PATENT DOCUMENT

Publication Number: US-10579882-B1
Application Number: US-201715677443-A
Country: US
Kind Code: B1

Title: Sensor module

Abstract:
A vehicle includes a vehicle body having an outer surface, and a sensor that is arranged to observe an environment. The sensor is located within the vehicle body. The vehicle also includes a movement mechanism for moving the sensor from an outward position to an inward position relative to the vehicle body. The movement mechanism moves the sensor from the outward position to the inward position in response to a signal. In an alternative implementation, the sensor is disposed in a sensor module, and the sensor module is able to move relative to the vehicle body from an outboard position to an inboard position in response to application of an external force to the sensor module.

Claims:
What is claimed is: 
     
       1. A vehicle comprising:
 a vehicle body; 
 a sensor that is arranged to observe an environment, the sensor being located within the vehicle body; and 
 a movement mechanism for moving the sensor from an outward position to an inward position relative to the vehicle body in response to an impact of the vehicle or an expectation of an impact of the vehicle. 
 
     
     
       2. The vehicle according to  claim 1 , wherein the vehicle body has an outer surface and the outward position is closer to the outer surface than the inward position. 
     
     
       3. The vehicle according to  claim 1 , wherein the movement mechanism moves the sensor from the outward position to the inward position in response to a signal that represents detection of an impact to the vehicle or an expectation of an impact to the vehicle. 
     
     
       4. The vehicle according to  claim 1 , wherein the movement mechanism includes an electromechanical device. 
     
     
       5. The vehicle according to  claim 1 , wherein the movement mechanism includes a pneumatic device. 
     
     
       6. The vehicle according to  claim 1 , wherein the movement mechanism includes a pre-tensioned spring device that is releasable by an actuator. 
     
     
       7. The vehicle according to  claim 1 , further comprising:
 an inner module structure; and 
 an outer module structure, wherein the inner module structure and the outer module structure cooperate to define an interior, and the sensor is located in the interior. 
 
     
     
       8. The vehicle according to  claim 7 , wherein the outer module structure is a panel that permits transmission of wave types detected by the sensor. 
     
     
       9. The vehicle according to  claim 8 , wherein the vehicle body has an outer surface, and the outer module structure is positionable adjacent to the outer surface of the vehicle body. 
     
     
       10. The vehicle according to  claim 9 , wherein the sensor is connected to the inner module structure and the movement mechanism moves the inner module structure and the outer module structure with the sensor from the outward position to the inward position. 
     
     
       11. The vehicle according to  claim 9 , wherein the sensor is connected to the inner module structure and the movement mechanism moves the inner module structure and the sensor relative to the outer module structure from the outward position to the inward position. 
     
     
       12. The vehicle according to  claim 9 , wherein the movement mechanism moves the sensor within the interior relative to the inner module structure and the outer module structure from the outward position to the inward position. 
     
     
       13. The vehicle according to  claim 1 , further comprising:
 an inner module structure; and 
 an outer module structure, wherein the inner module structure and the outer module structure cooperate to define an interior, and the sensor is located in the interior, 
 wherein the vehicle body has an outer surface and the outward position is closer to the outer surface than the inward position, 
 wherein the movement mechanism includes an electromechanical device, 
 wherein the outer module structure is a panel that permits transmission of wave types detected by the sensor, and 
 wherein the outer module structure is positionable adjacent to the outer surface of the vehicle body. 
 
     
     
       14. A vehicle comprising:
 a vehicle body; 
 an opening defined by the vehicle body; 
 a sensor module that is located in the opening, is movably mounted relative to the vehicle body, and defines an interior; and 
 a sensor disposed in the interior of the sensor module, 
 wherein the sensor module is able to move relative to the vehicle body from an outward position to an inward position in response to application of an external force to the sensor module. 
 
     
     
       15. The vehicle according to  claim 14 , wherein the sensor module is able to move relative to the vehicle body from the inward position to the outward position in response to removal of the external force from the sensor module. 
     
     
       16. The vehicle according to  claim 14 , further comprising:
 a resilient biasing element that urges the sensor module toward the outward position. 
 
     
     
       17. The vehicle according to  claim 14 , further comprising:
 a movement mechanism that can be switched from a locked position, in which passive movement of the sensor module is restrained, to an unlocked position, in which passive movement of the sensor module is allowed, in response to a signal that indicates an actual impact or an expected impact. 
 
     
     
       18. The vehicle according to  claim 1 , further comprising a base structure that forms a sensor module with the sensor;
 wherein the base structure includes an outer portion and an inner portion that define an interior, wherein the outer portion is less rigid than the inner portion to allow deformation in response to application of an external force, and the sensor is disposed in the interior of the sensor module and is connected to the inner portion of the sensor module. 
 
