Patent ID: 12216230

DESCRIPTION OF EMBODIMENTS

Examples of embodiments will be described below in detail with reference to the accompanying drawings. In each of the drawings used in the following description, the scale is appropriately changed in order to make each member have a recognizable size.

In the accompanying drawings, an arrow F represents a forward direction of the illustrated structure. An arrow B represents a rearward direction of the illustrated structure. An arrow U represents an upward direction of the illustrated structure. An arrow D represents a downward direction of the illustrated structure. An arrow L represents a leftward direction of the illustrated structure. An arrow R represents a rightward direction of the illustrated structure. The terms “left” and “right” used in the following descriptions represent the left-right directions when viewed from the driver's seat.

FIG.1schematically illustrates a configuration of a sensor system1according to an embodiment. The sensor system1is adapted to be installed in a vehicle100illustrated inFIG.2.

The sensor system1includes a sensor unit2. The sensor unit2is a device for acquiring information in an outside area of the vehicle. The sensor unit2is configured to output a detection signal SD corresponding to the detected information.

The sensor unit2may be, for example, a LiDAR (Light Detection and Ranging) sensor unit. The LiDAR sensor unit has a configuration for emitting sensing light toward a sensing area outside the vehicle100, and a configuration for detecting returned light (not illustrated) as a result of the sensing light being reflected by an object existing in the sensing area. As the sensing light, for example, infrared light having a wavelength of 905 nm can be used. The LiDAR sensor unit may include a scanning mechanism (not illustrated) that changes a direction that the sensing light is emitted. As a result, the sensing area defined outside the vehicle100can be scanned by the sensing light.

The LiDAR sensor unit can obtain the distance to the object associated with the returned light, for example, based on the time period from the time when the sensing light is emitted in a certain direction to the time when the returned light is detected. In addition, by accumulating such distance data in association with the sensing position, it is possible to obtain information as to the shape of the object associated with the returned light. Additionally or alternatively, information as to an attribute such as the material of the object associated with the returned light can be acquired based on the difference in waveforms of the emitted light and the returned light.

The sensor unit2may be, for example, a camera unit. The camera unit includes an image pickup device that acquires an image of an outside area of the vehicle100. The wavelength of the light for which the image pickup element has sensitivity may be in a visible light range or an infrared light range. The camera unit may be a TOF (Time of Flight) camera unit that also acquires information as for a distance to an object for each pixel.

The sensor unit2may be, for example, a millimeter wave radar unit. The millimeter wave radar unit has a configuration for transmitting a millimeter wave and a configuration for receiving a reflection wave resulting from the millimeter wave being reflected by an object existing outside the vehicle100. Examples of frequencies of millimeter waves include 24 GHz, 26 GHz, 76 GHz, and 79 GHz. The millimeter wave radar unit can obtain the distance to the object associated with the reflected wave, for example, based on the time period from the time when the millimeter wave is transmitted in a certain direction to the time when the reflected wave is received. In addition, by accumulating such distance data in association with the detecting position, it is possible to acquire information as to the shape of the object associated with the reflection wave.

As illustrated inFIG.2, the vehicle100includes a plurality of lamp housings101. Each lamp housing101houses a lamp unit. The lamp unit is a device for emitting visible light to the outside of the vehicle100. Examples of the lamp unit include a headlamp, a direction indicator lamp, a marker lamp, a tail lamp, a brake lamp, and a fog lamp.

The sensor unit2is disposed outside the lamp housings101. In the example illustrated inFIG.2, the sensor unit2is disposed at a front end portion of the vehicle100in a center area in the left-right direction of the vehicle100.

As illustrated inFIG.1, the sensor system1includes an actuator3. The actuator3is configured to change a posture of the sensor unit2with respect to the lamp housing101.

Specifically, at least one of a pitch axis AP, a yaw axis AY, and a roll axis AR can be defined for the sensor unit2. The actuator3may include at least one of a mechanism for taming the sensor unit2about the yaw axis AY, a mechanism for turning the sensor unit2about the pitch axis AP, and a mechanism for turning the sensor unit2about the roll axis AR. Since a well-known configuration can be applied to each mechanism, detailed descriptions thereof will be omitted.

