lidar sensors may be mounted on the body member. The radar sensor and the camera sensor may be disposed at a center of the body member, wherein the camera sensor may be disposed above the radar sensor, and the lidar sensors and the infrared sensors may be respectively disposed at both sides of the body member with the camera sensor and the radar sensor therebetween, wherein the infrared sensors may be disposed above the lidar sensors. 
     The radar sensor having a relatively narrow elevation angle (a sensible angle in a height direction of the vehicle) and a relatively wide azimuth angle (a sensible angle in a width direction of the vehicle) may be disposed below the center, and the camera sensor may be disposed above (above the center) the radar sensor. The lidar sensors may be disposed at both sides of the radar sensor, respectively, and the infrared sensors may be disposed at both sides of the camera sensor, respectively. 
     Since each of the lidar sensors has a relatively wide elevation angle and a relatively narrow azimuth angle when compared to those of the radar sensor, the two lidar sensors may be provided. Also, each of the infrared sensors may have a relatively wide elevation angle like the camera sensor, but the two infrared sensors may be provided in consideration of a space and symmetry. 
     Each of the infrared sensor, the camera sensor, the lidar sensor, and the radar sensor may be detachably coupled to the body member. That is, when one sensor needs to be replaced, only the corresponding sensor may be detached from the body member without detaching the body member from the case. 
     The sensor-cluster apparatus may further include a cover coupled to the case to cover the opening. The cover may prevent water, dust, and other foreign matter from being permeated into the case, wherein the cover may be made of a material through which infrared rays, visible light, optical pulses, and electromagnetic waves are transmittable. 
     The cover may open and close the opening by a sliding device, and the sliding device may include: a motor configured to axially rotate a rotation shaft; a gear assembly configured to convert rotation movement of the rotation shaft into sliding movement; and a slidable part coupled to the cover so as to be slid by the gear assembly. 
     It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the principles of the invention. 
         FIG. 1  is a view illustrating positions of sensors to be mounted on a vehicle in accordance to a related art. 
         FIG. 2  is a perspective view illustrating the inside of a sensor-cluster apparatus in accordance with an exemplary embodiment of the present invention. 
         FIG. 3  is a perspective view illustrating a rear side of the sensor-cluster apparatus of  FIG. 2 . 
         FIG. 4  is a front view illustrating a front side of a body member in accordance with an exemplary embodiment of the present invention. 
         FIGS. 5A and 5B  are perspective views respectively illustrating a closed state (upper picture) and an opened state (a lower picture) of the cover by coupling the cover to the case. 
         FIG. 6  is a simplified view of a sliding device in accordance with the an exemplary embodiment of present invention. 
         FIG. 7A  is a view of a worm and a worm wheel;  FIG. 7B  is a view of a rack and a pinion; and  FIG. 7C  is a view of a link work, which are included in a gear assembly in accordance with an exemplary embodiment of the present invention. 
         FIG. 8  is an enlarged perspective view of a position control device in accordance with an exemplary embodiment of the present invention. 
         FIG. 9  is a cross-sectional view of an actuator. 
     
    
    
     DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS 
     The invention is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure is thorough, and will fully convey the scope of the invention to those skilled in the art. 
     In order to clearly illustrate the present invention, parts that are not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification. 
     Also, terms or words used in this specification and claims should not be restrictively interpreted as ordinary meanings or dictionary-based meanings, but should be interpreted as meanings and concepts conforming to the scope of the present invention on the basis of the principle that an inventor can properly define the concept of a term to describe and explain his or her invention in the best ways. 
     The present invention relates to a sensor-cluster apparatus that is capable of being mounted on an autonomous vehicle. Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. 
       FIG. 2  is a perspective view illustrating the inside of a sensor-cluster apparatus in accordance with the present invention, and  FIG. 3  is a perspective view illustrating a rear side of the sensor-cluster apparatus of  FIG. 2 . 