     
     
       19. The vehicle according to  claim 18 , wherein the movement mechanism connects to the sensor to the inner portion of the sensor module for movement within the interior of the sensor module between the outward position and the inward position relative to the vehicle body. 
     
     
       20. The vehicle according to  claim 19 , wherein the movement mechanism moves the sensor from the outward position to the inward position in response to a signal that indicates an actual impact or an expected impact. 
     
     
       21. The vehicle according to  claim 1 , wherein the movement mechanism moves the sensor from the outward position to the inward position in response to the impact of the vehicle. 
     
     
       22. The vehicle according to  claim 1 , wherein the movement mechanism moves the sensor from the outward position to the inward position in response to the expectation of the impact of the vehicle. 
     
     
       23. The vehicle according to  claim 1 , further comprising another sensor that is arranged to observe the environment, the movement mechanism being configured to move the sensor and the other sensor from the outward position to the inward position. 
     
     
       24. The vehicle according to  claim 1 , further comprising another sensor that is arranged to observe the environment and another movement mechanism configured to move the other sensor from another outward position to another outward position in response to an impact of the vehicle or an expectation of an impact of the vehicle and independent of the movement mechanism moving the sensor. 
     
     
       25. The vehicle according to  claim 14 , wherein the outward position is an outboard position relative to the vehicle body, and the inward position is an inboard position relative to the vehicle body. 
     
     
       26. The vehicle according to  claim 18 , wherein the sensor module includes the base structure and an outer module structure that cooperatively define the interior.

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application claims the benefit of U.S. Patent No. 62/396,985, filed on Sep. 20, 2016, entitled “Sensor Module,” the content of which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to sensors for vehicles and, in particular, sensor modules for observing environments of vehicles. 
     SUMMARY 
     The disclosure includes sensors and sensor modules that are movable, either actively or passively. Active systems can move the sensors and/or sensor modules upon detection or expectation of an impact to the vehicle. Passive systems can move the sensors and/or sensor modules in response to application of an external force. 
     One aspect of the disclosure is a vehicle that includes a vehicle body having an outer surface, and a sensor that is arranged to observe an environment. The sensor is located within the vehicle body. The vehicle also includes a movement mechanism for moving the sensor from an outward position to an inward position relative to the vehicle body. The movement mechanism moves the sensor from the outward position to the inward position in response to a signal. 
     Another aspect of the disclosure is a vehicle that includes a vehicle body and an opening defined by the vehicle body. A sensor module is located in the opening, is movably mounted relative to the vehicle body, and defines an interior. A sensor disposed in the interior of the sensor module. The sensor module is able to move relative to the vehicle body from an outboard position to an inboard position in response to application of an external force to the sensor module. 
     Another aspect of the disclosed embodiments is a vehicle that includes a vehicle body, and a sensor module that is connected to the vehicle body and defines an interior. The sensor module has an outer portion and an inner portion, wherein the outer portion is less rigid than the inner portion to allow deformation in response to application of an external force. A sensor is disposed in the interior of the sensor module and is connected to the inner portion of the sensor module. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a side view of an embodiment of a vehicle. 
