JP2022131438A - electric vehicle - Google Patents

Abstract

An object of the present invention is to prevent a decrease in obstacle detection accuracy.
An electric vehicle (1) according to an embodiment includes a vehicle body frame (110), a three-dimensional sensor (30A) provided above U and in front F of the electric vehicle (1), and left and right front wheels (2R, 2L) near each of the vehicle body frame (110). A pair of front two-dimensional sensors 30B and 30C provided at 110. The three-dimensional sensor 30A acquires three-dimensional position data of a field of view range in front F of the electric vehicle 1, and the front two-dimensional sensors 30B and 30C Detects road surface conditions at short distances.
[Selection drawing] Fig. 1

Description

The present invention relates to electric vehicles.

Conventionally, 3D LiDAR installed on the body (operation panel) of a senior car detects the terrain under the feet at a short distance and detects the presence of obstacles at a long distance (see, for example, Patent Document 1). ).

JP 2020-74816 A

However, in the prior art disclosed in Patent Document 1, since the obstacle detection sensor is attached to the vehicle body, when the wheel is rotated by the steering mechanism, the traveling direction of the wheel and the direction in which the obstacle detection sensor faces does not match, and there is a problem that the detection accuracy of the obstacle is lowered.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an electric vehicle capable of preventing deterioration in obstacle detection accuracy.

An electric vehicle according to one embodiment includes a three-dimensional sensor provided above and in front of the electric vehicle, and a pair of front two-dimensional sensors provided on the vehicle body near left and right front wheels, respectively. The gist is that the sensor acquires three-dimensional position data of a field of view range in front of the electric vehicle, and the front two-dimensional sensor detects a road surface condition at a short distance.

FIG. 1 is a diagram showing an example of the overall configuration of an electric vehicle 1 according to one embodiment. 2 is a cross-sectional view taken along the line XX in FIG. 1. FIG. FIG. 3 is a diagram for explaining an example of the lower portion of the front portion of the electric vehicle 1 according to one embodiment. FIG. 4 is a diagram for explaining an example of the lower portion of the rear portion of the electric vehicle 1 according to one embodiment.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In addition, in the following description of the drawings, the same or similar reference numerals are given to the same or similar parts. However, it should be noted that the drawings are schematic, and the ratio of each dimension is different from the actual one. Therefore, specific dimensions and the like should be determined with reference to the following description. In addition, portions having different dimensional relationships and ratios may also be included between the drawings. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant description, and elements that are not directly related to the present invention are omitted from the drawings.

An electric vehicle 1 according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 4. FIG. Here, FIG. 1 is a diagram showing an example of the overall configuration of an electric vehicle 1 according to the present embodiment, and FIG. 2 is a cross-sectional view taken along the line XX in FIG. 1 (with an operation unit 5 including a steering wheel removed). 3 is a diagram for explaining an example of the lower portion of the front portion of the electric vehicle 1 according to the present embodiment, and FIG. 4 is an example of the lower portion of the rear portion of the electric vehicle 1 according to the present embodiment. It is a figure for explaining.

For example, the electric vehicle 1 according to the present embodiment may be called a senior car, an automatic driving electric vehicle, a small electric vehicle, or the like.

As shown in FIG. 1, an electric vehicle 1 according to this embodiment includes a vehicle body frame 110, a seating seat 10, a battery 20, a three-dimensional sensor 30A, a pair of front two-dimensional sensors 30B/30C, and a stereo camera. 30D, basket 40, electronic device 60, fins 60A, and base bracket 70.

A pair of left and right front wheels 2R/2L and a rear wheel 3 are supported by the body frame 110 via suspensions (not shown). Body frame 110 is covered with a resin cover including front cover 51, leg shield 50, floor 52, rear cover 53, and the like, except for a portion thereof. At the upper end of the steering shaft 110B of the vehicle body frame 110, an operation unit 5 having a steering wheel and gauges is provided.

Here, as shown in FIG. 1 , the front cover 51 is provided below D of the basket 40 , the leg shield 50 is provided behind B of the basket 40 , and the rear cover 53 is provided below D of the seating seat 10 . provided in The floor 52 is provided below D of the rear cover 53 and extends from the connection with the front cover 51 to the rear end of the electric vehicle 1 .