The sensor system1includes a processor4. The processor4may be disposed at an appropriate position in the vehicle100. The processor4may be provided as a general-purpose microprocessor operating in conjunction with a general-purpose memory, or may be provided as part of a dedicated integrated circuit device. Examples of the general-purpose microprocessor include a CPU, an MPU, and a GPU. Examples of the general-purpose memory include a RAM and a ROM. The general-purpose microprocessor may be a part of another control device (ECU or the like) installed in the vehicle100. Examples of the dedicated integrated circuit element include a microcontroller, an ASIC, and an FPGA.

The processor4is configured to be able to output a control signal SC for controlling the operation of the actuator3. The control signal SC may be outputted based on a command C from another control device, or may be outputted based on a determination performed by the processor4itself. In such a determination, the detection signal SD from the sensor unit2may be used. Depending on the specification of the actuator3, an appropriate signal conversion circuit may be provided between the processor4and the actuator3.

An example of the operation of the sensor system1configured as described above will be mentioned with reference toFIGS.3A and3B.FIG.3Aillustrates an initial state of the sensor unit2. The sensor unit2can detect information in a sensing area DA ahead of the vehicle100. In the illustrated example, a person walking ahead of the vehicle100is located in the sensing area DA.

FIG.3Billustrates a state that the sensor unit2is turned in the counterclockwise direction in the drawing about the pitch axis AP. That is, the posture of the sensor unit2with respect to the lamp housing101is changed. The changing operation is realized by the actuator3having a mechanism for turning the sensor unit2about the pitch axis AP based on the control signal SC from the processor4.

In the example illustrated inFIG.3B, a dog lying down ahead of the vehicle100is located in the sensing area DA. The position of the dog corresponds to a blind spot of the sensing area DA in the initial state illustrated inFIG.3A. That is, by changing the posture of the sensor unit2by the actuator3, the location of the sensing area DA changes, so that the dog located in the blind spot in the initial state can be detected.

As described above, the sensor unit2is disposed outside the lamp housing101. Accordingly, it is possible to alleviate the constraint on the change in the posture of the sensor unit2caused by the shape of the lamp housing101itself or the layout of the lamp unit housed in the lamp housing101. In other words, the degree of freedom for changing the posture of the sensor unit2is increased, so that it is facilitated to move the sensing area DA to a desired location. Accordingly, it is possible to enhance the information detecting capability of the sensor system1installed in the vehicle100.

Additionally or alternatively, the actuator3may change the position of the sensor unit2with respect to the lamp housing101. For example, the actuator3may include at least one of a mechanism for translating the sensor unit2along the pitch axis AP, a mechanism for translating the sensor unit2along the yaw axis AY, and a mechanism for translating the sensor unit2along the roll axis AR. Since a well-known configuration can be applied to each mechanism, detailed descriptions thereof will be omitted.

FIG.4illustrates an example of the operation of the sensor system1configured as described above. In the initial state, the sensing area DA of the sensor unit2is located at a position indicated by a chain line. When the actuator3translates the sensor unit2along the pitch axis AP based on the control signal SC from the processor4, the sensing area DA translates in the left-right direction of the vehicle100. When the actuator3translates the sensor unit2along the yaw axis AY based on the control signal SC from the processor4, the sensing area DA translates in the up-down direction of the vehicle100.

Since the sensor unit2is disposed outside the lamp housing101, it is possible to alleviate the constraint on the change in the position of the sensor unit2caused by the shape of the lamp housing101itself or the layout of the lamp unit housed in the lamp housing101. In other words, the degree of freedom for changing the position of the sensor unit2is increased, so that it is facilitated to move the sensing area DA to a desired location. Accordingly, it is possible to enhance the information detecting capability of the sensor system1installed in the vehicle100.

In particular, since the change of the position of the sensor unit2with respect to the lamp housing101involves the translation, the change of the position can be realized by an actuator having a relatively simple configuration.

As illustrated inFIG.2, the sensor unit2may also be disposed at a rear end portion of the vehicle100in a center area in the left-right direction of the vehicle100. The actuator3and the processor4may be disposed at appropriate positions corresponding to the positions of the sensor unit2. The processor4may be provided as a device independent of the processor4associated with the sensor unit2disposed at the front end portion of the vehicle100, or may share functions with the processor4associated with the sensor unit2disposed at the front end portion of the vehicle100.

FIGS.5A to5Cschematically illustrate an initial positional relationship between the sensor unit2and the lamp housing101disposed in a front portion of the vehicle100.FIGS.5D to5Fillustrate a state that the sensor unit2is translated upward along the yaw axis AY. An arrow DR represents a sensing reference direction of the sensor unit2.