         FIG. 2  is a top view of the vehicle shown in  FIG. 1 . 
         FIG. 3  is a cross-sectional view cross-sectional view taken along line  3 - 3  in  FIG. 2 . 
         FIG. 4A  is a partial front view of the vehicle shown in  FIG. 1  with hidden components of a sensor module depicted in broken lines. 
         FIG. 4B  is a partial cross-sectional view taken along line  4 B- 4 B in  FIG. 4A , which depicts the sensor module of the vehicle in a first configuration. 
         FIG. 4C  is another partial cross-sectional view taken along line  4 B- 4 B in  FIG. 4A , which depicts the sensor module in a second configuration. 
         FIG. 4D  is a detail view taken from line  4 D in  FIG. 3 , which depicts the sensor module in the first configuration. 
         FIG. 4E  is a detail view taken from line  4 D in  FIG. 3 , which depicts the sensor module in the second configuration. 
         FIG. 5A  is a partial cross-sectional view similar to  FIG. 4B , which depicts another embodiment of a sensor module in a first configuration. 
         FIG. 5B  is another partial cross-sectional view similar to  FIG. 5A , which depicts the other embodiment of the sensor module in a second configuration. 
         FIG. 5C  is a cross-sectional view of the sensor module taken along line  5 C- 5 C in  FIG. 5A  in the first configuration. 
         FIG. 5D  is a cross-sectional view of the sensor module taken along line  5 D- 5 D in  FIG. 5B  in the second configuration. 
         FIG. 6A  is a partial front view of the vehicle similar to  FIG. 4A , which depicts various internal components of a sensor system in broken lines. 
         FIG. 6B  is a partial cross-sectional view taken along line  6 B- 6 B in  FIG. 6A , which depicts a sensor system of the vehicle in a first configuration. 
         FIG. 6C  is a partial cross-sectional view taken along line  6 B- 6 B in  FIG. 6A , which depicts the sensor system in a second configuration. 
         FIG. 6D  is a cross-sectional view taken from line  6 D- 6 D in  FIG. 6B , which depicts the sensor system in the first configuration. 
         FIG. 6E  is a cross-sectional view taken from line  6 E- 6 E in  FIG. 6C , which depicts the sensor system in the second configuration. 
         FIG. 7A  is a partial front view of the vehicle shown in  FIG. 1  with hidden components of another sensor module depicted in broken lines. 
         FIG. 7B  is a partial cross-sectional view taken along line  7 B- 7 B in  FIG. 7A , which depicts the sensor module of the vehicle in a first configuration. 
         FIG. 7C  is another partial cross-sectional view taken along line  7 B- 7 B in  FIG. 7A , which depicts the sensor module in a second configuration. 
         FIG. 7D  is a cross-sectional view taken along line  7 D- 7 D in  FIG. 7B , which depicts the sensor module in the first configuration. 
         FIG. 7E  is a cross-sectional view taken along line  7 E- 7 E in  FIG. 7C , which depicts the sensor module in the second configuration. 
         FIG. 8A  is a cross-sectional view of another sensor system in a first configuration. 
         FIG. 8B  is another cross-sectional view of the sensor system of  FIG. 8A  in a second configuration. 
         FIG. 9A  is a top view of a movement device in a first configuration. 
         FIG. 9B  is a top view of the movement device of  FIG. 9A  in a second configuration. 
         FIG. 10A  is a top view of another movement device in a first configuration. 
         FIG. 10B  is a top view of the movement device of  FIG. 10A  in a second configuration. 
         FIG. 11A  is a top view of another movement device in a first configuration. 
         FIG. 11B  is a top view of the movement device of  FIG. 11A  in a second configuration. 
         FIG. 12A  is a top view of another movement device in a first configuration. 
         FIG. 12B  is a top view of the movement device of  FIG. 12A  in a second configuration. 
         FIG. 13A  is a schematic view of the vehicle shown in  FIG. 1 . 
         FIG. 13B  is a schematic view of a controller of the vehicle shown in  FIG. 1 . 
     