     Referring to  FIGS. 2 and 3 , the sensor-cluster apparatus in accordance with the present invention includes a body member  10  on which one or more kinds of sensors  31 ,  32 ,  33 , and  34  are mounted on one surface thereof. The body member  10  has a rectangular plate shape and has a structure in which a lower block DB and an upper block UB, which protrude from the surface of the body member  10 , on which the sensors  31 ,  32 ,  33 , and  34  are mounted, are provided. 
     The lower block DB refers to a portion that is placed at a lower side, and the upper block UB refers to a portion that is placed at an upper side when the body member  10  is mounted on a case  20 . 
     In the present invention, each of the lower block DB and the upper block UB has three flat surfaces on which the sensors  31 ,  32 ,  33 , and  34  are installed. In more detail, as illustrated in  FIG. 4 , which illustrates a front side of the body member of the present invention, each of the upper block UB and the lower block DB has a plane P defined at its center, which is parallel to the surface of the body member  10  and inclined surfaces S, which are respectively defined at both sides of the plane P. 
     That is, each of the upper block UB and the lower block DB has a structure in which the central plane P protrudes at the highest height, and the inclined surfaces S are inclined so that sides of the inclined surfaces S, which are adjacent to the plane P, further protrude. Also, the upper block UB and the lower block DB may have different protruding degrees and areas of the planes P and the inclined surfaces S. This may vary depending on sizes of the corresponding sensors  31 ,  32 ,  33 , and  34  to be installed. 
     In the present invention, the plane P defined on the lower block DB has an area greater than that of the plane P defined on the upper block UB and protrudes further than the plane P defined on the upper block UB. Furthermore, in the planes P and the inclined surfaces S, which are defined in the upper block UB and the lower block DB, mounting grooves  11 ,  12 ,  13 , and  14  are defined so that ends of the sensors  31 ,  32 ,  33 , and  34  are inserted, and screw grooves  11   a ,  12   a ,  13   a , and  14   a  into which coupling bolts B (see  FIG. 2 ) are screw-coupled are defined in the vicinity of the mounting grooves  11 ,  12 ,  13 , and  14 , respectively. 
     The planes P and the inclined surfaces S, which are defined on the upper block UB and the lower block DB, and the mounting grooves  11 ,  12 ,  13 , and  14  and the screw grooves  11   a ,  12   a ,  13   a , and  14   a  are determined in shape in accordance with sizes of the sensors  31 ,  32 ,  33 , and  34  to be mounted. 
     Furthermore, an opposite surface of the body member  10  is provided as a whole plane. As illustrated in  FIG. 3 , additional screw grooves may be punched, in size and number, such that a cooling device  40  and a position control device  50  (to be described later), are capable of being coupled to each other, and wires connected to the mounted sensors  31 ,  32 ,  33 , and  34  and electronic components may be additionally mounted. 
     Also, the sensor-cluster apparatus of the present invention includes a case in which the body member  10  is mounted. 
     The case  20  has an inner space that is sufficient so that the body member  10  is capable of being mounted and moving within a predetermined range. Also, the case  20  has a structure of which one side is opened to define an opening (a portion through which the inside and the outside of the case communicate with each other). 
     The case  20  has a structure in which each of a rear side of the opening and both side surfaces thereof has a rectangular shape, and each of top and bottom surfaces has a rectangular shape of which a central portion is rounded to convexly protrude along an edge in which the opening defined, with reference to  FIG. 2 . Thus, the opening has a curved shape in the case  20 . 
     Also, a cover  21  is coupled to the case  20  to cover the opening. As illustrated in  FIGS. 5A and 5B , which respectively illustrate a closed state and an opened state of the cover  21  by coupling the cover to the case  20 , when the cover  21  is slid vertically on the case  20  so as to be opened and closed. As a result, the cover  21  may be closed to prevent water, dust, and other foreign matter, etc. from being introduced into the case  20 , and may be opened so that the sensors  31 ,  32 ,  33 , and  34  and the body member  10  are detached. Also, the cover  21  may be selectively opened in accordance with determination of the control device, such as a case in which foreign matter is attached to the front surface of the cover  21 , to cause a sensing error. 