FIG.5Gillustrates an example that the posture of the sensor unit2is changed about the pitch axis AP from the state illustrated inFIG.5D.FIG.5Hillustrates an example that the posture of the sensor unit2is changed about the roll axis AR from the state illustrated inFIG.5E.FIG.5Iillustrates an example that the posture of the sensor unit2is changed about the yaw axis AY from the state illustrated inFIG.5F.

FIGS.6A to6Cschematically illustrate an initial positional relationship between the sensor unit2and the lamp housing101disposed in the front portion of the vehicle100.FIGS.6D to6Fillustrate a state that the sensor unit2is translated forward along the roll axis AR.

FIG.6Gillustrates an example that the posture of the sensor unit2is changed about the pitch axis AP from the state illustrated inFIG.6D.FIG.6Hillustrates an example that the posture of the sensor unit2is changed about the roll axis AR from the state illustrated inFIG.6E.FIG.6Iillustrates an example that the posture of the sensor unit2is changed about the yaw axis AY from the state illustrated inFIG.6F.

FIGS.7A to7Cschematically illustrate an initial positional relationship between the sensor unit2and the lamp housing101disposed in the front portion of the vehicle100.FIGS.7D to7Fillustrate a state that the sensor unit2is translated leftward along the pitch axis AP.

FIG.7Gillustrates an example that the posture of the sensor unit2is changed about the pitch axis AP from the state illustrated inFIG.7D.FIG.7Hillustrates an example that the posture of the sensor unit2is changed about the roll axis AR from the state illustrated inFIG.7E.FIG.7Iillustrates an example that the posture of the sensor unit2is changed about the yaw axis AY from the state illustrated inFIG.7F.

By appropriately combining at least one of the translation along the yaw axis AY, the translation along the pitch axis AP, and the translation along the roll axis AR with at least one of the turning about the yaw axis AY, the turning about the pitch axis AP, and the turning about the roll axis AR, it would be possible to cause the sensor unit2to take a posture that cannot be assumed in the initial state. Accordingly, the range and the degree of freedom in connection with the location change of the sensing area DA can be further increased.

As illustrated inFIG.8, the sensor system1may include a left front sensor unit2LF and a right front sensor unit2RF As for the configuration of each sensor unit, the descriptions relating to the sensor unit2described above can be applied.

In this case, although not illustrated, the actuator3includes an actuator for changing at least one of the posture and the position of the left front sensor unit2LF, as well as an actuator for changing at least one of the posture and the position of the right front sensor unit2RF. As for the processor4, a device for controlling the actuator associated with the left front sensor unit2LF and a device for controlling the actuator associated with the right front sensor unit2RF may be individually provided, or both actuators may be controlled by a common device.

The left front sensor unit2LF is disposed on the right of a left front lamp housing101LF. The right front sensor unit2RF is disposed on the left of a right front lamp housing101RF. The left front lamp housing101LF is an example of a left lamp housing. The right front lamp housing101RF is an example of a right lamp housing. The left front sensor unit2LF is an example of a first sensor unit. The right front sensor unit2RF is an example of a second sensor unit.

An example of the operation of the sensor system1configured as described above will be described with reference toFIGS.9A and9B.FIG.9Aillustrates a vehicle100traveling toward an intersection.FIG.9Billustrates the vehicle100in a state closer to the intersection.

In the state illustrated inFIG.9B, the actuator3causes the left front sensor unit2LF to turn in the counterclockwise direction in the drawing about the yaw axis AY based on the control signal SC from the processor4. At least one of the translation along the yaw axis AY, the translation along the pitch axis AP, and the translation along the roll axis AR described with reference toFIGS.5A to7Imay be combined. As a result, the location of a left front sensing area DAL with respect to the left front lamp housing101LF is changed from the initial state. The left front sensing area DAL is an area capable of detecting information in the outside area of the vehicle100with the left front sensor unit2LF.

Similarly, based on the control signal SC from the processor4, the actuator3causes the right front sensor unit2RF to turn in the clockwise direction in the drawing about the yaw axis AY. At least one of the translation along the yaw axis AY, the translation along the pitch axis AP, and the translation along the roll axis AR described with reference toFIGS.5A to7Imay be combined. As a result, the location of a right front sensing area DAR with respect to the right front lamp housing101RF is changed from the initial state. The right front sensing area DAR is an area capable of detecting information in the outside area of the vehicle100with the right front sensor unit2RF.

