Patent Description:
As appearing herein, the term "work vehicle perception module" refers to a structural assembly containing one or more environmental depth perception (EDP) devices, which are configured to monitor three dimensional (3D) characteristics of a work vehicle's external environmental. The data gathered by the EDP devices within a work vehicle perception module may be utilized to support, for example, navigation, obstacle detection, or environment mapping functions. Examples of such EDP devices include radar, lidar, and sonar-based sensors, with lidar-based sensors commonly utilized in the context of work vehicle perception systems. In certain cases, stereoscopic camera assemblies are employed as vision-based EDP devices, which enable environmental depth assessment by correlating imagery contained within video feeds captured by twin cameras spaced by a fixed distance. Relative to other types of EDP devices, stereoscopic camera assemblies may provide higher resolutions and other advantages, which render stereoscopic camera assemblies particularly well-suited for usage in autonomous and semi-autonomous work vehicle applications. These benefits notwithstanding, EDP sensors systems incorporating stereoscopic camera assemblies encounter certain unique technical challenges, such as high visual processing demands and associated thermal dissipation constraints, which existing work vehicle integration schemes fail to address in an adequate or comprehensive sense. An ongoing industrial needs thus persists for improved manners by which work vehicles can be equipped with EDP systems, such as vision-based EDP systems including stereoscopic camera assemblies.

<CIT>, considered as generic, describes a ballast assembly for use on the front of a work vehicle, with a housing configured to support a ballast, a sensor assembly having one or more sensors, a sensor cover configured to surround the ballast assembly and the sensor assembly, and a linkage assembly configured to couple the ballast assembly, the sensor assembly, and the sensor cover to one another.

A front perception module is utilized in conjunction with a front ballast system, which is configured to be mounted at the front of a work vehicle and which has a laterally-extending hanger bracket supporting a number of removable ballast weights. The front perception module includes an environmental depth perception (EDP) sensor system including a first EDP device having a field of view (FOV) encompassing an environmental region forward of the work vehicle, a mounting base attached to the work vehicle, and a front module housing containing the EDP sensor system and joined to the work vehicle through the mounting base. The front module housing is positioned over and vertically spaced from the laterally-extending hanger bracket in a manner enabling positioning of the removable ballast weights beneath the front module housing.

A front ballast system with a front perception module according to claim <NUM> is provided.

The details of one or more embodiments are set-forth in the accompanying drawings and the description below. Other features and advantages will become apparent from the description, the drawings, and the claims.

At least one example of the present disclosure will hereinafter be described in conjunction with the following figures:.

For simplicity and clarity of illustration, descriptions and details of well-known features and techniques may be omitted to avoid unnecessarily obscuring the example and non-limiting embodiments of the invention described in the subsequent Detailed Description. It should further be understood that features or elements appearing in the accompanying figures are not necessarily drawn to scale unless otherwise stated.

Embodiments of the present disclosure are shown in the accompanying figures of the drawings described briefly above. Various modifications to the example embodiments may be contemplated by one of skill in the art without departing from the scope of the present invention, as set-forth the appended claims. As appearing herein, the term "module" refers generally to a system or electronics-containing assembly adapted for installation on a tractor or other work vehicle.

The following describes front and rear work vehicle perception modules for usage in conjunction with tractors and other work vehicles, such work vehicles equipped with front ballast systems and/or work vehicles capable of autonomous (or semi-autonomous) operation. The front and rear work vehicle perception modules provide certain structural integration, mechanical protection, and thermal performance advantages, as described throughout this document. The below-described work vehicle perception modules are consequently well-suited for usage in conjunction with environmental depth perception (EDP) sensor systems, which often contain electronic (e.g., processing) components prone to excess heat generation during system operation. In this regard, embodiments of the front and rear work vehicle perception modules are beneficially utilized to deploy EDP sensor systems containing EDP sensors or devices, which monitor the three dimensional (3D) spatial characteristics of a work vehicle's exterior environment to support any number and type of functions, such as navigation, obstacle detection, and/or spatial mapping functions. Further, embodiments of the front and rear work vehicle perception modules may be particularly well-suited for usage in conjunction with vision-based EDP sensor systems, which contain EDP devices in the form of stereoscopic camera assemblies and associated visual processing circuitry (e.g., VPUs) subject to high processing demands and prone to excess heat during module operation.

Discussing first the front perception module or pod in greater detail, embodiments of the front perception module may be mounted to the chassis of a tractor or other work vehicle at a location adjacent a front ballast system. For example, in at least some embodiments, the front perception module may be mounted to the work vehicle chassis through the front ballast system and, in at least some instances, may be rigidly or fixedly joined to a laterally-extending hanger bracket included in the front ballast system. In various implementations, the front perception module includes a front module housing containing an EDP sensor system, with the front module housing rigidly mounted or joined to the laterally-extending hanger bracket through a base structure or "mounting base. " The front module housing may be positioned, dimensioned, and shaped to extend substantially parallel to the laterally-extending hanger bracket at an elevation above the hanger bracket, thereby accommodating the manual positioning of removable ballast weights beneath the front module housing. In certain implementations, at least some portion, if not the entirety of the mounting base may be integrally formed with the laterally-extending hanger bracket as, for example, a single (e.g., cast) piece or unitary structure. In this case, the upper surface of the mounting base may define a platform or mounting surface on which the front module housing may seat and to which the front module housing may be secured; e.g., by attachment with bolts or other fasteners.

In other instances, the mounting base may be separately fabricated and structurally configured (sized and shaped) to engage into the laterally-extending hanger bracket to allow attachment of the front perception module via retrofit installation. For example, in this latter instance, the mounting base may be fabricated to include one or more mounting flanges, which extend from the front module housing in a downward direction to engage or hook into the laterally-extending hanger bracket. In such implementations, the mounting flanges may be imparted with C-shaped geometries, as viewed from a side of the front perception module, and include slots opening toward the laterally-extending hanger bracket when the front perception module is properly oriented with respect to the front ballast system of the work vehicle. Further, the flange slots may be shaped and dimensioned to enable mating or close-fit installation of the mounting base onto the laterally-extending hanger bracket; e.g., by fitting the mounting flanges into engagement with the hanger bracket and subsequently securing the flanges in their desired position utilizing fasteners, by welding, or via another attachment technique. In still other instances, the mounting base may include features, such as railing or an attachment bracket, which extends downwardly from a support platform to connect to the work vehicle chassis, whether in a direct manner or through the front ballast system. In such embodiments, the housing of the front perception module may be mounted to the support platform, which may be positioned at an elevation above the laterally-extending hanger bracket, and thus vertically spaced therefrom, to allow the positioning of removable ballast weights beneath the support platform and the front module housing when the ballast weights are loaded onto the laterally-extending hanger bracket. In still further implementations, the front perception module may be mounted to the mounted to the front ballast system, or mounted directly to a work vehicle chassis positioned immediately above the front ballast system, in various other manners as described below.

When applicable, joinder of the front perception module to the laterally-extending hanger bracket of a front ballast system (whether by direct integration, by retrofit installation, or otherwise by fixedly attaching the front module housing to the hanger bracket in some manner) provides several advantages, including the provision of a rigid attachment of the front module housing to the work vehicle chassis. Such a rigid mounting scheme minimizes vibrational disturbances otherwise be transmitted to the module sensors or EDP devices (e.g., stereoscopic camera assemblies) contained in EDP sensor system to improve sensor performance during work vehicle operation and travel of the work vehicle over rough terrain. Additional benefits may include positioning of the module sensors (EDP devices) at a generally optimal ground height or vertical elevation to minimize exposure of the front perception module to dust and debris, at a forwardmost point of the work vehicle (as particularly beneficial when the front perception module contains one or more stereoscopic camera assemblies), and at location providing little to no (nominal) obstruction of operator sightlines when a human operator is present within the work vehicle cabin.

In embodiments, joinder of the front perception module to the front ballast system further affords robust mechanical protection to the front perception module in embodiments by, for example, recessing the leading edges of the front module housing relative to the leading edges of the front ballast system; and/or recessing the side edges of the front module housing relative to the side edges of the hanger bracket. The likelihood of damage to the EDP sensor system, which often contains relatively sensitive and costly componentry, is consequently minimized in the unlikely event of collision with an object located forward of the work vehicle. Finally, as a still further benefit, joinder of the front perception module to the front ballast system enables positioning of the EDP sensors or devices in a manner providing a broad angle cumulative sensor FOV; e.g., in embodiments, a cumulative sensor FOV approaching or exceeding <NUM>° can be achieved by, for example, strategically positioning multiple (e.g., three) stereoscopic camera pairs (or other EDP devices) about an inner periphery of the front module housing, as described below.

Embodiments of the below-described front perception module provide thermal performance or heat dissipation benefits, as well. To this end, the front perception module may incorporate features facilitating airflow through the front module housing along one or more cooling airflow paths as the work vehicle remains stationary or travels in a forward direction. The internal layout or architecture of the front perception module and the routing of such cooling airflow paths may be designed such that airflow conducted along the cooling airflow paths impinges one or more heat-generating components within the front perception module (e.g., a VPU or other visual processing circuitry prone to excess heat generation) to boost the heat rejection capabilities of the front perception module, optimizing the operation and prolonging the lifespan of the EDP sensor system. Such airflow enhancement features can include, for example, airflow vents for receiving and exhausting ram airflow during work vehicle forward motion or in the presence of headwinds, as well as certain vertical duct features (e.g., the below-described convective chimney) promoting passive cooling airflow through the front perception module in an essentially upward or vertical direction. Positioning of the front perception module, and corresponding airflow enhancement features of the front perception module, may leverage positioning of the front module housing adjacent the forward radiator fan of the work vehicle. As airflow is actively drawn into the radiator section of the work vehicle by action of the radiator fan to convectively cool the work vehicle radiator or heat exchanger, a fraction of the forced airflow is initially drawn through the front module housing to further increase the overall thermal performance characteristics or heat rejection capabilities of the front perception module. In the aggregate, such features may enable the front perception module to provide robust heat dissipation capabilities, while lacking any fans, liquid coolant circulation features, or other active cooling devices for increased durability, part count reduction, and overall cost savings of the front perception module.

In embodiments, the front perception module may contain a VPU assembly or perception controller, which is in signal communication with a number of stereo camera pairs within the front module housing and which has a cooling fin array. In such embodiments, the VPU assembly may be mounted in an inverted (fins down) orientation within the front module housing to, for example, position the cooling fin array into at least one cooling flow path extending through the front module housing, while minimizing debris build-up over the exterior surfaces of the cooling fins. Further, in at least some instances, the VPU assembly may be tilted or angled relative to a horizontal plane (e.g., such that the cooling fin array faces downwardly and rearwardly toward the work vehicle); and/or may be positioned adjacent and face a ramped flow guidance surface within module housing. Such a structural configuration may advantageously direct airflow across the cooling fin array, while reducing the velocity of airflow to increase the duration of contact between the airflow and the cooling fin array in a manner further boosting the heat rejection capabilities of the front perception module, as further discussed below in connection with <FIG>.