     The cover  21  is manufactured by using a material having high transmittance so that infrared rays, visible light, optical pulses (laser), and electromagnetic waves, which are sensed by the mounted sensors  31 ,  32 ,  33 , and  34 , are sensed without distortion and having an appropriate strength and durability. 
     The vertical sliding of the cover  21  may be performed by a sliding device  60  mounted inside or outside the case  20 . 
     As illustrated in  FIG. 6 , the sliding device in accordance with the present invention includes a motor  61  for axially rotating a rotation shaft  61   a , a gear assembly  62  for converting the rotation movement of the rotation shaft  61   a  into sliding movement, and a slidable part  63  coupled to the cover  21  so as to be slid by the gear assembly  62 . 
     Also, the motor  61  is controlled by a controller (not shown) that supplies power to control an operation of the motor  61 , and the controller is interlocked with a controller communicating with the sensors  31 ,  32 ,  33 , and  34 . 
     In the present invention, a structure that is capable of converting the rotation movement into the sliding movement may be applied to the gear assembly  62 . That is, as illustrated in  FIGS. 7A-7C , the rotation shaft  61   a  of the motor is connected to a worm, and the gear assembly  62  may include a worm wheel engaged with the worm. In  FIG. 7A , the worm wheel may receive rotational force from the worm connected to the motor to allow the slidable part  63  to be slid through the other worm (not shown). Also, as illustrated in  FIG. 7B , the rotation shaft  61   a  of the motor may be connected to a pinion, and the gear assembly  62  may include a rack so that sliding movement of the rack is transmitted to the slidable part  63 . As illustrated in  FIG. 7C , when the rotation shaft  61   a  of the motor rotates a driving shaft of a link work, the rotation movement may be converted into the sliding movement in a driven shaft. 
     In the present invention, the sensors mounted on the body member include a camera sensor  31 , an infrared sensor  32 , a lidar sensor  33 , and a radar sensor  34 . 
     The camera sensor  31  is disposed within the case  20  so that a lens faces the opening and is configured to recognize an object in a visible region. The camera sensor  31  may include at least one lens to provide a three-dimensional image. Also, when the vehicle is driven, the camera sensor  31  may provide information for identifying traffic signs, detecting blind spots, and recognizing lane departure, pedestrians, and front objects. 
     The infrared sensor  32  is also disposed within the case  20  so that a lens faces the opening and is configured to recognize an object in an infrared region. The infrared sensor  32  may convert infrared rays, which are emitted from an object, into an electrical signal to provide image information. In particular, the infrared sensor  32  may provide information for recognizing objects and pedestrians in front of and around the vehicle when driven at night. 
     The radar sensor  34  is disposed within the case so that a portion of the radar sensor  34 , at which electromagnetic waves are generated, faces the opening. The radar sensor  34  emits the electromagnetic waves to the front of the case  20  to grasp a direction, a distance, a speed, etc., of an object through the reflected carrier signal. The electromagnetic waves emitted from the radar sensor  34  may not distinguish weather and day and night, and thus, may provide information by supplementing the camera sensor  31 . 
     The lidar sensor  33  recognizes an object in a manner that is similar to that of the radar sensor  34 , but acquires distance information using an optical pulse (laser) rather than from the electromagnetic waves. That is, the lidar sensor  33  is also disposed within the case  20  so that a portion of the lidar sensor  33 , from which the optical pulse is emitted, faces the opening. The lidar sensor  33  emits the optical pulse to the front of the case  20  to detect an object through a reflected carrier signal, thereby mapping the distance. 
     Also, as illustrated in  FIG. 2 , one radar sensor  34 , one camera sensor  31 , two infrared sensors  32 , and two lidar sensors  33  are mounted on the body member  10 . 