The seating seat 10 is provided at the rear portion of the body frame 110 and has a backrest 11 and armrests 12 . A passenger sits on the seat 10 and puts his or her feet on the floor 52 .

The battery 20 is provided below D or behind B of the seating seat 10 . For example, as shown in FIG. 1 , the battery 20 is mounted on the body frame 110 and arranged at a position covered by the rear cover 53 .

As shown in FIGS. 1 and 2 , basket 40 is provided in front F of electric vehicle 1 , that is, in the front portion of vehicle body frame 110 . The basket 40 has a front surface 40F, which is the surface on the front F side, and a rear surface 40B, which is the surface on the rear B side. Here, the rear surface 40B of the basket 40 also serves as the surface of the leg shield 50 on the front F side.

A vertically extending steering shaft 110B is provided between the front F side surface and the rear B side surface of the leg shield 50 .

Electronic device 60 performs arithmetic processing on data acquired by sensors 30A to 30C and stereo camera 30D. The electronic device 60 has a CPU or GPU capable of performing such arithmetic processing.

As shown in FIG. 2, the electronic device 60 is provided between the front surface 40F of the basket 40 and the rear surface B of the basket 40. As shown in FIG.

As shown in FIG. 2 , the electronic device 60 may be provided inside the basket 40 along a rear surface 40B that rises at the rear B of the basket 40 . Further, as shown in FIG. 2 , a partition wall 40W may be provided inside the basket 40 to separate the storage space 401 for baggage and the storage space 402 for the electronic device 60 .

As shown in FIG. 2, the fins 60A are provided on the rear surface of the electronic device 60, extend in the vehicle width direction W, and are arranged vertically.

As shown in FIG. 2 , base bracket 70 may be attached to body frame 110 (specifically, chassis frame 110A) adjacent to the bottom surface of basket 40 .

As shown in FIG. 1 , the three-dimensional sensor 30A is provided above U and forward F of the electric vehicle 1 . Here, the three-dimensional sensor 30</b>A acquires three-dimensional position data of the field of view F in front of the electric vehicle 1 .

As shown in FIG. 1, the front two-dimensional sensor 30B is provided on the body frame 110 near the right front wheel 2R, and the front two-dimensional sensor 30C is provided on the body frame 110 near the left front wheel 2L. Here, the pair of front two-dimensional sensors 30B/30C detects road surface conditions at a short distance.

According to this configuration, the three-dimensional sensor 30A can be used to detect road surface shapes such as sidewalks and obstacles (pedestrians, utility poles, etc.) on the road that are farther than the road surface condition detection distance of the front two-dimensional sensors 30B/30C. ) can be detected.

Further, according to such a configuration, by arranging the front two-dimensional sensors 30B/30C in the vicinity of the left and right front wheels 2R/2L, it is possible to improve the detection accuracy of road surface conditions even when the front wheels 2R/2L rotate. .

Here, the three-dimensional sensor 30A is provided at a position higher than the center of the electric vehicle 1 in the height direction, and the front two-dimensional sensors 30B/30C are provided at positions lower than the center of the electric vehicle 1 in the height direction. be done.

Also, the three-dimensional sensor 30A may be a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or may be a stereo camera. The forward two-dimensional sensors 30B/30C may be laser sensors or infrared sensors.

As shown in FIG. 2 , the body frame 110 has a chassis frame 110A extending upward U at the front portion of the electric vehicle 1 .

As shown in FIGS. 1 and 2, the electric vehicle 1 may further include a three-dimensional sensor bracket 100. FIG.

As shown in FIG. 2, the three-dimensional sensor bracket 100 extends forward F and upward U, is connected to the chassis frame 110A, and holds the three-dimensional sensor 30A. As shown in FIG. 2, the three-dimensional sensor 30A is arranged near the tip of the three-dimensional sensor bracket 100. As shown in FIG.

According to such a configuration, even if the basket 40 is in the front F of the electric vehicle 1, the three-dimensional sensor 30A can be held by the highly rigid body frame 110, and the three-dimensional sensor 30A can be arranged further in the front F. Therefore, the obstacle detection accuracy can be improved.