Discussing next the rear perception module in greater detail, when present within the work vehicle perception system, this module may be joined to (e.g., integrated into) or otherwise positioned adjacent a trailing edge portion of the work vehicle cabin roof. Several benefits may be achieved by mounting the rear perception module to or adjacent (e.g., immediately beneath) the trailing edge portion of the work vehicle cabin. Such benefits may include nominal obstruction of operator sightlines through the cabin windows, damage protection due to the elevated nature of this mounting location, access to clean (debris-free) air for cooling purposes (described below), spatial offset from the work vehicle hitch (if present), and sufficient EDP device elevation to provide sensor sightlines over and around various implements or machines that may be towed by the host work vehicle, such as a tractor, at different junctures in time. Further, in at least some implementations, the rear module housing of the rear perception module is dimensioned to span the width of the trailing portion of the work vehicle cabin roof to provide lateral mounting locations for at least two stereoscopic camera assemblies (or other EDP devices) in addition to a central rear mounting location for a central stereoscopic camera assembly (or analogous EDP device). Collectively, such a mounting arrangement may provide the stereoscopic camera assemblies (or other EDP devices) of the rear perception module with a relatively expansive or broad, rear-centered FOV, again approaching or exceeding <NUM>° in embodiments. Therefore, when combined with the front perception module, a cumulative FOV of essentially <NUM>° can be achieved to provide comprehensive sensor coverage of the environment surrounding a given work vehicle.

As do embodiments of the front perception module, embodiments of the rear perception module may also include strategically-positioned vents and similar airflow enhancement features promoting airflow through the rear perception module along one or more cooling airflow paths. By directing airflow through the rear module housing, and by designing the internal layout or architecture of the rear perception module to position heat-generating components in or adjacent the cooling airflow paths, an efficient cooling scheme is provided for dissipating excess heat generated by the heat-generating component(s) contained in rear module housing. Such heat-generating components may include, for example, a VPU or visual processing circuitry contained in the rear module housing and electrically coupled to the EDP devices in the form of a plurality of stereoscopic camera assemblies. The vents of the rear perception module may include one or more ram airflow vents promoting the intake of cooling airflow into the interior of the rear module housing during forward travel of the work vehicle. Further, in at least some embodiments, the rear perception module may include a lower trailing portion, which protrudes beyond the rear work vehicle window in an aft or reward direction and which is vented to promote air intake into the rear perception module rising in a generally upward direction alongside a rear window of the work vehicle cabin. Additionally or alternatively, venting may be provided along a topside or upper panel of the front perception module and along a bottomside of the rear perception module to promote outflow of cooling airflow in a generally vertical direction through a portion of rear perception module (e.g., a central housing section) containing a VPU assembly and/or other electronics prone to excess heat generation. Thus, once again, highly efficient heat dissipation schemes are provided to convectively cool heat-generating components contained within the rear perception module for enhanced thermal performance, including in the absence of fans or other active cooling mechanisms. The performance of the housed EDP sensor (e.g., stereoscopic camera) systems may be optimized as a result, while the overcall complexity, cost, and part count of the rear perception module is minimized.

Examples of front and rear perception modules contained in a work vehicle perception system will now be described in conjunction with a particular type of work vehicle (a tractor), as illustrated and discussed below in connection with <FIG> and <FIG>. Additional description of the example front module assembly is further set-forth below in connection with <FIG>, while further discussion of the example rear module assembly is provided below in connection with <FIG>. Finally, a second example embodiment of a front perception module included in a work vehicle perception system deployed onboard a tractor is set-forth below in connection with <FIG> and <FIG>. While described below in connection with a particular tractor, embodiments of the front perception module and/or the rear perception module can be utilized in conjunction with various different types of work vehicles (including other tractor platforms), whether such work vehicles are principally employed in the agricultural, construction, forestry, or mining industries, or another industrial context. Further, while the front perception module and the rear perception module are beneficially utilized in combination to, for example, provide a complete <NUM>° cumulative FOV for EDP devices (e.g., stereoscopic camera assemblies) housed within the perception modules, the front perception module and the rear perception module can be deployed individually (in isolation) in at least some embodiments of the present disclosure. The following description is provided by way of non-limiting illustration only and should not be construed to unduly restrict the scope of the appended Claims in any manner.

Referring initially to <FIG>, a work vehicle <NUM> is equipped with a work vehicle perception system <NUM>, as depicted in accordance with an example embodiment of the present disclosure. In the illustrated example, the work vehicle <NUM> assumes the form of an agricultural tractor. Accordingly, the work vehicle <NUM> and the work vehicle perception system <NUM> are specifically referred to below as a "tractor <NUM>" and a "tractor perception system <NUM>," respectively. The present example notwithstanding, embodiments of the work vehicle perception system <NUM> can be deployed onboard other types of work vehicles in alternative implementations, particularly other work vehicles equipped with front ballast systems similar or substantially identical to the below-described front ballast system <NUM> and utilized with removal ballast weights.

In addition to the tractor perception system <NUM>, the example tractor <NUM> includes a mainframe or chassis <NUM>, a front ballast system <NUM> rigidly joined to a forward end of the tractor chassis <NUM>, and a number of ground-engaging wheels <NUM> supporting the tractor chassis <NUM>. A cabin <NUM> is located atop the tractor chassis <NUM> and encloses an operator station in which an operator may reside when manually piloting the tractor <NUM>. An engine compartment, which is partially enclosed by a tractor hood <NUM>, is situated forward of the tractor cabin <NUM>; and a rear hitch <NUM>, associated with any number of hydraulic, pneumatic, or electrical couplings, is situated aft or rearward of the tractor cabin <NUM>. In this particular example, the tractor chassis <NUM> has an articulable chassis design and such a forward chassis section <NUM> is able to pivot or swivel relative to a rear chassis section <NUM> about a vertical hinge line, which generally extends orthogonal to the plane of the page in <FIG>. Located at a frontmost point of the tractor <NUM>, the front ballast system <NUM> enables a number of modular weights (herein, "removable ballast weights") to be loaded onto and removed from a support structure joined to the tractor chassis <NUM>. By adding or removing ballast weights in this manner, an operator can vary the cumulative mass acting on the front of the tractor <NUM> in selected increments when, for example, the tractor <NUM> is utilized to tow any one or more implements and traction at the ground-engaging wheels <NUM> (or tracks) is desirably boosted. Further description of the front ballast system <NUM> is provided below in connection with <FIG>.

The example tractor <NUM> may be operable in a semi-autonomous mode, a fully autonomous mode, or both in embodiments. When capable of fully autonomous operation, the tractor <NUM> may nonetheless be produced to include a tractor cabin, such as the illustrated cabin <NUM>, enclosing a manual operator station (including a seat, one or more displays, and various pilot controls) to allow manual operation of the tractor <NUM> when so desired. In addition to components supporting manual tractor operation, the example tractor <NUM> further includes various other components, devices, and subsystems commonly deployed onboard tractors and other work vehicles. Such components can include, for example, a radiator fan <NUM> positioned in a forward portion of the engine compartment adjacent a front grille <NUM> of the tractor <NUM> (labeled in <FIG>). When active, the radiator fan <NUM> draws airflow through the front grille <NUM> and across a non-illustrated radiator or heat exchanger, which is housed within the engine compartment of the tractor <NUM>. Liquid coolant is exchanged between the radiator and an internal combustion engine, such as a heavy duty diesel engine, further housed within the tractor engine compartment. Some fraction of the excess heat generated during engine operation is thus transferred to the surrounding ambient environment via convective transfer to the airflow impinging the fins or other exterior surfaces of the radiator by action of the radiator fan <NUM> in the well-known manner.

With continued reference to <FIG>, the tractor perception system <NUM>, includes a front perception module <NUM>, a rear perception module <NUM>, and a number of complementary onboard subsystems or devices <NUM> for collecting data from or otherwise exchanging data with the modules <NUM>, <NUM>; processing such data; and performing associated actions when, for example, the tractor <NUM> is engaged in autonomous operation, is remotely piloted by a human operator, or is manually piloted by a human operator located within the cabin <NUM>. In the illustrated example, the front perception module <NUM> includes a front module housing <NUM> containing a number of perception sensors or EDP devices <NUM>, one or more heat-generating components <NUM>, and any number and type of additional electrical components <NUM>. As indicated above, the EDP devices <NUM> can be any devices or sensors suitable for collecting depth information pertaining to the external environment of the tractor <NUM> for navigational, obstacle detection, environment mapping, or other purposes. Examples of sensor types suitable for usage as the EDP devices <NUM> include radar, lidar, and sonar-based sensors, which emit energy pulses and measure pulse reflections utilizing transducer arrays to estimate the proximity of various objects and surfaces located within the surrounding environment of the tractor <NUM>. While the EDP devices <NUM> can assume various different forms (and combinations of different sensor types), embodiments of the front perception module <NUM> may be particularly well-suited usage in conjunction with stereoscopic camera assemblies for reasons discussed below. Accordingly, and by way of non-limiting example only, the front perception module <NUM> is principally described as containing stereoscopic camera assemblies or "stereo camera pairs," as is the rear perception module <NUM>. Collectively, the EDP devices <NUM>, and the heat-generating components <NUM>, and any additional electronics housed within the front perception module <NUM> form an EDP sensor system <NUM>, <NUM>, <NUM>.

When present, the heat-generating component or components <NUM> contained within the front perception module <NUM> may assume the form of processing components, such as printed circuit boards (PCBs) or cards populated by integrated circuit (IC) dies and other circuit elements, such as discrete capacitors, resistors, or inductors realized as Surface Mount Devices (SMDs). For example, when the EDP devices <NUM> assume the form of one or more stereoscopic camera assemblies, the heat-generating components <NUM> can include or may consist of a visual process circuitry electrically coupled to the stereoscopic camera assemblies for performing certain image processing tasks, such as pixel correlation of the twin video feeds supplied by the cameras in each stereoscopic camera assembly to assess image depth measurements utilizing the video feeds captured by the stereo cameras. In embodiments, such visual processing circuitry may be realized in the form of a VPU or VPU-containing assembly, such as the example VPU assembly discussed below in connection with <FIG>. As appearing herein, the term "VPU" is defined in a broad or comprehensive sense to generally encompass processing units or electronic modules adapted to provide video feed processing tasks. The term "VPU" encompasses the term "graphic processing unit" or "GPU," as defined herein. VPUs, and similar visual processing components commonly engaged in dynamic, high load processing tasks and potentially containing dense logic gate arrays and neural networks, are commonly prone to excess heat generation; and, thus, may benefit from efficient thermal dissipation reducing or eliminating excessive heat accumulation or "hot spots" within such logic or processing structures. For at least this reason, the front perception module <NUM> is advantageously produced to include heat dissipation features promoting efficient heat removal or extraction from such heat-generating components <NUM> by, for example, facilitating passive heat transfer to cooling airflow streams conducted along volumetrically robust, low resistance flow paths provided through the front module housing <NUM>. Additional description in this regard is provided below in connection with <FIG> and <FIG>.

Embodiments of the front perception module <NUM> may include any number and type of additional electronic components <NUM>, which are contained within the front module housing <NUM> which may or may not be electrically coupled to the EDP devices <NUM> and the heat-generating component or components <NUM>. Such additional electronic components <NUM> can include various processing components and other sensor types. Examples of such additional sensors that may be further contained in the front perception module <NUM> include microelectromechanical systems (MEMS) accelerometers, MEMS gyroscopes, and other inertial measurement sensors, as well as sensors for monitoring the health of the front EDP sensor system <NUM>, <NUM>, <NUM>. It is also possible to pair or combine multiple types of EDP devices <NUM>, such as one or more lidar sensors utilized in conjunction with stereoscopic camera assemblies, in at least some embodiments of the front perception module <NUM>. Additionally or alternatively, such auxiliary or additional electronic components <NUM> can include lighting devices, which emit light in visible or non-visible portions of the electromagnetic (EM) spectrum to enhance operation of the EDP devices <NUM> in low light or other poor visibility conditions.