     Here, the radar sensor  34  and the camera sensor  31  are disposed at the center (i.e., the planes of the upper block and the lower block) of the body member  10 . Here, the camera sensor  31  is disposed above the radar sensor  34 . Also, the lidar sensors  33  and the infrared sensors  32  are respectively disposed at both sides of the body member  10  with the camera sensor  31  and the radar sensor  34  therebetween. Here, the infrared sensors  32  are disposed above the lidar sensors  33 . 
     That is, the radar sensor  34  having a relatively narrow elevation angle (a sensible angle in a height direction of the vehicle) and a relatively wide azimuth angle (a sensible angle in a width direction of the vehicle) is disposed below the center, and the camera sensor  31  is disposed above (above the center) the radar sensor  34 . The lidar sensors  33  are disposed at both sides of the radar sensor  34 , respectively, and the infrared sensors  32  are disposed at both sides of the camera sensor  31 , respectively. 
     Since each of the lidar sensors  33  has a relatively wide elevation angle and a relatively narrow azimuth angle when compared to those of the radar sensor  34 , the two lidar sensors  33  are provided. Also, each of the infrared sensors  32  has a relatively wide elevation angle like the camera sensor  31 , but the two infrared sensors  32  are provided in consideration of a space and symmetry. However, only one lidar sensor  33  may be mounted as long as the azimuth angle is sufficient. 
     Also, in the present invention, each of the infrared sensor  32 , the camera sensor  31 , the lidar sensor  33 , and the radar sensor  34  is detachably coupled to the body member  10 . That is, when one of the sensors  31 ,  32 ,  33 ,  34  needs to be replaced, only the corresponding sensor may be detached from the body member  10  without detaching the body member  10  from the case  20 . 
     In the present invention, a position control device  50  mounted inside the case  20  to adjust a mounting position or a mounting angle of the body member  10  is provided. 
     When each of the infrared sensor  32 , the camera sensor  31 , the lidar sensor  33 , and the radar sensor  34  is misaligned in angle or position, each of the infrared sensor  32 , the camera sensor  31 , the lidar sensor  33 , and the radar sensor  34  may have a function of correcting the misaligned angle or position by itself. However, when the misaligned angle or position is above a certain reference value (for example, the misaligned angle is about 3 degrees), it is impossible to correct the misaligned angle or position through the self-correction function. Therefore, when the sensors  31 ,  32 ,  33 , and  34  are misaligned in position or angle by an external impact or the like, the position control device  50  provides a function of correcting the misaligned position or angle. 
     As illustrated in  FIG. 8 , the position control device  50  in accordance with the present invention includes a ball joint  51 , a tension spring  52 , and an actuator  53 . 
     A ball stud  51   a  having a ball at an end thereof and a casing stud  51   b  having a casing, which accommodates the ball and allows the ball stud  51   a  to be freely rotated, at an end thereof are coupled to each other to provide the ball joint  51 . In the present invention, an end (an opposite side of the end at which the ball is disposed) of the ball stud  51   a  is fixed to the body member  10 , and an end (an opposite to the end at which the casing is disposed) of the casing stud  51   b  is fixed to the inside of the case  20 . 
     The tension spring  52  has one end connected to the case  20  and the other end connected to the body member  10 . Here, in order to minimize a mounting space, the tension spring  52  is mounted between the ball stud  51   a  and the casing stud  51   b  to provide elastic force between the body member  10  and the case  20  (the end of the tension spring is connected to the body member, and the other end of the tension spring is connected to the casing stud fixed to the case so that the tension spring resists force moving in a direction away from the case). That is, the tension spring  52  provide elastic force that resists a tensile load (that occurs when the body member is away from the case). 
     The actuator  53  is fixedly mounted inside the case  20  to provide force for pushing (pressing) the body member  10 . That is, the actuator  53  overcomes the elastic force of the tension spring  52  to push the body member  10 , thereby correcting distortion of the body member  10 . 