    
    
     DETAILED DESCRIPTION 
     Referring to  FIGS. 1-3 , a vehicle  100  (e.g., a passenger vehicle) includes one or more sensor modules  110 , which are arranged at a front end  102   a  of a vehicle body  102  of the vehicle  100 , a rear end  102   b  of the vehicle body  102 , or both (as shown). The vehicle body  102  additionally defines a passenger compartment  102   c  and includes an outer surface  102   d . As discussed in further detail below, the sensor modules  110 , and the various embodiments thereof and/or various portions thereof, are movable in response to or in expectation of impacts therewith to protect sensors thereof from damage and/or to improve pedestrian protection performance. In the illustrated example, the vehicle  100  is a road-going automobile. The sensors modules  110  that are described herein can, however, be applied to many different types of vehicles. For example, the sensor modules  110  could be incorporated in a boat. 
     Referring to  FIGS. 4A-4E , the sensor modules  110  each include one or more sensors  412 , which are configured to observe an external environment of the vehicle  100  for use in autonomous or semi-autonomous driving (e.g., controlling speed and/or direction of the vehicle  100  according to observations of the external environment) or other uses. In other implementations, the sensor modules can be provided that have one or more sensors that are configured to observe an internal environment of the vehicle  100 , such as the passenger compartment  102   c . The sensors  412  may, for example, include a camera  412   a  (e.g., camera system), a range sensor  412   b  (e.g., radar, sonar, LIDAR, or other object detection and/or range determining sensors or systems), and/or another sensor  412   c  of another type. Unless provided otherwise, each type of sensor (e.g., the camera  412   a , the range sensor  412   b , and/or the other sensor  412   c ) may be referred to as one of the sensors  412 . 
     The sensors  412  are recessed within the vehicle body  102  of the vehicle  100 , so as to be positioned inward of an outer surface  102   d  of the vehicle  100  toward a passenger compartment  102   c  defined by the vehicle body  102 . During normal operation, the sensors  412  are proximate the outer surface  102   d  to provide each sensor  412  with a field of view  414  (e.g., primary field of view) that extends upward and downward between other structures of the vehicle  100 , such as an upper body panel  402   f  (e.g., trim panel) and a lower body panel  402   g  (e.g., trim panel) of the vehicle body  102 . The upper body panel  402   f  and the lower body panel  402   g  may form portions of the outer surface  102   d  of the vehicle body  102 . Thus, the sensors  412  may be positioned in an opening that is defined in an opening that is located between the upper body panel  402   f  and the lower body panel  402   g  (i.e. below the upper body panel  402  and above the lower body panel  402   g ). 
     The sensors  412  may also be positioned in a vertical region  304  of the vehicle  100  at which the outer surface  102   d  protrudes outward (e.g., forming the forward most or rearward most surface of the vehicle  100 ) or is otherwise prone to impacts with other vehicles or passengers. The sensor module  110  and the sensors  412  are, thereby, vulnerable to damage from impacts. Such damage to the sensors  412  may be expensive to repair and/or render inoperable the vehicle  100 , if autonomous or semi-autonomous, or render inoperable certain features related to the sensors  412 . 
     With reference to  FIGS. 4B-4E , the sensor module  110  is movable (e.g., retractable) from an outward position (e.g., first, outer, forward, rearward, or outward module position; shown in  FIGS. 4B and 4D ) to an inward position (e.g., second, inner, rearward, forward, or inward module position; shown in  FIGS. 4C and 4E ), so as to protect the sensors  412  from damage and/or absorb energy from an impact. More particularly, the sensor module  110  moves as a unit, including the sensors  412 , inward in response to, or otherwise as a result of, an impact or expected impact therewith. The inward position and the outward position of the sensor module  110  are predefined positions relative to a fixed portion of the vehicle  100 . For example, the outward position and the inward position may be defined in relation to an inner vehicle structure  306  (e.g., frame, support, etc.) of the vehicle body  102  to which the sensor module  110  is coupled. Instead or additionally, the outward position and the inward position may be defined in relation to another portion of the vehicle  100 , such as a central portion of the floor structure  302   e  of the vehicle body  102 , that is generally unaffected (e.g., undeformed) as a result of a low magnitude impact, such as a low speed impact with another vehicle or an impact with a pedestrian. 
     The sensor module  110  includes an outer module structure  420  (e.g., outer, exterior, or visible panel, surface, structure, etc.), an inner module structure  430  (e.g., interior or hidden frame, base, or structure), and one or more movement mechanisms  440 . 
     The outer module structure  420  and the inner module structure  430  cooperatively define an interior region  416  (e.g., void, cavity, housing, etc.) in which the sensors  412  are positioned and coupled to the inner module structure  430 . The sensors  412  are arranged within the interior region  416  with their respective fields of view  414  facing outward relative to the passenger compartment  102   c  (e.g., in a forward, rearward, and/or sideward direction). The outer module structure  420  and the inner module structure  430  may additionally seal, form a housing around, or otherwise protect the sensors  412  from external environmental conditions (e.g., rain, snow, etc.) that might otherwise damage electronics of the sensors  412 . Alternatively, the outer module structure  420  may engage another portion of the vehicle body  102  (e.g., the upper body panel  402   f , the lower body panel  402   g , and/or seal members (not shown)) to protect the sensors  412  from such environmental conditions. 