Regardless of the particular type of EDP devices housed within the front module housing <NUM>, the EDP devices <NUM> are beneficially positioned such that the respective FOVs of the EDP devices <NUM> are angularly spaced or distributed about the forward and lateral sides of the module housing <NUM>. For example, as indicated in <FIG>, three EDP devices <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> may be contained within the front perception module <NUM> having individual FOVs <NUM>, <NUM>, <NUM>, respectively. In the illustrated embodiment, this includes a forward-looking stereoscopic camera assembly <NUM>-<NUM> having a forward-centered FOV <NUM> extending from the front perception module <NUM> in principally a forward direction; a first lateral-looking stereoscopic camera assembly <NUM>-<NUM> having an FOV <NUM> extending from the front perception module <NUM> in a first lateral direction and perhaps angled forward of the tractor <NUM> to some degree; and a second lateral-looking stereoscopic camera assembly <NUM>-<NUM> having an FOV <NUM> extending from the front perception module <NUM> in a second lateral direction opposite the first lateral direction. Collectively, the FOVs <NUM>, <NUM>, <NUM> cooperate to provide a cumulative forward-centered FOV approaching, if not exceeding <NUM>° to provide relatively full or comprehensive coverage of the environmental regions to the forward, forward-right (from an operator's perspective), and forward-left (from an operator's perspective) regions of the tractor <NUM>. In other embodiments, the front perception module <NUM> can include a greater or lesser number of the perception sensors or EDP devices depending upon, for example, the desired cumulative angular coverage range of the sensors, the individual FOV angle of each of the perception sensors, packaging constraints, and other such factors.

As does the front perception module <NUM>, the rear perception module <NUM> of the work vehicle perception system <NUM> includes a rear module housing <NUM> containing one or more perception sensors or EDP devices <NUM>, at least one heat-generating component <NUM>, and any number and type of additional electronic components <NUM>. Collectively, the EDP devices <NUM>, the heat-generating components <NUM>, and the additional electronics <NUM> (if included) form a rear EDP sensor system <NUM>, <NUM>, <NUM>. The heat-generating component <NUM> will often assume the visual processing circuitry or devices, such as a VPU when the rear EDP devices <NUM> assume the form of stereoscopic camera assemblies; however, the possibility that such visual processing circuitry (when present) may be externally located relative to the rear module housing <NUM> is not precluded. The additional electronics <NUM> can include various sensors in addition to the EDP devices <NUM>; lighting devices operable in the visible or non-visible portions of the EM spectrum for enhancing operation of the EDP devices <NUM> when appropriate; MEMS gyroscopes, accelerometers, magnetometers, and similar devices potentially packaged as an Inertial Measurement Unit (IMU); beacon lights; and wireless (e.g., radio frequency) receivers, to list but a few examples. It is also possible to pair or combine a first type of EDP device (e.g., stereoscopic camera assemblies) with a second type of EDP device (e.g., lidar sensors) in at least some embodiments of the rear perception module <NUM>, as previously noted.

The perception sensors or EDP devices <NUM> contained within the rear module housing <NUM> can assume various forms suitable for monitoring the spatial environment to the rear and lateral-rear of the tractor <NUM>, examples of which have been previously mentioned. In the illustrated example, three EDP devices <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> are contained within the rear perception module <NUM> and possess individual sensor FOVs <NUM>, <NUM>, <NUM>, respectively. Specifically, in the illustrated embodiment and by way of non-limiting example, the EDP devices <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> include a rear-looking stereoscopic camera assembly <NUM>-<NUM> having an FOV <NUM> extending from the rear perception module <NUM> in principally a rearward direction; a first rear-lateral-looking stereoscopic camera assembly <NUM>-<NUM> having an FOV <NUM> extending from the rear perception module <NUM> in the rearward direction and a first lateral direction; and a second rear-lateral-looking stereoscopic camera assembly <NUM>-<NUM> having an FOV <NUM> extending from the rear perception module <NUM> in the rearward direction and a second lateral direction opposite the first lateral direction.

The respective FOVs <NUM>, <NUM>, <NUM> of the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> collectively form a combined or cumulative FOV approaching, if not exceeding <NUM>°. Such a cumulative sensor FOV provides broad coverage of the environmental regions to the rear, rear-right (from the perspective of an operator seated within the cabin <NUM>), and rear-left (from the operator's perspective) regions of the tractor <NUM>. Further, in combination, the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> contained in the front perception module <NUM> and the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> contained in the rear perception module <NUM> provide the tractor perception system <NUM> with a complete or full <NUM>° view of the external environment surrounding the tractor <NUM>, thereby ensuring adequate sensor coverage to support autonomous or semiautonomous operation of the tractor <NUM> in at least some instances. As discussed more fully below in connection with <FIG>, the rear perception module <NUM> may be positioned adjacent (e.g., located immediately beneath) or, perhaps, directly joined to (e.g., integrated into) an upper aft or trailing edge portion of the cabin roof enclosing the tractor cabin <NUM>. Such an elevated positioning of the rear perception module <NUM> enables the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> to better "see" over and around any implements, such as balers, seeders, commodity carts, grain carts or wagons, tillage implements, mower-conditioners, and so on, connected to the rear hitch <NUM> and towed by the tractor <NUM> at a given juncture in time. Additional benefits are also realized by integration or joinder of the rear perception module <NUM> into the rear roofline of the tractor cabin <NUM>, as further discussed below in connection the subsequent drawing figures.

Any number of additional subsystems or devices <NUM> may be deployed onboard the tractor <NUM>, included in the work vehicle perception system <NUM>, and utilized in conjunction with the front and rear perception modules <NUM>, <NUM>. This may include various central processing components <NUM>; e.g., any practical number of processors, control computers, computer-readable memories, power supplies, storage devices, interface cards, and other standardized components, which receive data from the EDP sensor systems within the perception modules <NUM>, <NUM> and perform any number of processing tasks. The central processing components <NUM> may also include or cooperate with any number of firmware and software programs or computer-readable instructions designed to carry-out the various process tasks, calculations, and control/display functions described herein. In many instances, the additional subsystems or devices <NUM> may include a telematics module <NUM> or wireless datalink (e.g., a modular telematics gateway) allowing remote piloting of the tractor <NUM> and/or data exchange with a backend service, such as a cloud-based server end, over a communications network to perform certain processing tasks and functions associated with autonomous operation of the tractor <NUM>.

Various other components <NUM> can also be included in the tractor perception system <NUM> or otherwise deployed onboard the example tractor <NUM>, such as operator controls and visual interfaces (e.g., display devices), enabling human operators to view information and provide command inputs when present within the cabin <NUM> of the tractor <NUM>. For example, in instances in which the tractor <NUM> is piloted by a human operator within the tractor cabin <NUM>, the central processing subsystem <NUM> may receive obstacle detection data from the sensors within the perception modules <NUM>, <NUM> and generate various audible, visual, and/or haptic alerts advising the tractor operator of nearby obstacles posing collision risks or otherwise desirably brought to the attention of the operator. Various other guidance functionalities can also be carried-out by the central processing subsystem <NUM> utilizing data provided by the perception modules <NUM>, <NUM>, such as crop row following functions and lane keeping functions (during public road transport). Generally, then, the tractor perception system <NUM> can include any number of components, devices, and subsystems suitable for receiving data inputs from the perception modules <NUM>, <NUM>; processing such data inputs; and performing various actions based, at least in part, on consumption of such data inputs, such as automation functions, display/alerting functionalities, and reporting data over the telematics module <NUM> with a network-connected server end, to list but a few examples.

Turning to <FIG>, a forward end of the tractor <NUM> and the front ballast system <NUM> are shown in greater detail. In this view, the front perception module <NUM> is largely or wholly hidden from view to more clearly reveal the front ballast system <NUM>, which can assume any form suitable for supporting a number of removable ballast weights during tractor operation. In the illustrated example, the front ballast system <NUM> includes a laterally-extending hanger rack or bracket <NUM> having opposing outer ends serving as weight support sections <NUM>, <NUM>. The laterally-extending hanger bracket <NUM> is joined to the tractor chassis <NUM> by a connecting yoke <NUM>, which is, in turn, rigidly joined to the tractor chassis <NUM>. In other embodiments, the laterally-extending hanger bracket <NUM> can be joined to the tractor chassis <NUM> in another manner. The laterally-extending hanger bracket <NUM> possesses a beam-like shape or geometry along its length and includes certain physical retention features, such laterally-extending ridges or keys, for retaining removable ballast weights <NUM> on the weight support sections <NUM>, <NUM> in multiple degrees of freedom (DOFs). As indicated in <FIG> by arrows <NUM>, an operator may manually insert or load a desired number of the removable ballast weights <NUM> onto the weight support sections <NUM>, <NUM> of the hanger bracket <NUM> along insertion axes (parallel to the Y-axis of coordinate legend <NUM>) to bring the front ballast system <NUM> to a desired cumulative weight. The removable ballast weights <NUM> can assume various forms suitable for engagement with and retention on the laterally-extending hanger bracket <NUM>. In the illustrated example, the removable ballast weights <NUM> each have a generally rounded rectangular formfactor, as viewed from the side, and an upper handle easily grasped by an operator. When having such a formfactor, the removable ballast weights <NUM> are commonly referred to as "suitcase weights. " Additionally, the ballast weights <NUM> include slotted endwall portions <NUM>, which feature slots or keyways in which the laterally-extending ridges or keys of the weight support sections <NUM>, <NUM> are received when the removable ballast weights <NUM> are loaded onto the weight support sections <NUM>, <NUM>.

The physical interaction or interference between the ridge or key of the laterally-extending hanger bracket <NUM> and the keyways of the slotted sidewall portions <NUM> prevents inadvertent disengagement of the removable ballast weights <NUM> in vertical and longitudinal directions (along the X- and Z-axes of the coordinate legend <NUM>) during tractor operation. Once loaded onto the laterally-extending hanger bracket <NUM>, the removable ballast weights <NUM> may be retained in their desired positions by friction; or, instead, the ballast weights <NUM> may be secured to the laterally-extending hanger rack or bracket <NUM> utilizing quick pins, collars, one or more elongated bolts extending laterally through openings in the ballast weights <NUM>, or similar devices preventing the removable ballast weights <NUM> from inadvertently disengaging from the laterally-extending hanger bracket <NUM> along the Y-axis of the coordinate legend <NUM> until operator removal. Finally, as shown in <FIG>, and discussed further below, a central structure (herein, a "central support structure <NUM>") may further be provided in embodiments and joined to an intermediate portion of the laterally-extending hanger bracket <NUM>; e.g., the central support structure <NUM> may be integrally formed with the hanger bracket <NUM> as a single cast piece, separately fabricated and permanently joined (e.g., welded) to the hanger bracket <NUM>, or separately fabricated and joined to the hanger bracket <NUM> utilizing bolts or other fasteners. When present, the central support structure <NUM> contributes additional mass to the front ballast system <NUM>, serves as a centrally-fixed partition to ensure that the ballast weights <NUM> are distributed across the laterally-extending hanger bracket <NUM> in a balanced manner, and may help support or attach the front module housing <NUM> of the front perception module <NUM>, as further described below in connection with <FIG> and <FIG>.