     Therefore, the mounting position and the mounting angle of the body member  10  are maintained by the tension spring  52 . However, when the actuator  53  presses the body member  10 , the actuator  53  overcomes the elastic force of the tension spring  52 , and thus, the mounting position or the mounting angle of the body member  10  may be changed. That is, the mounting position and angle may be calibrated. 
     As illustrated in  FIG. 8 , in the present invention, the ball joint  51 , the tension spring  52 , and the actuator  53  are mounted on a surface of the body member  10 , which is opposite to the surface on which the sensors  31 ,  32 ,  33 , and  34  are mounted. However, portions of the ball joint  51 , the tension spring  52 , and the actuator  53  may be mounted on the surface on which the sensors  31 ,  32 ,  33 , and  34  are mounted, such that interference with each of the sensors  31 ,  32 ,  33 , and  34  is not possible. 
     Furthermore, the actuator  53  may operate through a hydraulic device, a pneumatic device, or another power supply device. However, in the present invention, the actuator  53  operates by driving an electromagnet or a motor through the supply of current so as to enable precise position control. 
     That is, as illustrated in  FIG. 9 , the actuator  53  includes a cylinder  53   b  having a hollow cylindrical shape and a piston  53   a  slidably mounted inside the cylinder  53   b  and disposed so that an end of the piston presses the body member  10 . The piston  53   a  may be configured to be slid through the device such as the motor or the electromagnet, which is rotatable forward and reverse. That is, the piston  53   a  may be slid through the link work that converts the rotation force of the motor into the sliding movement or may be slid using the electromagnet. 
     Since the body member  10  is pushed by the piston  53   a  at a different spaced point while a portion of the body member  10  is fixed to the case  20 , the misaligned angle may be adjusted in accordance with a protruding degree of piston  53   a.    
     In the present invention, the ball joint  51 , the tension spring  52 , and the actuator  53  form one adjustment set. Here, at least two or more adjustment sets are installed at positions that are spaced apart from each other, respectively. 
     That is, as illustrated in  FIG. 8 , the body member  10  has a rectangular plate shape having four vertices. Thus, the adjustment set is disposed in the vicinity of two vertices which are diagonally connected to each other in the body member, respectively. 
     As described above, since the adjustment sets are disposed in paths provided by the diagonal lines in the body member, the misalignment in various directions and the fine misalignment may be corrected by the two adjustment sets. That is, in the two adjustment sets, the protruding degree of the piston  53   a  may be adjusted to perform the fine correction. 
     Also, the ball joint  51  and the tension spring  52  may be additionally installed in the body member  10  and the case  20  in addition to the ball joint  51  and the tension spring  52 , which are provided in the adjustment set, respectively. 
     Here, the ball joint  51  and the tension spring  52  that are additionally installed in addition to the ball joint  51  and the tension spring  52 , which are provided in the adjustment set, may be installed in the vicinity of one of remaining two vertices except for the two vertices at which the adjustment set is disposed in the body member  10 . 
     Since the present invention having the configuration as described above has the structure in which the plurality of sensors  31 ,  32 ,  33 , and  34  are mounted on the body member at once and built in the case  20 , even if one or some of the sensors  31 ,  32 ,  33 , and  34  fail, other sensors may provide data to compensate or supplement the data of the failed sensors. Also, since the sensors  31 ,  32 ,  33 , and  34  are mounted in one place within the case  20 , integrated maintenance and mounting of the sensors  31 ,  32 ,  33 , and  34  may be easily performed. 
     Since the sensor-cluster apparatus according to the present invention includes the position control device  50 , the body member may be adjustable in mounting position or mounting angle. That is, the sensor may easily return to its original position or be adjusted in arrangement angle toward the required direction in accordance with the driving condition of the vehicle or when the repositioning of the sensor is required by the external impact. 