     The outer module structure  420  forms the outer surface  102   d  (or a portion thereof) of the vehicle  100 , and allows the sensors  412  to observe the external environment. The outer module structure  420  may be formed entirely or locally of one or more materials that allow transmission of wave types detected by the sensors  412  (e.g., optically translucent material, such as glass, polycarbonate, etc., for the cameras  412   a ). 
     The inner module structure  430  is movably mounted via the one or more movement mechanisms  440  directly or indirectly to the inner vehicle structure  306  (e.g., frame, support, etc.). The movement mechanisms  440  stably mount the sensor module  110  and the sensors  412  to the vehicle  100  and allow or cause movement thereof from the outward position to the inward position along a predefined movement path. Thereby, the movement mechanisms  440  (e.g., one or more common movement mechanisms) move the sensors  412  together from respective outward positions (e.g., outward sensor positions) to respective inward positions (e.g., inward sensor positions), which are also predefined relative to a fixed portion of the vehicle  100  or vehicle body  102 . In the outward positions, the sensors  412  are positioned and oriented to observe the external environment of the vehicle  100  through the field of view  414  for autonomous or semi-autonomous control of the vehicle  100 . In the inward positions, the sensors  412  may have a restricted field of view  414   a , which is comparatively limited by the other structures of the vehicle  100  (e.g., the upper body panel  402   f  and the lower body panel  402   g ). In some implementations, however, the vertical height of the outer module structure  420  is selected such that it is large enough to limit or eliminate reduction in the size of the restricted field of view  414   a  relative to the field of view  414 . Thus, continued operation of the sensors  412  in a manner that permits continuation of autonomous control may be possible when the sensors  412  are in their respective inward positions. 
     As shown in  FIGS. 4A and 4D-4E , the movement mechanisms  440  are positioned above the inner module structure  430 , so as to suspend the sensor module  110  from the inner vehicle structure  306 . Alternatively, the movement mechanisms  440  may be arranged in other suitable locations, such as being inward of (e.g., behind; see, e.g.,  FIGS. 5A-5B ), lower than, and/or outboard of the inner module structure  430  and/or sensor module  110  itself. 
     As discussed below, various different types of movement mechanisms  440  may actively move the sensor module  110  (see, e.g.,  FIGS. 7A-9B ), or allow passive movement of the sensor module  110  due to an external force (see, e.g.,  FIGS. 10A-11B ). 
     In one embodiment, the one or more movement mechanisms  440  are configured to actively move (e.g., deploy) the sensor module  110  to or toward the second position in response to or in expectation of an impact to the vehicle  100  and/or the sensor module  110 . For example, one or more of the movement mechanisms  440  may include a force sensor  442 , which detects an amount of force applied by the sensor module  110 . Upon detection of a force exceeding a predetermined threshold with the force sensor  442 , the movement mechanism  440  moves the sensor module  110  inward along the guide path from the outward position to the inward position. Other types of sensors may be used alone or in conjunction with the force sensor  442  of the movement mechanism  440  to predict, determine, and/or confirm an impact with the sensor module  110 , such as the camera  412   a , the range sensor  412   b , the other sensor  412   c , or other sensors (e.g., accelerometers) of the sensor module  110  or the vehicle  100 . In another example the movement mechanism  440  may move the sensor module  110  from the outward position to the inward position is response to identifying an elevated risk for an impact, such as when the vehicle  100  is stopped at an intersection. 
     To move the sensor module  110 , the movement mechanisms  440  may be configured as one or more of an electromechanical device  940 , a pneumatic device  1040 , and/or a pre-tensioned spring device  1140 . As shown in  FIGS. 9A-9B , the electromechanical device  940  includes an electric motor  940   a , a threaded rod  940   b , and a threaded guide  940   c  coupled to the sensor module  110 . As the electric motor  940   a  rotates the threaded rod  940   b , the threaded guide  940   c  moves therealong to move the sensor module  110  from the outward position (shown in  FIG. 9A ) to the inward position (shown in  FIG. 9B ). Instead or additionally, the electromechanical device  940  may include a linkage system and/or cable system. The electromechanical device  940  may also be configured to move the sensor module  110  from the inward position back to or toward the outward position. 
     As shown in  FIGS. 10A-10B , the pneumatic device  1040  may include a pyrotechnic  1040   a , or other pressurized gas source or vacuum source, that supplies a pressurized gas (or vacuum) to move a piston  1040   b  coupled to the sensor module  110  within a cylinder  1040   c , and thereby move the sensor module  110  from the outward position (shown in  FIG. 10A ) to the inward position (shown in  FIG. 10B ). As shown in  FIGS. 11A-11B , the pre-tensioned spring device  1140  includes a spring  1140   a  that is coupled to the sensor module  110 , and is held in tension (as shown in  FIG. 11A ) until being selectively released by an actuator  1140   b  (e.g., latch) to move the sensor module  110  to the inward position (shown in  FIG. 11B ). With movement mechanisms  440  incorporating only the pneumatic devices  1040  or the pre-tensioned spring devices  1140 , the sensor module  110  may be movable only from the outward position to the inward position. 