Referring now to <FIG> and <FIG>, the example front perception module <NUM> is shown in greater detail in addition to the central support structure <NUM> (which may or may not be included in the front perception module <NUM>) and a plurality of removable ballast weights <NUM>. The front ballast system <NUM> is considered "fully loaded" in these drawing figures as a maximum number of the removable ballast weights <NUM> is loaded onto the laterally-extending hanger bracket <NUM> (not shown for clarity). Specifically, in the illustrated example, eight removable ballast weights <NUM> are loaded onto each weight support section <NUM>, <NUM> such that the laterally-extending hanger bracket <NUM> retains a total of sixteen ballast weights <NUM>. In further embodiments, the laterally-extending hanger bracket <NUM> may be capable of retaining a greater or lesser number of the removable ballast weights <NUM> when fully loaded. As a common example, however, front ballast systems including laterally-extending hanger racks or bracket similar to the laterally-extending hanger bracket <NUM> are often capable of supporting between four and thirty removable ballast weights. The individual mass or weight of each of the removable ballast weights may also vary between embodiments and, in certain cases, the ballast weights may be provided in multiple discrete weight selections. This stated, the removable ballast weights <NUM> will often each have a standardized weight ranging between about <NUM> and <NUM> pounds and, perhaps, equal to about <NUM> pounds in embodiments.

The front module housing <NUM> is rigidly joined to the laterally-extending hanger bracket <NUM>, whether by mechanical attachment, by integral formation with any portion of the front module housing <NUM> with the laterally-extending hanger bracket <NUM>, by welding or another permanent joinder means, or in another manner. In the illustrated example, the front module housing <NUM> is joined to the laterally-extending hanger bracket <NUM> utilizing one or more mounting flanges <NUM>, which extend from a lower portion of the front module housing <NUM> to attach a mid-section of the laterally-extending hanger bracket <NUM> at a location between the opposing weight support sections <NUM>, <NUM> of the hanger bracket <NUM>. As indicated above, the central support structure <NUM> is received or otherwise located between the mounting flanges <NUM> in the illustrated example such that mounting flanges <NUM> flank each side of the central support structure <NUM>. The central support structure <NUM> may serve as a central weight for the front ballast system <NUM>, as well as a physical support or platform for the front module housing <NUM>. Additionally, as shown in phantom <FIG>, a vertically-extending channel, duct, or conduit <NUM> (herein, a "thermal chimney <NUM>") can be formed through the central support structure <NUM> in embodiments. When provided, the thermal chimney <NUM> enables airflow to travel or rise upwardly through the central support structure <NUM> and into the underside of the front module housing <NUM>, which may include a corresponding lower vent feature or port. This promotes convective cooling of the heat-generating components <NUM> (e.g., VPU) contained within the front module housing <NUM> by allowing such vertical or "convective column" airflow, as further described below.

With continued reference to <FIG>, the central support structure <NUM> may be integrally formed with the mounting flanges <NUM> as a single part or unitary structure in embodiments. Alternatively, when present, the central support structure <NUM> may be separately formed from the mounting flanges <NUM> and joined to (e.g., bolted to, welded to, integrally formed with, or otherwise joined to) the laterally-extending hanger bracket <NUM> in certain implementations. In such implementations, the mounting flanges <NUM> may be positioned onto either side of the central support structure <NUM>, pivoted into engagement with the laterally-extending hanger bracket <NUM>, and then secured in place utilizing fasteners, welding, or another joinder technique. Various other constructions are also possible in alternative embodiments, providing that the front module housing <NUM> is rigidly joined to the tractor chassis <NUM> through the laterally-extending hanger bracket <NUM> in some manner. For example, in alternative realizations, the lower structure or "mounting base" of the front perception module <NUM> may insert into one or more corresponding openings provided in the central support structure <NUM> to secure and register the module <NUM> to the front ballast system <NUM>.

The mounting flanges <NUM>, and any other associated mount features utilized to secure the front module housing <NUM> to the laterally-extending hanger bracket <NUM> (e.g., the central support structure <NUM>), is generally referred to herein as a "mounting base <NUM>, <NUM>. " The mounting base <NUM>, <NUM> may be configured to engage into the laterally-extending hanger bracket <NUM> to allow attachment of the front perception module <NUM> via, for example, a retrofit installation. In this case, the mounting base <NUM>, <NUM> may include one or more mounting flanges (e.g., the mounting flanges <NUM>) having generally C-shaped geometries, which define orifices or slots (shown most clearly in <FIG>) opening toward the laterally-extending hanger bracket <NUM>. The flange slots may be sized and shaped to enable mating installation of the mounting base <NUM>, <NUM> on the laterally-extending hanger bracket <NUM>; e.g., by fitting the mounting flanges <NUM> into engagement with the hanger bracket <NUM> and then securing the mounting flanges <NUM> in their desired position. In the illustrated example, specifically, the mounting base of the front perception module <NUM> includes two C-shaped mounting flanges <NUM>, which are configured to matingly engage into the laterally-extending hanger bracket <NUM> and which are spaced along an axis extending substantially parallel to the axis along which the front module housing <NUM> is elongated (corresponding to the Y-axis of coordinate legend <NUM>). In embodiments in which the central support structure <NUM> is separately fabricated from the mounting flanges <NUM>, the C-shaped mounting flanges <NUM> may be spaced by a lateral offset equal to or slightly greater the lateral width of the central support structure <NUM> such that the central support structure <NUM> is received between the mounting flanges <NUM> in a close-fit relationship to center the front perception module <NUM> onto the laterally-extending hanger bracket <NUM> and to prevent lateral movement of the front perception module <NUM> once installed onto the front ballast system <NUM>.

In the above-described manner, the front module housing <NUM> is rigidly coupled to the laterally-extending hanger bracket and, therefore, to the tractor chassis <NUM> through its mounting base, which includes the above-described mounting flanges <NUM> and may also include the central support structure <NUM> in at least some implementations. A structurally-robust attachment interface or mounting is thus provided to minimize the transmission of disturbance forces to the EDP sensor system <NUM>, <NUM>, <NUM> in the illustrated example embodiment. This, in turn, may reduce sensor errors experienced by the EDP devices <NUM> (e.g., the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>) as the tractor <NUM> travels over rough terrain or is otherwise subject to disturbance forces. Reduction of the magnitude (amplitude) of vibrational forces transmitted to the EDP device <NUM> when assuming the form of the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, in particular, may ease processing demands by minimizing jitter transmitted to the cameras and the resulting frame-by-frame displacement of the captured imagery.

The front module housing <NUM> may have various different shapes and constructions in embodiments. In the illustrated example, specifically, the front module housing <NUM> includes a main housing body <NUM> having an interior compartment in which the EDP sensor system <NUM>, <NUM>, <NUM> is housed and which is enclosed by a cover piece <NUM>. The main housing body <NUM> includes, in turn, a leading or forward-facing wall <NUM>, a first sidewall <NUM>, and a second sidewall <NUM> opposite the first sidewall <NUM>. A protruding peripheral edge or rim <NUM> (identified in <FIG> and <FIG>) is further provided at the interface of the main housing body <NUM> and cover piece <NUM>. When present, the peripheral rim <NUM> of the main housing body <NUM> may provide a physical standoff in which componentry is not housed to offer additional impact protection and some degree of light shielding protecting the EDP sensor system <NUM> contained within the front module housing <NUM>. The front module housing <NUM> extends over (is cantilevered over or overhangs) opposing side portions of the laterally-extending hanger bracket <NUM> (the weight support sections <NUM>, <NUM>) in a manner enabling positioning of the removable ballast weights <NUM> beneath the front module housing <NUM>.

The front module housing <NUM> has a low profile, pancake-like formfactor, which extends laterally from the mounting flanges <NUM> in both directions along the Y-axis of coordinate legend <NUM>. Accordingly, the front module housing <NUM> is elongated in a lateral width direction corresponding to the Y-axis of coordinate legend <NUM>. Concurrently, in the present example, the lateral width of the front module housing <NUM>, as measured along the Y-axis of coordinate legend <NUM> (represented by double-headed arrow <NUM> in <FIG>), is less than the corresponding Y-axis dimension (the lateral width) of the laterally-extending hanger bracket <NUM>, as measured from the outer terminal end of the weight support section <NUM> to the outer terminal end of the opposing weight support section <NUM> (represented by double-headed arrow <NUM>). Further, as best seen in <FIG>, the leading edge portion or peripheral rim <NUM> of the front module housing <NUM> are recessed relative to the leading edge of the front ballast system <NUM> (including the removable ballast weights <NUM>) to provide mechanical protection in the unlikely event of collision.

Several airflow ports or vents <NUM>, <NUM>, <NUM>, <NUM> are formed in different walls or surfaces of the front module housing <NUM>, with each vent <NUM>, <NUM>, <NUM>, <NUM> potentially covered utilizing a perforated plate or mesh screen in embodiments. Soo too is a number of sensor line of sight (LOS) openings or apertures <NUM> formed in the front module housing <NUM> at appropriate locations to provide the desired sensor FOV extending forward and to the sides of the front perception module <NUM> and, more generally, the host tractor <NUM>. In the illustrated embodiment, the sensor LOS apertures <NUM> are formed in the peripheral walls <NUM>, <NUM>, <NUM> of the front module housing <NUM> such that: (i) a first EDP sensor (the stereoscopic camera assembly <NUM>-<NUM>, identified in <FIG>) has an LOS extending through one or more apertures <NUM> provided in the leading wall <NUM> of the front module housing <NUM>; (ii) a second EDP sensor (the second stereoscopic camera assembly <NUM>-<NUM>, <FIG>) has an LOS extending through one or more apertures <NUM> provided in the first sidewall <NUM> of the front module housing <NUM>; and (iii) a third EDP sensor (the third stereoscopic camera assembly <NUM>-<NUM>, <FIG>) has an LOS extending through one or more apertures <NUM> provided in the second, opposing sidewall of the front module housing <NUM>. Generally, then, the EDP sensor system <NUM>, <NUM>, <NUM> includes a plurality of EDP devices (here, the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>) distributed about a peripheral portion of the front module housing <NUM> to provide a cumulative forward-centered FOV having a relatively broad or wide angular range in a horizontal plane; e.g., a forward-centered FOV equal to or greater than <NUM> degrees seen looking downwardly onto the tractor <NUM>, as described above in connection with <FIG>.