     Since the position control device  50  according to the present invention is capable of adjusting the position and angle of the body member only by the elastic force of the tension spring and the pushing force of the actuator in the state of being coupled to the ball joint that allows the body member to be freely rotated in the case, the position control device may be simplified in configuration to reduce a failure rate and be miniaturized to be easily mounted. 
     According to the present invention, the ball joint  51 , the tension spring  52 , and the actuator  53  constitute one adjustment set, and at least two or more adjustment sets may be spaced apart from each other to adjust the body member to more various postures or positions. 
     In accordance with the present invention, one radar sensor  34 , one camera sensor  31 , two infrared sensors  32 , and two lidar sensors  33  are mounted on the body member. Here, the two infrared sensors may have a sensing range overlapping each other (or, the two lidar sensors may also have a sensing range overlapping each other). Therefore, when the failure of one sensor occurs, the position control device  50  in accordance with the present invention may be configured to periodically change the mounting angle of the body member  10  so that the remaining sensors cover a sensing range of the failed sensor. 
     Also, each of the infrared sensor  32 , the camera sensor  31 , the lidar sensor  33 , and the radar sensor  34  may be detachably coupled to the body member  10 . That is, when one sensor needs to be replaced, only the corresponding sensor may be detached from the body member without detaching the body member from the case. 
     The cover in accordance with the present invention may prevent water, dust, and other foreign matter from being permeated into the case. In addition, the cover may be made of the material that transmits the infrared rays, the visible light, the optical pulses, and the electromagnetic waves, which are transmitted and received by each of the sensors, to prevent the sensing performance from being deteriorated and may be opened and closed by the sliding device as necessary. 
     Since the present invention having the configuration as described above has the structure in which the plurality of sensors are mounted on the body member at once and built in the case, even if one or some of the sensors fail, other sensors may provide the data to compensate or supplement the data of the failed sensors. Also, since the sensors are mounted in one place within the case, the integrated maintenance and mounting of the sensors may be easily performed. 
     Since the sensor-cluster apparatus in accordance with the present invention includes the position control device, the body member may be adjustable in mounting position or mounting angle. That is, the sensor may easily return to its original position or be adjusted in arrangement angle toward the required direction in accordance with the driving condition of the vehicle or when the repositioning of the sensor is required by the external impact. 
     Since the position control device in accordance with the present invention is capable of adjusting the position and angle of the body member only by the elastic force of the tension spring and the pushing force of the actuator in the state of being coupled to the ball joint that allows the body member to be freely rotated in the case, the position control device may be simplified in configuration to reduce the failure rate and be miniaturized to be easily mounted. 
     In accordance with the present invention, the ball joint, the tension spring, and the actuator constitute one adjustment set, and at least two or more adjustment sets may be spaced apart from each other to adjust the body member to more various postures or positions. 
     In accordance with the present invention, the one radar sensor, the one camera sensor, the two infrared sensors, and the two lidar sensors may be mounted on the body member. Here, the two infrared sensors may have the sensing range overlapping each other (or, the two lidar sensors may also have the sensing range overlapping each other). Therefore, when the failure of one sensor occurs, the position control device in accordance with the present invention may be configured to periodically change the mounting angle of the body member so that the remaining sensors cover the sensing range of the failed sensor. 
     Also, each of the infrared sensor, the camera sensor, the lidar sensor, and the radar sensor may be detachably coupled to the body member. That is, when one sensor needs to be replaced, only the corresponding sensor may be detached from the body member without detaching the body member from the case. 
     The cover in accordance with the present invention may prevent water, dust, and other foreign matter from being permeated into the case. In addition, the cover may be made of the material that transmits the infrared rays, the visible light, the optical pulses, and the electromagnetic waves, which are transmitted and received by each of the sensors, to prevent the sensing performance from being deteriorated and may be opened and closed by the sliding device as necessary. 
     While the embodiments of the present invention have been described with reference to the specific embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.