As a result, the area capable of detecting information in the outside area of the vehicle100with any one of the left front sensor unit2LF and the right front sensor unit2RF is expanded from the initial state illustrated inFIG.9A. In this example, the sensing area is expanded so as to include not only roads in the vicinity of the intersection but also sidewalks.

Since each sensor unit is disposed outside the lamp housing, and at least one of the posture and the position thereof is changed by the actuator3, it is possible to realize appropriate changing control of the location of the sensing area according to the situation including the above example with high degree of freedom.

The operation described with reference toFIGS.9A and9Bcan also be realized by the arrangement of the left front sensor unit2LF and the right front sensor unit2RF illustrated inFIG.10.

The left front sensor unit2LF is disposed on the left of the left front lamp housing101LF. The right front sensor unit2RF is disposed on the right of the right front lamp housing101RF. The left front lamp housing101LF is an example of the left lamp housing. The right front lamp housing101RF is an example of the right lamp housing. The left front sensor unit2LF is an example of the first sensor unit. The right front sensor unit2RF is an example of the second sensor unit.

As used herein, the term “left lamp housing” means a lamp housing which is located on the left of the right lamp housing when viewed from the vehicle cabin. As used herein, the term “right lamp housing” means a lamp housing located on the right of the left lamp housing when viewed from the vehicle cabin.

Accordingly, in the relationship between the left front lamp housing101LF and the left rear lamp housing101LB, the left rear lamp housing101LB is an example of the left lamp housing, and the left front lamp housing101LF is an example of the right lamp housing. As illustrated inFIG.8andFIG.10, the sensor unit2may include a left rear sensor unit2LB. In this case, the left rear sensor unit2LB is an example of the first sensor unit, and the left front sensor unit2LF is an example of the second sensor unit. Depending on the situation in the outside area of the vehicle100, the location of each sensing area can be changed based on the cooperation between the two sensor units.

Similarly, in the relationship between the left rear lamp housing101LB and the right rear lamp housing101RB, the right rear lamp housing101RB is an example of the left lamp housing, and the left rear lamp housing101LB is an example of the right lamp housing. As illustrated inFIG.8andFIG.10, the sensor unit2may include a right rear sensor unit2RB. In this case, the right rear sensor unit2RB is an example of the first sensor unit, and the left rear sensor unit2LB is an example of the second sensor unit. Depending on the situation in the outside area of the vehicle100, the location of each sensing area can be changed based on the cooperation between the two sensor units.

Similarly, in the relationship between the right rear lamp housing101RB and the right front lamp housing101RF, the right front lamp housing101RF is an example of the left lamp housing, and the right rear lamp housing101RB is an example of the right lamp housing. In this case, the right front sensor unit2RF is an example of the first sensor unit, and the left rear sensor unit2LB is an example of the second sensor unit. Depending on the situation in the outside area of the vehicle100, the location of each sensing area can be changed based on the cooperation between the two sensor units.

As illustrated inFIG.11, the sensor system1may include a first left front sensor unit21LF and a second left front sensor unit22LF. As for the configuration of each sensor unit, the descriptions relating to the sensor unit2described above can be applied.

In this case, although not illustrated, the actuator3includes an actuator for changing at least one of the posture and the position of the first left front sensor unit21LF, and an actuator for changing at least one of the posture and the position of the second left front sensor unit22LF. As for the processor4, a device for controlling the actuator associated with the first left front sensor unit21LF and a device for controlling the actuator associated with the second left front sensor unit22LF may be individually provided, or both actuators may be controlled by a common device.

The first left front sensor unit21LF is disposed on the left of the left front lamp housing101LF. The second left front sensor unit22LF is disposed on the right of the left front lamp housing101LF. The first left front sensor unit21LF is an example of the first sensor unit. The second left front sensor unit22LF is an example of the second sensor unit.

An example of the operation of the sensor system1configured as described above will be described with reference toFIGS.12A and12B.FIG.12Aillustrates a vehicle100traveling toward a road curved to the left.FIG.12Billustrates the vehicle100in a state closer to the curved road.