As previously stated, airflow vents <NUM>, <NUM>, <NUM>, <NUM> are formed at locations through exterior walls or surfaces of the front module housing <NUM>. Generally, the airflow vents <NUM>, <NUM> serve as inlet vents, while the airflow vents <NUM>, <NUM> serve as outlet vents of the front module housing <NUM>. The inlet vents <NUM>, <NUM> of the front module housing <NUM> are positioned to receive ram airflow into the interior of the front module housing <NUM> as the tractor <NUM> travels in a forward direction. Such airflow travels along cooling airflow paths extending through the front module housing <NUM> from the inlet vents <NUM>, <NUM> to the outlet vents <NUM>, <NUM>, broadly considered. The cooling airflow paths extending from the inlet vents <NUM> to the outlet vents <NUM> are represented in <FIG> and <FIG> by arrows <NUM>, <NUM>; while the cooling airflow path extending from the inlet vent <NUM> to the outlet vent <NUM> is represented in <FIG> by an arrow <NUM>. In certain embodiments, at least one opening serving an additional "underside" inlet vent may be formed in a lower or bottom wall of the front module housing <NUM>, as generically indicated in <FIG> by graphic <NUM>. When provided, such an underside inlet vent (graphic <NUM>) may be positioned to intake rising airflow into an interior compartment of the front module housing <NUM>, with the thermal chimney <NUM> fluidly coupled to the inlet vent formed in the bottom wall of the front module housing <NUM>. Airflow may therefore be conducted through the thermal chimney <NUM> and into the front module housing <NUM> via the bottomside inlet vent <NUM> as such airflow rises, absorbs excess heat from the heat-generating component(s), and pulls additional airflow in a generally upwardly through the thermal chimney <NUM> and into the interior of the front module housing <NUM>.

In at least some embodiments of the front perception module <NUM>, one or more of the heat-generating components <NUM> may be positioned in or adjacent the cooling airflow paths <NUM>, <NUM>, <NUM> such that excess heat generated by the heat-generating component(s) <NUM> is dissipated by convective transfer to airflow conducted along the cooling airflow path during operation of the front perception module <NUM>. As noted above, the heat-generating component <NUM> may be visual processing circuitry, such as a VPU, electrically coupled to the EDP devices <NUM> when assuming the form of stereoscopic camera assemblies; with the VPU (or other heat-generating component <NUM>) generally mounted in a central portion of the front module housing <NUM> to maximize exposure to the cooling airflow directed along the cooling airflow paths <NUM>, <NUM>, <NUM>. Accordingly, in embodiments, the heat-generating component(s) <NUM> (e.g., a VPU or other visual processing circuitry) may be positioned rearward of the central stereoscopic camera assembly <NUM>-<NUM>; between the left and right stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>; and above the thermal chimney <NUM> and the underside inlet vent <NUM> when provided. In other implementations, the heat-generating component(s) <NUM> of the EDP sensor system <NUM>, <NUM>, <NUM> may be located within a different region of the front module housing <NUM>; or may be omitted from the EDP sensor system <NUM>, <NUM>, <NUM> altogether.

Due to the positioning of the above-described airflow vents <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, cooling airflow may be directed through the front module housing <NUM> when the tractor <NUM> travels in a forward direction and when the tractor <NUM> remains substantially stationary. Moreover, airflow through the front perception module <NUM> may be further promoted by positioning one or more outlets vents (here, the outlet vents <NUM>, <NUM>) adjacent the grille <NUM> of the tractor <NUM> such that airflow is drawn into the front module housing <NUM> when the radiator fan <NUM> is active. In this manner, the front perception module <NUM> leverages proximity to the radiator fan <NUM> to further boost convective of the heat-generating component(s) <NUM> within the front perception module <NUM>. The thermal dissipation or heat rejection capabilities of the front perception module <NUM> are enhanced as a result, including in embodiments in which the front perception module <NUM> itself lacks any fans or other active cooling mechanisms. This, in turn, may help ensure optimal performance of the EDP sensor system <NUM>, <NUM>, <NUM>, while minimizing the part count, reducing the complexity, and improving the overall reliability of the front perception module <NUM>. This benefit notwithstanding, the front perception module <NUM> can contain fans or other active cooling devices in alternative implementations.

In the above-described manner, the front perception module <NUM> provides improved heat dissipation of components contained within the EDP sensor system <NUM>, <NUM>, <NUM> to prolong service life and promote optimal operation of vital electronic components, such as any visual processing components contained within the EDP sensor system <NUM>, <NUM>, <NUM>. Additionally, mechanical protection is afforded to the EDP sensor system <NUM>, <NUM>, <NUM> by virtue of secure mounting to the hangar bracket <NUM> included in the front ballast system <NUM> and the recessing the leading (and possibly side) edges of the front module housing <NUM> relative to the leading (and side) edges of the front ballast system <NUM>. During operation of the front perception module <NUM>, the EDP sensor system <NUM>, <NUM>, <NUM> may communicate with the central processing subsystem <NUM> or other onboard subsystem <NUM> over any suitable wired or wireless connection. As shown in <FIG>, a connector port <NUM> may be provided in the rear of the front module housing <NUM> for routing wire harness or connector cables provided the desired electrical connections within the electronic components contained in the front perception module <NUM>. In other embodiments, a different wire routing scheme may be employed; and, in implementations in which the front perception module <NUM> or the front ballast system <NUM> include a thermal chimney <NUM> or similar vertically-extending channel, the wire bundles or cables may be routed through or adjacent the thermal chimney <NUM> and to a suitable interface point within the electronics onboard the tractor <NUM>.

Turning next to <FIG>, an example embodiment rear perception module <NUM> is shown as installed along the rear of a cabin roof <NUM> enclosing the tractor cabin <NUM>. As can be seen, the rear module housing <NUM> of the rear perception module <NUM> is joined to a trailing or rear edge portion <NUM> of the cabin roof <NUM>; and, in embodiments, may define one or more surfaces of the rear portion <NUM> of the cabin roof <NUM>. In the illustrated example, the rear module housing <NUM> includes a central housing body <NUM> and two wing sections <NUM>. The wing sections <NUM> of the rear module housing <NUM> extend from the main housing body <NUM> in opposing directions and each terminate in an enlarged lateral end portion <NUM>. Specifically, the wing sections <NUM> terminate adjacent opposing rear corner regions <NUM> of the cabin roof <NUM>, with each enlarged lateral end portion <NUM> located below an upper surface or topside <NUM> of the cabin roof <NUM> and tilted in a slight downward direction. Further, as shown most clearly in <FIG>, the wing sections <NUM> extend along an underside <NUM> of the cabin roof <NUM>; and, perhaps, may fit into and extend within channels or larger open slots formed in the underside <NUM> of the cabin roof <NUM>. Comparatively, the central housing body <NUM> includes an upper raised portion <NUM> that projects upwardly from the upper surface or topside <NUM> of the cabin roof <NUM>. Additionally, the central housing body <NUM> of the rear module housing <NUM> includes a rear protruding section <NUM>, which projects from the cabin roof <NUM> in a rearward direction.

Due to the geometry of the rear perception module <NUM>, and specifically the manner in which the rear module housing <NUM> spans the width of the cabin roof <NUM>, optimal position is provided for multiple EDP devices about the upper rear periphery of the tractor roof <NUM>. In embodiments, the rear perception module <NUM> includes a first EDP device (e.g., the stereoscopic camera assembly <NUM>-<NUM> identified in <FIG>) having an LOS extending through one or more apertures <NUM> provided in a rear-facing wall <NUM> of the central housing body <NUM>; a second EDP device (e.g., the stereoscopic camera assembly <NUM>-<NUM>) having an LOS extending through one or more apertures <NUM> provided in an outer terminal (lateral-facing) wall <NUM> of a first wing section <NUM>; and a third EDP device (e.g., the stereoscopic camera assembly <NUM>-<NUM>) having an LOS extending through one or more apertures <NUM> provided in an outer terminal wall <NUM> of the other of the wing sections <NUM>. Collectively, the EDP devices (e.g., the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>) are positioned to provide a cumulative rear-centered FOV equal to or greater than <NUM> degrees (°), as seen looking downwardly onto the tractor <NUM>. By virtue of such positioning or angular distribution of the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, the rear perception module <NUM> combines or cooperates with the front perception module <NUM> to provide a <NUM>° cumulative FOV for the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> (or other EDP devices) housed within the perception modules <NUM>, <NUM>, thereby enabling the perception system <NUM> to provide full coverage monitoring of the surrounding environment of the tractor <NUM> in essentially all directions.

Various grated or screened airflow vents <NUM>, <NUM>, <NUM>, <NUM> are beneficially formed in exterior walls of the rear module housing <NUM> at selected locations, which facilitate airflow through the rear module housing <NUM> along one or more cooling airflow paths. For example, as indicated in <FIG>, an underside inlet vent <NUM> may be formed in a lower wall <NUM> of the rear protruding section <NUM>, while a corresponding outlet vent <NUM> may be formed in an upper wall <NUM> of the rear protruding section <NUM>. Further, in this case, the inlet vent <NUM> may be oriented to receive airflow conducted in a generally upward direction alongside a rear window of the tractor cabin <NUM>, with such rising airflow drawn into the rear protruding section <NUM> through the underside inlet vent <NUM> and then discharged through the outlet vent <NUM> after being conducted through the rear protruding section along a first cooling airflow path (indicated in <FIG> by an arrow <NUM>). Additionally or alternatively, rear perception module <NUM> may be fabricated to include a ram inlet vent <NUM>, which is formed in a raised upper or topside surface <NUM> of the rear module housing <NUM>. The raised topside surface <NUM> of the rear module housing <NUM> projects upwardly from the upper surface or topside154 of the cabin roof <NUM> and has an angled surface in which the ram inlet <NUM> is formed to intake ram airflow as the tractor <NUM> travels in a forward direction. This airflow may be conducted along a second cooling airflow path before discharge from the rear module housing <NUM> through an associated outlet vent <NUM>, as indicated <FIG> by an arrow <NUM>.

In at least some embodiments of the rear perception module <NUM>, one or more of the heat-generating components <NUM> may be positioned in or adjacent the cooling airflow paths <NUM>, <NUM> such that excess heat generated by the heat-generating component(s) <NUM> is dissipated by convective transfer to airflow conducted along the cooling airflow paths <NUM>, <NUM> during operation of the rear perception module <NUM>. As noted above, the heat-generating component <NUM> may be visual processing circuitry, such as a VPU, electrically coupled to the EDP devices <NUM> when assuming the form of stereoscopic camera assemblies; with the VPU (or other heat-generating component <NUM>) at least partially positioned in the rear protruding section <NUM> of the rear module housing <NUM> to maximize exposure to the cooling airflow directed along the cooling airflow paths <NUM>, <NUM>. Thus, in effect, the rear module housing <NUM> may serve as a flowbody or duct member in which the heat-generating component <NUM> (e.g., VPU or other visual processing circuitry) is located and through the cooling airflow paths <NUM>, <NUM> pass to provide efficient dissipation of excess heat generated by the component <NUM>. A highly efficient heat dissipation scheme is thus provided to convectively cool heat-generating components contained within the rear perception module <NUM> for enhanced thermal performance, even in the absence of fans or other active cooling mechanisms within the module <NUM>. The performance of the housed EDP sensors (e.g., the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>) may be optimized as a result, while the overcall complexity, cost, and part count of the rear perception module <NUM> is minimized.