     In another embodiment, the one or more movement mechanisms  440  are configured to allow passive movement of the sensor module  110  to or toward the second position. In some implementations, passive movement of the sensor module  110  is implemented using resilient biasing structures such as springs. For example, as shown in  FIGS. 12A-12B , the one or more movement mechanism  440  may be configured as a pre-compressed spring device  1240  having a spring  1240   a  (e.g., coil spring) that is pre-compressed (as shown in  FIG. 12A ) to maintain the sensor module  110  in the outward position during normal operation. Upon application of sufficient force (e.g., 4 kN) to the sensor module  110 , the spring  1240   a  is further compressed to allow movement of the sensor module  110  from the outward position (shown in  FIG. 12A ) to the inward position (shown in  FIG. 12B ). The spring  1240   a  applies a force against the sensor module  110  (e.g., constant at approximately 4 kN) over the guide path from the outward position to the inward position, so as to absorb energy from the source of the impact (e.g., other vehicle or pedestrian to improve pedestrian protection performance). To transfer the force from the impact to the movement mechanisms, the sensor module  110  is configured to be substantially rigid and not deform under relatively low magnitude impacts (e.g., impacts with pedestrians or low speed impacts with other vehicles, such as 2-4 mph). Once the force of the impact is removed, the movement mechanisms  440  press the sensor module  110  back towards its outward position as permitted by surrounding vehicle structures that have not been deformed. In other embodiments, the movement mechanisms  440  may be configured with an air spring or electromechanical device to allow passive movement and/or to absorb energy from an impact. 
     Referring to  FIGS. 5A-5D , a sensor module  510  includes movement mechanisms  540  that are selectively controlled to allow passive movement of the sensor module  510 . The movement mechanisms  540  can be initially disposed in a locked position, in which passive movement of the sensor module  510  is restrained, and the movement mechanisms  540  can be moved to an unlocked position, in which passive movement of the sensor module  510  is allowed, in response to a signal, such as a signal indicating an actual or expected impact. The sensor module  510  generally includes an outer module structure  520 , an inner module structure  530 , the movement mechanisms  540 , and a base structure  550 . The outer module structure  520  and the inner module structure  530  cooperatively define an internal region  516  (e.g., void, cavity, housing, etc.) in which one or more of the sensors  412  are positioned and coupled to the inner module structure  530 . The inner module structure  530  is, in turn, mounted to the base structure  550  via one or more of the movement mechanisms  540 , which extend from a rear of the inner module structure  530  to the base structure  550 . The base structure  550  is fixedly coupled to or held in fixed relation to the inner vehicle structure  306 . 
     Upon detection or expectation of an impact of a sufficient magnitude (e.g., using the sensors  412  or other sensors of the vehicle  100 , the sensor module  510 , or the movement mechanism  540 ), the movement mechanisms  540  are actuated to allow movement of the inner module structure  530 , along with the sensors  412  and the outer module structure  520 , from the outward position to or toward the inward position (e.g., due to force from the impact). The movement mechanisms  540  each include a shaft  540   a  that is selectively received within an aperture  540   b  in the base structure  550 . More particularly, the shafts  540   a  have a cross-sectional shape corresponding to that of the apertures  540   b  that require rotational alignment of the shafts  540   a  with the apertures  540   b  for receipt therein (e.g., having an X-shape as shown). During normal operation, the shafts  540   a  bear against an outward surface of the base structure  550  (see  FIG. 5C ) to form a rigid assembly. Upon detection or expectation of an impact, the shafts  540   a  are rotated (e.g., actuated) into alignment therewith. When aligned, the shafts  540   a  are receivable within the apertures  540   b , thereby allowing the sensor module  510  to move from the outward position to the inward position. 
     In still further embodiments, the various embodiments of the sensor module  110  (or alternative sensor modules or systems disclosed herein (e.g.,  510 ,  610 , etc.)) are configured to move and/or absorb energy in different manners. For example, the respective outer structures, inner structures, and movement mechanisms may be configured deform in predetermined manners in response to impacts therewith. The various embodiments of the sensor module  110  may instead or additionally include other frangible or deformable features, such as the movement mechanisms  440  including frangible elements that allow movement or release upon application of a predetermined force to the sensor module  110  and/or by mounting the sensor module  110  or sensors  412  via deformable rods (e.g., instead of or in addition to movement mechanisms  540  behind the sensors  412 ). 
     Referring to  FIGS. 6A-6E , the vehicle  100  instead includes a sensor system  610 . The sensor system  610 , rather than being movable as a single unit, includes multiple sensor submodules  611  that cooperatively span a width, or a portion of the width, of the vehicle  100 . For example, the sensor system  610  may include three sensor submodules  611 , such as a right sensor submodule  611   a , a middle sensor submodule  611   b , and a left sensor submodule  611   c , which are independently movable. Providing the sensor system  610  with multiple sensor submodules  611  may, for example, be advantageous when using movement mechanisms  440  configured as a pre-compressed spring device  1240  to more granularly control the force applied by the sensor submodules  611  to the source of the impact. The sensor submodules  611  may be separately coupled to the inner vehicle structure  306  via the movement mechanism  440  (as shown), or may be coupled to each other, such as to a common housing or a frame, which is in turn coupled to the inner vehicle structure  306 . 