In the state illustrated inFIG.12B, the actuator3causes the first left front sensor unit21LF to turn in the clockwise direction in the drawing about the yaw axis AY based on the control signal SC from the processor4. At least one of the translation along the yaw axis AY, the translation along the pitch axis AP, and the translation along the roll axis AR described with reference toFIGS.5A to7Imay be combined. As a result, the location of a first sensing area DA1with respect to the left front lamp housing101LF is changed from the initial state. The first sensing area DA1is an area capable of detecting information in the outside area of the vehicle100with the first left front sensor unit21LF.

Similarly, based on the control signal SC from the processor4, the actuator3causes the second left front sensor unit22LF to turn in the counterclockwise direction in the drawing about the yaw axis AY. At least one of the translation along the yaw axis AY, the translation along the pitch axis AP, and the translation along the roll axis AR described with reference toFIGS.5A to7Imay be combined. As a result, the location of a second sensing area DA2with respect to the left front lamp housing101LF is changed from the initial state. The second sensing area DA2is an area capable of detecting information in the outside area of the vehicle100with the second left front sensor unit22LF.

As a result, the position of the area capable of detecting information in the outside area of the vehicle100with both the first left front sensor unit21LF and the second left front sensor unit22LF with respect to the left front lamp housing101LF is changed from the initial state illustrated inFIG.12A. The area where the sensing areas of both sensor units overlap is an area where the sensing resolution is made relatively higher. In this example, the area having a higher sensing resolution is disposed on a walkway around the curved road while a size thereof is expanded.

Since each sensor unit is disposed outside the lamp housing, and at least one of the posture and the position thereof is changed by the actuator3, it is possible to realize appropriate changing control of the resolution of the sensing area according to the situation including the above example with high degree of freedom. At least one of the location and the size of the area having a higher sensing resolution can be changed according to the situation in the outside area of the vehicle100.

As illustrated inFIG.11, the sensor unit2may include a first right front sensor unit21RF and a second right front sensor unit22RF. The first right front sensor unit21RF is disposed on the left of the right front lamp housing101RF. The second right front sensor unit22RF is disposed on the right of the right front lamp housing101RF. The first right front sensor unit21RF is an example of the first sensor unit. The second right front sensor unit22RF is an example of the second sensor unit. Similar to the example of the first left front sensor unit21LF and the second left front sensor unit22LF described with reference toFIGS.12A and12B, the locations of the respective sensing areas can be changed according to the situation in the outside area of the vehicle100based on the cooperation between the first right front sensor unit21RF and the second right front sensor unit22RF.

As illustrated inFIG.11, the sensor unit2may include a first left rear sensor unit21LB and a second left rear sensor unit22LB. The first left rear sensor unit21LB is disposed on the left of the left rear lamp housing101LB. The second left rear sensor unit22LB is disposed on the right of the left rear lamp housing101LB. The first left rear sensor unit21LB is an example of the first sensor unit. The second left rear sensor unit22LB is an example of the second sensor unit. Similar to the example of the first left front sensor unit21LF and the second left front sensor unit22LF described with reference toFIGS.12A and12B, the locations of the respective sensing areas can be changed according to the situation in the outside area of the vehicle100based on the cooperation between the first left rear sensor unit21LB and the second left rear sensor unit22LB.

As illustrated inFIG.11, the sensor unit2may include a first right rear sensor unit21RB and a second right rear sensor unit22RB. The first right rear sensor unit21RB is disposed on the left of the right rear lamp housing101RB. The second right rear sensor unit22RB is disposed on the right of the right rear lamp housing101RB. The first right rear sensor unit21RB is an example of the first sensor unit. The second right rear sensor unit22RB is an example of the second sensor unit. Similar to the example of the first left front sensor unit21LF and the second left front sensor unit22LF described with reference toFIGS.12A and12B, the locations of the respective sensing areas can be changed according to the situation in the outside area of the vehicle100based on the cooperation between the first right rear sensor unit21RB and the second right rear sensor unit22RB.

The above embodiments are mere examples for facilitating understanding of the presently disclosed subject matter. The configuration according to the above embodiments can be appropriately modified or improved without departing from the gist of the presently disclosed subject matter.

In the above embodiment, the change of the position of the sensor unit2is realized by at least one of translation along the yaw axis AY, translation along the pitch axis AP, and translation along the roll axis AR. However, the direction of the translational movement of the sensor unit2may not be along these axes. The position of the sensor unit2may be changed without translation.

The present application is based on Japanese Patent Application No. 2018-220991 filed on Nov. 27, 2018, the entire contents of which are incorporated herein by reference.