Finally, various other features or devices may also be included in the rear perception module <NUM>, such as a wireless receiver <NUM> and mounting features <NUM>, <NUM>. In the illustrated example, such mounting features <NUM>, <NUM> include door hinge point attachments <NUM> and window glass hinge point clips <NUM> (<FIG>) sized, shaped, and positioned to interface with the infrastructure of the tractor cabin <NUM>. By virtue of integration into the trailing edge portion of the cabin roof <NUM> in this manner, the rear perception module <NUM> provides relatively little, if any obstruction of operator sightlines through the rear cabin windows. Concurrently, the rear perception module <NUM> provides adequate EDP device elevation to provide sensor sightlines over and around various implements or machines that may be towed by the tractor <NUM> at different junctures in time. Finally, as noted above, the manner in which the rear perception module <NUM> spans the width of the tractor cabin roof <NUM>, with sensor housing compartments provided in the rear protruding section <NUM> and the enlarged terminal end sections <NUM>, <NUM> enables optimal positioning of the EDP devices (e.g., the stereoscopic camera assemblies <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>) to achieve a relatively wide angle cumulative FOV of the rear EDP sensor system <NUM>, <NUM>, <NUM> approaching or exceeding <NUM>° in embodiments. When combined with a front perception module likewise providing such a broad FOV approaching or exceeding <NUM>°, such as the front perception module <NUM> described above in connection with <FIG>, the cumulative FOV of EDP devices <NUM> included in the work vehicle perception system <NUM> can provide complete, <NUM>° coverage to of the environment surrounding the tractor <NUM>.

Referring now to <FIG> and <FIG>, a work vehicle in the form of a tractor <NUM> is equipped with a work vehicle perception system <NUM> (identified in <FIG>, hereafter "tractor perception system <NUM>"), as presented in accordance with a further example embodiment of the present disclosure. As was previously the case, the tractor perception system <NUM> includes a front perception module <NUM>, which is positioned adjacent a front ballast system <NUM> and which is joined to the tractor chassis; e.g., the front perception module <NUM> may be joined to the tractor chassis through the front ballast system <NUM> in at least some embodiments. In addition to the front perception module <NUM> and the componentry therein, the tractor perception system <NUM> may also potentially include a rear perception module, which may be similar to or, perhaps, substantially identical to the rear perception module <NUM> shown in <FIG> and <FIG>. In other embodiments, the tractor perception system <NUM> may include additional perception modules mounted to other portions of the tractor <NUM> or may lack any additional perception modules beyond the front perception module <NUM>.

The electronic components contained within the front perception module <NUM> may also be similar, if not substantially identical to those described above in connection with the front perception module <NUM>. Accordingly, the electronic components within the front perception module may include a number of EDP devices <NUM> and, perhaps, other heat-generating electronics <NUM> (that is, IC dies or other electronics prone to excess heat generation during operation) electronically coupled to the EDP devices <NUM>. As discussed at length above, such the EDP devices <NUM> can assume the form of radar, lidar, and sonar-based sensors, which emit energy pulses and measure pulse reflections utilizing transducer arrays to estimate the proximity of various objects and surfaces located within the surrounding environment of the tractor <NUM>; however, the EDP devices <NUM> beneficially assume the form of stereoscopic camera assemblies or "stereo camera pairs" for the reasons previously discussed and will thus be principally described below as such. Further, the heat-generating electronics <NUM> may include processing units or devices (e.g., populated circuit or wiring boards to which at least one IC die is attached and encompassed by the term "VPU" herein) for processing visual imagery provided by the EDP devices <NUM> when assuming the form of stereo camera pairs. Additional description of one manner in which such EDP devices <NUM> may be distributed about the front perception module <NUM> to cumulatively provide a relatively broad FOV is set-forth below. First, however, the front ballast system <NUM> of the example tractor <NUM> is discussed in greater detail to establish a non-limiting example context in which embodiments of the present disclosure may be better understood.

In a manner similar to the front ballast system <NUM> included in the example tractor <NUM> shown in <FIG>, the front ballast system <NUM> includes a laterally-extending hanger bracket <NUM> and a lower structure or "connecting yoke" joining the hanger bracket <NUM> to the tractor chassis. The connecting yoke <NUM> is best shown <FIG> and may assume the form of two arms integrally formed with the hanger bracket <NUM>, extending downwardly therefrom, and having lower flanged ends, which are bolted, welded, or otherwise securely affixed to a lower leading portion of the tractor chassis. In other embodiments, the connecting yoke <NUM> may assume a different structural form suitable for securely joining the laterally-extending hanger bracket <NUM> to the tractor chassis. Comparatively, the laterally-extending hanger bracket <NUM> assumes the form of a laterally-elongated beam-like structure onto which a selected number of ballast weights <NUM> may be loaded and removed by an operator. The laterally-extending hanger bracket <NUM> enables positioning of a number of the removable ballast weights <NUM> beneath a front module housing <NUM> of the front perception module <NUM>, with the hanger bracket <NUM> and, more generally, the front ballast system <NUM> shown in a fully-loaded state in <FIG> and <FIG>. In still further implementations, various other structural attachment schemes may be utilized to join the laterally-extending hanger bracket <NUM> to the tractor chassis, while positioning the front perception module <NUM> relative to the hanger bracket <NUM>, providing that the front module housing <NUM> is securely affixed to the tractor chassis at a location above the hanger bracket <NUM> in a manner enabling at least a subset of the removable ballast weights <NUM> to be positioned beneath the module housing <NUM>.

Any physical interface between the laterally-extending hanger bracket <NUM> and the removable ballast weights <NUM> can be provided enabling the ballast weights <NUM> to be selectively loaded onto and removed from the hanger bracket <NUM>, as appropriate, to best suit operator preferences or a particular application performed utilizing the tractor <NUM>. For example, as can be seen most readily in <FIG>, the removable ballast weights <NUM> may be imparted to have C-shaped slots or openings along their trailing or back edges, with the laterally-extending hanger bracket <NUM> having a corresponding (e.g., a rotated T-shaped) geometry permitting the ballast weights <NUM> to be slid laterally onto the hanger bracket <NUM> and subsequently confined to lateral movement along the hanger bracket <NUM>, as previously described. A particular ballast weight <NUM> may be retained in a given lateral position by frictional forces, by abutment against neighboring ballast weights <NUM>, utilizing an elongated bolt extending laterally through aligning openings in the ballast weights <NUM>, by engagement into indexing slots provided along the hanger bracket <NUM>, or in another manner. Various other constructions or designs enabling an operator to selectively load the ballast weights <NUM> onto and remove the ballast weights <NUM> from the hanger bracket <NUM> are also possible in further implementations, with at least some, a majority, or perhaps all of the ballast weights <NUM> positioned beneath the front perception module <NUM> when the hanger bracket <NUM> is fully loaded as shown.

In addition to the front module housing <NUM>, the front ballast system <NUM> further contains a lower attachment structure or mounting base <NUM>. In this particular example, the mounting base <NUM> includes an attachment railing or bracket <NUM> and a shelf structure or module support platform <NUM>. The module support platform <NUM> includes, in turn, a substantially flat, horizontally-oriented support surface <NUM> (<FIG>) extending over and above the laterally-extending hanger bracket <NUM>. In embodiments, the support surface <NUM> may span at least a majority, if not the entirety of the hanger bracket <NUM>, as taken in a width direction along which the hanger bracket <NUM> is elongated. The front module housing <NUM> is positioned above, supported by, and mounted to the support surface <NUM> of the module support platform <NUM>; e.g., in at least some embodiments, the front module housing <NUM> may seat on the module support platform <NUM>, with fastener openings provided through the module support platform <NUM> to accommodate bolts or fasteners (hidden from view) attaching the front module housing <NUM> to the module support platform <NUM>. In alternative embodiments, the front module housing <NUM> may be mounted to the module support platform <NUM> in another manner.

The attachment bracket <NUM> of the mounting base <NUM> extends downwardly from each side of the module support platform <NUM> to attach to the tractor chassis, whether directly or through the lower structure or connecting yoke <NUM> of the front ballast system <NUM>. In the illustrated example, the attachment bracket <NUM> is fabricated from square tubing formed into an inverted, substantially U-shaped structure, with the lower terminal end of each arm of the U-shaped structure affixed to the tractor chassis through the front ballast system <NUM>. The support platform <NUM> may be joined to the attachment bracket <NUM> in a manner not intended for in-field operator removal, such as by welding; or, instead, in a manner permitting ready operator removal, such as utilizing bolts or other fasteners. In at least some instances, an operator may temporarily remove the front module housing <NUM> or a portion of the front module housing <NUM> to allow interchange of the modular ballast weights <NUM> on the laterally-extending hanger bracket <NUM>. This may not be the case in other embodiments when, for example, the mounting base <NUM> of the front ballast system <NUM> does not physically obstruct ballast weight insertion onto and removal from the laterally-extending hanger bracket <NUM>. Lastly, one or more non-illustrated inlet vents may be formed in the bottom surface of the front module housing <NUM> for the intake of airflow in certain embodiments, particularly if corresponding openings are cut into or otherwise formed in the support platform <NUM>.

A number of airflow ports <NUM>, <NUM> is formed through the exterior walls of the front module housing <NUM>; and, the illustrated example, specifically, at least two airflow ports <NUM>, <NUM> are formed in the rear-facing and upper rear walls of the front module housing <NUM>. Again, perforated plates or screen pieces may be positioned across the airflow ports <NUM>, <NUM> to permit airflow, while blocking larger particulate matter or debris from entering the front module housing <NUM>. As the airflow ports <NUM>, <NUM> are formed in a rearward or trailing portions of the front module housing <NUM>, which is mounted above the front ballast system <NUM>, the airflow ports <NUM>, <NUM> are located adjacent and generally face the forward grille <NUM> of the tractor <NUM>. By virtue of such positioning, when the radiator fan contained in the tractor <NUM> is active (analogous to the radiator fan <NUM> of the tractor <NUM>, <FIG>), the action of the radiator fan draws airflow through the front module housing <NUM> to provide enhanced cooling and heat dissipation of electronic components contained in the module housing <NUM>. The tractor radiator fan <NUM> may thus be leveraged to increase cooling of the electronic components <NUM> (e.g., a VPU or similar visual processing circuitry in implementations in which the EDP devices <NUM> assumes the form of stereo camera pairs) contained within the front module housing <NUM> and prone to excess heat generation. Further, such heat-generating components <NUM> may be strategically positioned within or adjacent the paths along which cooling airflow is conducted when flowing between the airflow ports <NUM>, <NUM> or otherwise flowing through the front module housing <NUM>.

As generally indicated in <FIG> and discussed above, the front module housing <NUM> may also contain visual processing circuitry or other heat-generating electronic components <NUM>, such as a VPU, electrically coupled to the stereo camera pairs (or other EDP devices <NUM>) contained in the module housing <NUM>. As described throughout this document, such visual processing circuitry (e.g., implemented as one or more IC dies mounted to a printed circuit or wiring board) is often prone to excess heat generation and is thus advantageously positioned toward a rear central portion of the front module housing <NUM> to maximize exposure to cooling airflow traveling between the airflow ports <NUM>, <NUM>; e.g., in embodiments, such the visual processing circuitry may be positioned to the rear of the forward-looking stereo camera pair at a location adjacent or beneath the airflow port <NUM>. The front perception module <NUM> thus provides improved heat dissipation of components contained within the EDP sensor system to prolong service life and promote optimal operation of vital electronic components, such as any visual processing components contained within the EDP sensor system. Signal communication between the EDP sensors (e.g., stereoscopic camera assemblies) contained in the front module housing <NUM> may occur over wireless connections in embodiments; while, in other instances, non-illustrated wires or cables may be routed from the front module housing <NUM> to a suitable location of the tractor <NUM> in some manner, such as by routing such wires through the inner channels of the attachment bracket <NUM> when formed from tubing.