     Each of the sensor submodules  611  is functionally and structurally configured similar to the sensor module  110 . The sensors  412  of the sensor submodules  611  are recessed within the vehicle body  102  of the vehicle  100 . Each sensor submodule  611  includes an outer module structure  620  and an inner module structure  630 , which cooperatively define an interior module region  616  in which is positioned one or more of the sensors  412 . For further details of the outer module structure  620  and the inner module structure  630 , refer to the discussion of the outer module structure  420  and the inner module structure  430  above. 
     The sensor submodules  611  are each movable from respective outward positions (shown in  FIGS. 6B and 6D ) to respective inward positions (see the middle sensor submodule  611   b  in  FIGS. 6C and 6E ) in response to or otherwise as a result of an impact or expected impact therewith. More particularly, the right sensor submodule  611   a , the middle sensor submodule  611   b , and the left sensor submodule  611   c  are movably mounted to the inner vehicle structure  306  with a right movement mechanism  640   a , a middle movement mechanism  640   b , and a left movement mechanism  640   c , respectively. For further details of the movement mechanisms, refer to the discussion above of the movement mechanisms  440 , the movement mechanisms  540 , and the various configurations thereof (e.g., type and mounting location). 
     Referring to  FIGS. 7A-7E , a sensor module  710  includes sensors  412  that are movable within the sensor module  710  from an outward position (shown in  FIG. 7B ) to an inward position (shown in  FIG. 7C ). By moving the sensors  412  within the sensor module  710 , the sensors  412  may be moved away from an impact to prevent damage thereto, while other portions of the sensor module  710  may be deformed to absorb energy from an impact in a controlled manner (e.g., to improve pedestrian protection performance). 
     The sensor module  710  generally includes an outer module structure  720 , an inner movable structure  730 , one or more movement mechanisms  740 , and a base structure  750  (e.g., casing structure). The outer module structure  720  and the base structure  750  cooperatively define an internal region  716  (e.g., void, cavity, housing, etc.) in which is positioned the inner movable structure  730  with one or more of the sensors  412  coupled thereto. 
     More particularly, the inner movable structure  730  is movably coupled to the base structure  750  by the movement mechanisms  740 , while the base structure  750  and the outer module structure  720  are fixedly coupled (directly or indirectly) to the inner vehicle structure  306  of the vehicle  100 . The outer module structure  720  may form a portion of the outer surface  102   d  of the vehicle body  102 , and may, in conjunction with other portions of the vehicle  100  (e.g., the upper body panel  402   f  and the lower body panel  402   g ) and/or the base structure  750  function to enclose or seal sensors  412  within the internal region  716 . 
     Upon detection or expectation of an impact of a sufficient magnitude (e.g., using the sensors  412  or other sensors of the vehicle  100  or the sensor module  710 ), the movement mechanisms  740  are actuated to actively move the inner movable structure  730 , and the sensors  412  coupled thereto, from the outward position (e.g., outward module position and outward sensor positions) to or toward the inward position (e.g., inward module position and inward sensor positions). The movement mechanisms  740  may be configured to include one or more of the active movement mechanisms described above (e.g., the electromechanical device  940 , the pneumatic device  1040 , and/or the pre-tensioned spring device  1140 ). 
     Furthermore, the base structure  750  is configured to deform to absorb energy from an impact. For example, as shown in  FIG. 7E , the base structure  750  may include an outward portion  750   a  (e.g., deformable portion) and an inward portion  750   b  (e.g., rigid portion). The outward portion  750   a  is configured to deform in a controlled manner upon impact therewith to absorb energy, while the inward portion  750   b  is stronger (e.g., stiffer, more rigid, etc.) than the outward portion  750   a , so as to protect the sensors  412  surrounded thereby when in their respective inward positions. 
     Referring to  FIGS. 8A-8B , a sensor system  810  includes sensors  412  that are movable relative to an outer structure  820  and an inner casing structure  830  of the sensor system  810 . More particularly, the sensors  412  are coupled to an inner movable structure  850  (e.g., plate), which is moved via one or more movement mechanisms  840  from the outward position (shown in  FIG. 8A ) to the inward position (shown in  FIG. 8B ). This movement allows the outer structure  820  and the inner casing structure  830  to deform to absorb energy from an impact, while still protecting the sensors  412  from damage. 
     The outer structure  820 , the inner casing structure  830 , and the inner movable structure  850  cooperatively define an internal region  816  (e.g., void, cavity, housing, etc.) that contains the sensors  412  when in the outward position. The outer structure  820  and the inner casing structure  830  are fixedly coupled to each other and to the vehicle body  102 . The outer structure  820  forms a portion of the outer surface  102   d  of the vehicle  100 , and allows particular wave types to pass therethrough to the sensors  412 , as described previously. The inner casing structure  830  extends inward from the outer structure  820  to an inward open end thereof, and substantially surround the sensors  412  (e.g., above, below, and on outboard sides thereof) when in their outward positions. 