The mounting scheme employed by the front perception module <NUM> allows the front perception module <NUM> to be readily joined to the tractor <NUM> by retrofit installation, as desired. In this regard, an operator or owner of the tractor <NUM> can install the front perception module <NUM> over the front ballast system <NUM>; or mounting of the front perception module <NUM> may be performed during original equipment manufacture through joinder of the attachment bracket <NUM> to the tractor chassis by, for example, bolting the lower flanged ends of the connecting yoke <NUM> of the front ballast system <NUM>, as previously discussed. In other implementations, various other mounting schemes may be employed providing that at least some portion (e.g., the mounting base) of the front perception module <NUM> is joined to the tractor chassis (e.g., through the front ballast system <NUM>), while vertically spacing the front perception module housing <NUM> and the support platform <NUM> above the laterally-extending hanger bracket <NUM> of the front ballast system <NUM> to enable positioning of the removable ballast weights <NUM> beneath the module housing <NUM>. In addition to providing a robust physical mounting to the tractor chassis through the front ballast system <NUM>, the illustrated embodiments further positions the front perception module <NUM> at a generally optimal ground height or vertical elevation to minimize exposure of the electronics within the front perception module <NUM> to dust and debris, while avoiding obstruction of operator sightlines when tractor <NUM> is piloted by a human operator. Concurrently, the EDP devices (e.g., stereo camera pairs) <NUM> within the front module housing <NUM> are positioned at a forwardmost point of the tractor <NUM> and combine to provide a broad cumulative sensor FOV approaching, if not exceeding <NUM>° to provide full, comprehensive coverage of the environmental regions to the front of the tractor <NUM>, as previously described.

As previously indicated, the front module housing <NUM> contains one or more EDP devices <NUM> (<FIG>) and, potentially, may further contain any number of additional sensors and processing components. In the illustrated embodiment, specifically, the front module housing <NUM> contains multiple EDP devices, which are positioned within the module housing <NUM> such that the respective FOVs of the EDP devices <NUM> are angularly spaced or distributed about the forward and lateral sides of the module housing <NUM>. As was previously the case, such EDP devices <NUM> may include a forward-looking stereoscopic camera assembly or stereo camera pair having a forward-centered FOV extending from the front perception module <NUM> in principally a forward direction; a first lateral-looking stereo camera pair having a corresponding FOV extending from the front perception module <NUM> in a first lateral direction and perhaps angled forward of the tractor <NUM> to some degree; and a second lateral-looking stereo camera pair having a corresponding FOV extending from the front perception module <NUM> in a second lateral direction opposite the first lateral direction. Such stereo camera pair are largely hidden from view in <FIG>; however, the LOS openings or apertures <NUM> formed through the sidewalls and leading wall of the front module housing <NUM>, which provide the stereo camera pairs with the requisite sightlines of the environment to the front and generally to the sides of the tractor <NUM>, can be seen. Collectively, the individual, overlapping FOVs of the EDP devices <NUM> cooperate to yield a cumulative forward-centered FOV approaching, if not exceeding <NUM>°. In this manner, the tractor perception system <NUM> achieves full, comprehensive coverage of the environmental regions to the forward, forward-right (from an operator's perspective), and forward-left (from an operator's perspective) regions of the tractor <NUM>. In embodiments in which the tractor perception system <NUM> further contains a rear perception module likewise providing a rear-centered angular field of view of <NUM>° or greater, the tractor perception system <NUM> may be capable of monitoring the entire surrounding envelope or <NUM>° external environment of the tractor <NUM>.

Referring now to <FIG> and <FIG>, a tractor <NUM> (partially shown) is equipped with a front ballast system <NUM> and a front perception module <NUM>, as illustrated in accordance with a further example embodiment of the present disclosure. As was previously the case, the front ballast system <NUM> includes a laterally-extending hanger rack or bracket <NUM>, which supports a number of removable ballast weights <NUM> when loaded onto the hanger bracket <NUM> and positioned beneath the front perception module <NUM>. The laterally-extending hanger bracket <NUM> is bolted or otherwise joined to a chassis <NUM> of the tractor <NUM> via a twin mounting arms <NUM>, as shown most clearly in <FIG>. Once again, the removable ballast weights <NUM> are realized as suitcase-type weights (that is, each ballast weight <NUM> has a generally rectangular profile and includes an upper handle), but can assume other forms in further embodiments. Further, as previously described, the laterally-extending hanger bracket <NUM> may be imparted with a T-shaped or L-shaped profile (including an upwardly-projecting ridge or longitudinal key), which matingly engages corresponding slot features (e.g., longitudinal keyways) formed in the trailing edges portions of removable ballast weights <NUM> when slid onto the hanger bracket <NUM> to help retain the ballast weights <NUM> in their desired positions.

A block-shaped central support structure <NUM> is integrally formed with or otherwise rigidly joined to a mid-portion of the laterally-extending hanger bracket <NUM>. As shown, the central support structure <NUM> may be imparted with a profile substantially matching that of the removable ballast weights <NUM>; however, this need not be the case in all instances. In embodiments, the central support structure <NUM> may be integrally formed with the laterally-extending hanger bracket <NUM> as a single piece or structure, such as a single cast and machined part. In other instances the central support structure <NUM> may be independently fabricated and joined to the hanger bracket <NUM> utilizing hardware (e.g., fasteners or clamp mechanisms), via welding, or in another manner. When present, the central support structure <NUM> may serve as, or help form, a mounting base through which a front module housing <NUM> of the front perception module <NUM> is rigidly joined to the tractor chassis <NUM>. Regardless of the particular manner in which the front module housing <NUM> is mounted to the tractor chassis <NUM>, the front module housing <NUM> is beneficially positioned at a location above the laterally-extending hanger bracket <NUM> to allow the positioning at least a subset of the removable ballast weights <NUM> beneath the module housing <NUM> and, further, to position the trailing edge or face of the front module housing <NUM> adjacent the front grille <NUM> of the tractor <NUM>.

The front module housing <NUM> is advantageously imparted with a relatively low profile, aerodynamically streamlined formfactor to minimize obstruction of the tractor grille <NUM> and thereby reduce, if not eliminate any material impact of the front perception module <NUM> on vehicle cooling; that is, on the ability of the tractor <NUM> to efficiently dissipate excess heat generated by, for example, an internal combustion engine housed with the tractor's engine compartment. Although the dimensions and formfactor of the front module housing <NUM> will vary between embodiments, the front module housing <NUM> will often span least a majority, if not the substantiality of the width of the laterally-extending hanger bracket <NUM>, as seen looking downwardly on the front perception module <NUM>. Such dimensioning facilitates optimal sightline positioning of EDP sensors (e.g., stereo camera pairs) around the internal periphery of front module housing <NUM>, while allowing the cooling fin array of the below-described VPU assembly to be imparted with a relatively expansive width to increase the surface area availed for heat transfer to the cooling airflow directed through the front module housing.

With continued reference to example embodiment shown in <FIG>, the front module housing <NUM> is assembled from two primary pieces or components: a lower housing piece <NUM> and an upper cover piece <NUM>, which may be joined to the lower housing piece <NUM> utilizing bolts <NUM> or other fasteners. Regardless of the particular construction of the front module housing <NUM>, multiple EDP sensors, and possibly other sensors and electronic devices, are installed within the module housing <NUM>. In this particular example, the EDP sensors assume the form of stereoscopic camera assemblies or "stereo camera pairs"'; however, other EDP sensors, such as radar, lidar, or sonar-based sensors, can be utilized in combination with or in lieu of stereo camera pairs in alternative implementations of the front perception module <NUM>. The stereo camera pairs are angularly distributed or arranged about an inner periphery of the front module housing <NUM> to impart the front perception module <NUM> with a relatively expansive forward-centered FOV; e.g., a forward-centered FOV equal to or greater than <NUM> degrees, as seen looking downwardly onto the front perception module <NUM> and the tractor <NUM>. Sensor or camera LOS apertures <NUM> are formed at selected locations distributed about the side-facing and front-facing peripheral walls <NUM>, <NUM> of the front module housing <NUM> to furnish the stereo camera pairs with unobstructed lines-of-sight extending outward from the perception module <NUM>.

Several airflow ports or vents <NUM>, <NUM>, <NUM>, <NUM> are formed through selected walls of the front module housing <NUM>, including: (i) a leading, forward-facing (ram flow) inlet vent <NUM> principally formed in the front-facing peripheral wall <NUM> of the module housing <NUM>; (ii) a lower airflow inlet vent <NUM> formed in the underside or bottom surface <NUM> of the front module housing <NUM> (identified in <FIG>); (iii) a rear-facing outflow vent <NUM> formed in a trailing peripheral wall <NUM> of the front module housing <NUM>; and (iv) an upwardly-facing outflow vent <NUM> formed in an upper trailing roof portion of the upper cover piece <NUM>. Collectively, the airflow vents <NUM>, <NUM>, <NUM>, <NUM> promote the conduction of cooling airflow through the module housing <NUM> in at least two general operational scenarios or cooling modes. As appearing herein, the term "mode" utilized in a general sense herein to describe flow behaviors or patterns through the front module housing <NUM> under different external conditions, noting that the below-described flow behaviors may often occur concurrently, to varying extents, depending upon conditions external to the front perception module <NUM>.

A first cooling mode of the front perception module <NUM> occurs when airflow is urged through the front module housing <NUM> in a fore-aft direction; that is, from a point immediately forward of the front module housing <NUM> to a point immediately rearward of the module housing <NUM>. This may occur when the tractor <NUM> is traveling in a forward direction at an appreciable rate of speed, in the presence of headwinds, when a radiator fan positioned behind the tractor grille <NUM> actively draws airflow through the front module housing <NUM>, or in any combination of these scenarios. Such a "fore-aft" cooling mode is described below in connection with <FIG>. A second cooling mode of the front perception module <NUM> occurs in the absence of such conditions, such as when the tractor <NUM> is stationary, the radiator fan is inactive, and strong headwinds are not present. In this case, rising thermal airflow is directed through the front module housing <NUM> in a generally upward direction; This provides passive cooling of the heat-generating components (e.g., the below-described VPU assembly) within the front module housing <NUM> when little to no airflow is forced through the front module housing <NUM> in a fore-aft direction. This "rising airflow" cooling mode is further discussed below in conjunction with <FIG>. In either instance or cooling mode, the cooling airflow passing through the front module housing <NUM> is directed over and across one or more heat-generating components within the front module housing <NUM>, such as a VPU assembly or perception controller operably coupled to the stereo camera pairs contained in the front module housing <NUM>.

Turning to <FIG>, an airflow velocity simulation depicts airflow conducted through the front perception module <NUM> during the above-described "fore-aft" cooling mode; e.g., when the tractor <NUM> is traveling in a forward direction, in the presence of headwinds, or when the forward radiator fan of the tractor <NUM> actively draws airflow through the front module housing <NUM>. In this view, one of the stereo camera pairs <NUM> within the module housing <NUM> can be seen along with a VPU assembly <NUM>, which is placed in signal communication with the stereo camera pairs <NUM> over wired connections. The example VPU assembly <NUM> includes a circuit board populated with visual processing circuitry <NUM> (e.g., a motherboard to which at least one IC die, SMDs, or other microelectronic components are mounted), a surrounding housing or casing <NUM>, and a cooling fin array <NUM>. The cooling fin array <NUM> of the VPU assembly <NUM> may include one or more rows of parallel-extending fins composed of a thermally-conductive material, such as a copper alloy, an aluminum alloy, or another metal or alloy; the term "cooling fin array," as appearing herein, generally encompassing any arrangement of fin-like structure or projections for convectively transferring heat to the ambient environment, regardless of the geometry of the fins within the cooling fin array <NUM> and including pin-fin type arrays. The VPU assembly <NUM> may be elongated in a lateral or widthwise direction of the module housing <NUM>; e.g., the cooling fin array <NUM> may span at least half, if not the substantial entirety of the width of the front module housing <NUM> to maximize the surface area of the cooling fin array <NUM> availed for convective heat transfer to the ambient environment.

The VPU assembly <NUM> is mounted with the front module housing <NUM> in a manner inserting the cooling fin array <NUM> into two overlapping cooling airflow paths. This includes a first cooling airflow path, which generally extends through the front module housing <NUM> in a fore-aft direction, as represented by arrows <NUM> (hereafter, "fore-aft airflow path <NUM>"). A second cooling airflow path further extends through the front module housing <NUM> in a generally upward direction. This cooling airflow path is represented by arrows <NUM> (<FIG>) and is referred to below as the "rising airflow path <NUM>. " Airflow is principally directed along the rising airflow path <NUM> when the front module housing <NUM> functions in the rising airflow cooling mode described below in connection with <FIG>.

Airflow is principally conducted along the fore-aft airflow path <NUM> when the front module housing <NUM> functions in the fore-aft cooling mode. As shown in <FIG>, the fore-aft airflow path <NUM> principally extends from the inlet vent <NUM> formed in the leading wall <NUM> of the front module housing <NUM> to the rear outflow vent <NUM> formed in the rear-facing wall <NUM> of the module housing <NUM>; although some volume of airflow conducted along the fore-aft airflow path <NUM> may also be exit the front module housing <NUM> through the trailing, upwardly-facing outflow vent <NUM> provided in the upper cover piece <NUM>. As noted above, airflow may be directed along the fore-aft airflow path <NUM> during forward travel of the tractor <NUM> or in the presence of strong headwinds to dissipate excess heat generated by the visual processing circuitry <NUM> of the APU assembly <NUM>. Additionally, due to the proximity of the rear-facing outlet vent <NUM> to the grille <NUM> of the tractor <NUM>, airflow is also drawn through the front perception module <NUM> along the fore-aft airflow path <NUM> when the tractor radiator fan is activated. In this manner, the radiator fan of the tractor <NUM> is leveraged to effectively provide active cooling through the front perception module <NUM>, including in embodiments in which the perception module <NUM> lacks internal fans or other active cooling elements.

As can be seen in <FIG>, the VPU assembly <NUM> may be mounted in an inverted or "fins down" orientation such that the cooling fin array <NUM> generally faces away in a downward direction. Concurrently, the VPU assembly <NUM> may be mounted in a tilted orientation such that the cooling fin array <NUM> is angled with respect to a horizontal plane, which extends parallel to the fore-aft or longitudinal axis of the tractor <NUM>. In such embodiments, the VPU assembly <NUM> may be described as facing in both a downward direction and in a rearward direction toward the tractor <NUM>. The tilt angle of the VPU assembly <NUM> is advantageously chosen by design to accommodate the aerodynamically streamlined formfactor of the front module housing <NUM>, while optimizing the thermal performance of the VPU assembly <NUM>. Additionally, the cooling fin array <NUM> may be mounted adjacent and face an internal ramp feature or "ramped flow guidance surface" <NUM> provided in the front module housing <NUM>, such as an inclined surface turning the airflow in an increasingly upward direction and toward the cooling fin array <NUM>, as discussed below.

By mounting the VPU assembly <NUM> in an inverted (fins down), angled orientation within the front module housing <NUM>, and by directing cooling airflow along the ramped airflow guidance surface <NUM> to force a greater volume of airflow against the cooling fine array <NUM>, several benefits are achieved. First, the inverted orientation of the VPU assembly <NUM> reduces the susceptibility of the cooling fin array <NUM> to the accumulation of airborne debris or other particulate matter build-up over the outer surfaces of the cooling fin array <NUM>, with gravitational forces and the vibratory forces occurring during operation of the tractor <NUM> tending to dislodge any such particulate build-up from the fin array <NUM>. This, in turn, enables the cooling fin array <NUM> and, more generally, the VPU assembly <NUM> to maintain high thermal performance levels over extended periods of time and during usage in debris-laden ambient environments of the type commonly encountered in, for example, agricultural applications. Second, the angled or titled orientation of the VPU assembly <NUM>, taken in combination with ramped flow guidance surface <NUM>, forms an internal ducting or conduit feature increasing conductive heat transfer from the cooling fin array <NUM> to the cooling airflow conducted through the module housing <NUM> along the fore-aft airflow path.

As may be appreciated by reference to the cross-hatched streamline arrows and an airflow velocity scale <NUM> shown in an upper left portion of <FIG>, the ramped flow guidance surface <NUM> turns the airflow conducted along the cooling airflow path <NUM> increasingly toward the cooling fin array <NUM>, while altering local airflow velocities and vectors to promote convective cooling of VPU assembly <NUM> and the overall the thermal performance of front perception module <NUM>. Concurrently, the ramped flow guidance surface <NUM>, the cooling fin array <NUM>, and the surrounding surfaces form a flow constriction forcing a greater fraction of the cooling airflow across the cooling fin array <NUM> than would otherwise occur absent the ramped flow guidance surface <NUM>. As a further benefit, when the front perception module <NUM> functions in such a fore-aft cooling mode, the high velocity airflow along the fore-aft flow path <NUM> may further help clean or dislodge any debris trapped in the screening positioned over the underside inlet vent <NUM> and the upper trailing outlet vent <NUM> during normal operation of the tractor <NUM>.

Addressing lastly <FIG>, a thermal gradient model simulates operation of the front perception module <NUM> under operational conditions in which airflow is principally conducted through the front module housing <NUM> in a generally upward direction, and to a lesser extent a rearward direction, along a rising airflow path <NUM>. In this case, the rising airflow path <NUM> generally extends from the bottomside vent <NUM> upwardly through the front module housing <NUM> to the trailing, upwardly-facing outflow vent <NUM>, which is formed in an upper trailing roof portion of the upper cover piece <NUM>. In a manner similar to the fore-aft airflow path <NUM> (<FIG>), the rising airflow path <NUM> directs cooling airflow over and across the ramped flow guidance surface <NUM> and the cooling fin array <NUM> of the VPU assembly <NUM> before exiting from the front module housing <NUM> through the upwardly-facing outflow vent <NUM>. The airflow conducted along this cooling path thus travels in upward and rearward directions when flowing across the inverted cooling fin array <NUM>. When the front perception module operates in such a rising airflow cooling mode, excess heat generated by the circuitry within the VPU assembly <NUM> is consequently dissipated by transfer to the airflow conducted along the rising airflow path <NUM>. This may be appreciated by comparing temperature gradients adjacent the VPU assembly <NUM> and along the cooling airflow path <NUM>, as indicated by cross-hatching identified in a thermal scale <NUM> shown in the upper left of <FIG>.

Through the provision of the rising airflow path <NUM> by which airflow taken through the bottomside or underside inlet vent <NUM> is directed over and across the inverted and rearwardly-tilted cooling fin array <NUM>, effective heat removal from the VPU assembly <NUM> is maintained. Further, effective heat dissipation is maintained under conditions in which airflow is not actively urged through the front module housing <NUM> in a fore-aft direction; e.g., when the tractor <NUM> is stationary, when strong headwinds are absent, and when the tractor radiator fan is inactive. Generally, then, the orientation, positioning, and sizing of the VPU assembly <NUM>, and the provision of both fore-aft and rising cooling flow paths through the front module housing <NUM> (both passing over and across the inverted VPU assembly <NUM>) optimizes the heat dissipation capabilities and thermal performance of the VPU assembly <NUM> across essentially all operational scenarios or external conditions of the front perception module <NUM>. Further, in many instances, the front perception module <NUM> can be produced to lack any internal fans, liquid coolant systems, or other active cooling devices to provide cost savings, reduced complexity, and increased durability, while maintaining sufficient heat dissipation capabilities to cool VPU assembly <NUM> (and/or similar heat-generating circuitry contained within the front perception module <NUM>) in a highly effective manner.

The foregoing has thus provided front and rear work vehicle perception modules providing various advantages, including thermal performance and structural integration benefits, as well as to work vehicle perception systems containing such modules. Embodiments of the front perception module may be joined to the laterally-extending hanger bracket of a front ballast system (or otherwise coupled to the front ballast system) to provide a rigid attachment to the work vehicle chassis minimizing disturbances forces transmitted the EDP devices (e.g., stereoscopic camera assemblies) contained in EDP sensor system. Additionally, mounting of the front perception module in this manner may provide mechanical protection benefits, particularly as the leading and side edges of the front module housing may be recessed relative to the corresponding edges of the front ballast system. Similarly, mounting or integration of the rear perception module into the rear edge portion of the cabin roof provides various mechanical protection and LOS benefits. Both the front and rear perception modules may further include vent features promoting airflow through the front module housing along cooling airflow paths, both as the work vehicle remains stationary or travels in a forward direction. Heat-generating components, such as a VPU assembly or other visual processing circuitry, may be positioned in or adjacent such cooling airflow paths to promote cooling of such heat-generating components. Additionally, in embodiments, the VPU assembly may be mounted in an inverted orientation, and perhaps a downwardly- and rearwardly-facing orientation, to minimize the build-up of airborne debris or other particulate matter over the cooling fin array of the VPU assembly and to provide other benefits. Embodiments of the front perception module may further be configured to provide a cumulative sensor FOV approaching or exceeding <NUM>° by, for example, strategically positioning multiple (e.g., three) stereoscopic camera pairs (or other EDP devices).

As used herein, the singular forms "a", "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., "and") and that are also preceded by the phrase "one or more of" or "at least one of" indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, "at least one of A, B, and C" or "one or more of A, B, and C" indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

Claim 1:
A front ballast system (<NUM>, <NUM>) with a front perception module (<NUM>, <NUM>) utilized in conjunction with the front ballast system (<NUM>, <NUM>), the front ballast system (<NUM>, <NUM>) being configured to be mounted to the front of a work vehicle (<NUM>, <NUM>), wherein:
the front ballast system (<NUM>, <NUM>) supports removable ballast weights (<NUM>, <NUM>),
the front perception module (<NUM>, <NUM>) comprises:
an environmental depth perception (EDP) sensor system (<NUM>, <NUM>) including a first EDP device (<NUM>, <NUM>) having a field of view (FOV) encompassing an environmental region forward of the work vehicle (<NUM>, <NUM>);
a mounting base (<NUM>, <NUM>, <NUM>) configured to be attached to the front of the work vehicle (<NUM>, <NUM>;), and
a front module housing (<NUM>, <NUM>) containing the EDP sensor system (<NUM>, <NUM>) and joined to the mounting base (<NUM>, <NUM>, <NUM>),
characterized in that the front ballast system (<NUM>, <NUM>) has a laterally-extending hanger bracket (<NUM>, <NUM>) supporting the removable ballast weights (<NUM>, <NUM>),
and that the front module housing (<NUM>, <NUM>) is positioned over and vertically spaced from the laterally-extending hanger bracket (<NUM>, <NUM>) in a manner enabling positioning of the removable ballast weights (<NUM>, <NUM>) beneath the front module housing (<NUM>, <NUM>).