     The inner movable structure  850  is configured to be moved by the one or more movement mechanisms  840  from the outward position to the inward position. The movement mechanisms  840  may, along with the inner movable structure  850  and the sensors  412 , form a subassembly that is coupled to the inner vehicle structure  306  separate from the outer structure  820  and the inner casing structure  830  (or another subassembly formed thereby). 
     Upon detection or expectation of an impact of a sufficient magnitude (e.g., using the sensors  412  or other sensors of the vehicle  100  or the sensor system  810 ), the movement mechanisms  840  are actuated to actively move the inner movable structure  850 , and the sensors  412  coupled thereto, from the outward position (e.g., outward module position and outward sensor positions) to or toward the inward position (e.g., inward module position and inward sensor positions). In the outward position, the inner movable structure  850  engages the inward end of the inner casing structure  830 , so as to position and enclose the sensors  412  in the internal region  816  of the sensor system  810 . In the inward position, the inner movable structure  850  is biased away from the inward end of the inner casing structure  830 . The movement mechanisms  840  may be configured to include one or more of the active movement mechanisms described above (e.g., the electromechanical device  940 , the pneumatic device  1040 , and/or the pre-tensioned spring device  1140 ). 
     Referring to  FIG. 13A , the vehicle  100  additionally includes a drivetrain  1306 , a controller  1308 , and one or more additional sensors  1310  (e.g., accelerometers). The drivetrain  1306  is configured to propel and steer the vehicle  100 . The drivetrain  1306  may be an electric drivetrain, which generally includes one or more electric motors  1306   a  and one or more batteries  1306   b , which supply electric power to the electric motors  1306   a  for rotating wheels of the vehicle  100  to propel the vehicle  100 . The controller  1308  is in communication with the sensors of the sensor modules  110 , the drivetrain  1306 , and other systems  1309  of the vehicle  100  (e.g., heating/cooling, navigation, infotainment, etc.). According to other embodiments, the vehicle  100  may include a fuel-based powertrain (e.g., gasoline, diesel, hydrogen, etc.), or a hybrid (e.g., series or parallel) powertrain that uses a combination of electric and fuel-based powertrains. 
     Referring to  FIG. 13B , a hardware configuration for the controller  1308  is shown, which may be used to implement the apparatuses and systems described herein (e.g., to detect an impact upon occurrence thereof and/or predict an impact in expectation thereof, and to control the movement mechanisms). As an example, the controller  1308  may output a command, such as a voltage value, to the drivetrain  1306  in response to signals received from the sensors of the sensor modules  110  and/or to the various movement mechanisms (e.g.,  440 ,  540 ,  640 , etc., described herein). 
     The controller  1308  may include a processor  1308   a , a memory  1308   b , a storage device  1308   c , one or more input devices  1308   d  (e.g., the sensors  412  and the additional sensors  1310 ), and one or more output devices  1308   e  (e.g., the drivetrain  1306  and the various movement mechanisms disclosed herein). The controller  1308  may include a bus  1308   f  or a similar device to interconnect the components for communication. The processor  1308   a  is operable to execute computer program instructions and perform operations described by the computer program instructions. As an example, the processor  1308   a  may be a conventional device such as a central processing unit. The memory  1308   b  may be a volatile, high-speed, short-term information storage device such as a random-access memory module. The storage device  1308   c  may be a non-volatile information storage device such as a hard drive or a solid-state drive. The input devices  1308   d  may include any type of human-machine interface such as buttons, switches, a keyboard, a mouse, a touchscreen input device, a gestural input device, an audio input device, the additional sensors  1310  of the vehicle  100 , and/or the sensors  412  of the sensor modules  110 . The output devices  1308   e  may include any type of device operable to provide an indication to a user regarding an operating state, such as a display screen or an audio output, or any other functional output or control, such as the drivetrain  1306  and the movement mechanisms described herein (e.g.,  440 ,  540 ,  640 , etc.).

Metadata:
Filing Date: 20170815
Publication Date: 20200303
Grant Date: 20200303
Priority Date: 20160920
Inventors: Llamazares Domper, Arturo
Assignee: APPLE INC
CPC Classifications: [{"code": "B60R11/04", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60R2011/0084", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S13/867", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60R11/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "G05D2201/0213", "inventive": false, "first": false, "tree": "[]"}, {"code": "G05D1/0231", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60R11/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06K9/00791", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S13/867", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06V20/56", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S7/027", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S2015/937", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S7/521", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S2013/93275", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S2013/93272", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S2013/93271", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S2013/9324", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S2013/9323", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S17/931", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S15/931", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S13/931", "inventive": true, "first": false, "tree": "[]"}, {"code": "G05D1/0231", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 69645425