In addition, according to such a configuration, the three-dimensional sensor bracket 100 extends upward U, so that luggage can be easily taken in and out of the basket 40 .

Here, as shown in FIG. 2 , the electric vehicle 1 may further include braces 90 . As shown in FIG. 2, the brace 90 may extend in the vehicle width direction W and be attached to the chassis frame 110A adjacent to the rear surface 40B of the basket 40. As shown in FIG.

In addition, as shown in FIG. 2, the three-dimensional sensor bracket 100 may be attached to the brace 90 and hold the three-dimensional sensor 30A.

Further, as shown in FIG. 2, the three-dimensional sensor bracket 100 is arranged above the opening of the basket 40 U and extends from the rear surface 40B of the basket 40 to near the front surface 40F.

As shown in FIG. 3, the electric vehicle 1 may further include a pair of front two-dimensional sensor brackets 150A/150B and a lower brace 160. As shown in FIG.

As shown in FIG. 3 , the lower brace 160 may be provided on the front side F and the lower side D of the electric vehicle 1 . As shown in FIG. 3 , the pair of front two-dimensional sensor brackets 150A/150B may extend outward in the vehicle width direction W from the lower brace 160 .

As shown in FIG. 3, the front two-dimensional sensor 30B may be attached to the front two-dimensional sensor bracket 150A and the front two-dimensional sensor 30C may be attached to the front two-dimensional sensor bracket 150B.

Specifically, as shown in FIG. 3, the front two-dimensional sensor brackets 150A/150B may have arms 151A/151B and holding portions 152A/152B, respectively.

As shown in FIG. 3, the arms 151A/151B are portions that extend outward in the vehicle width direction W from the lower brace 160, and the holding portions 152A/152B are portions that hold the front two-dimensional sensors 30B/30C, respectively. good too.

According to such a configuration, the front two-dimensional sensors 30B/30C can be held with increased rigidity. Further, according to such a configuration, the front two-dimensional sensors 30B/30C can be arranged further outward in the vehicle width direction W, so that the obstacle detection accuracy can be enhanced.

As shown in FIG. 4 , the electric vehicle 1 may further include a rear two-dimensional sensor 170 and a rear two-dimensional sensor bracket 180 .

As shown in FIG. 4 , the rear two-dimensional sensor 170 detects at least one of a road surface condition and an obstacle at the rear B of the electric vehicle 1 when the electric vehicle 1 is backing up. As shown in FIG. 4 , rear two-dimensional sensor bracket 180 is provided to extend rearward B at the rear portion of body frame 110 . Here, the rear two-dimensional sensor bracket 180 may be attached to the rear portion of the vehicle body frame 110 .

As shown in FIG. 4 , the rear two-dimensional sensor 170 may be attached to a rear two-dimensional sensor bracket 180 .

According to such a configuration, the rear two-dimensional sensor 170 can be held with increased rigidity. In addition, according to such a configuration, the rear two-dimensional sensor 170 can be arranged at the rear B, so that the obstacle detection accuracy can be improved.

As shown in FIGS. 1 and 2 , a stereo camera 30</b>D that detects at least one of structures and obstacles around the electric vehicle 1 may be attached to the three-dimensional sensor bracket 100 . Here, as shown in FIG. 2, the stereo camera 30D may be arranged closer to the tip side of the three-dimensional sensor bracket 100 than the sensor 30A.

A control function (not shown) of the electric vehicle 1 may detect the orientation and current position of the electric vehicle 1 from the detection result of the stereo camera 30D and preset surrounding environment information.

According to such a configuration, it is possible to detect the orientation and current position of the electric vehicle 1, which are necessary information when the electric vehicle 1 is automatically driven.

Although the present invention has been described in detail using the above embodiments, it should be apparent to those skilled in the art that the present invention is not limited to the embodiments described herein. The present invention can be implemented with modifications and variations without departing from the spirit and scope of the invention defined by the claims. Accordingly, the descriptions herein are for the purpose of illustration and description, and are not intended to have any limiting meaning with respect to the present invention.

According to the present embodiment, it is possible to provide an electric vehicle that can prevent a decrease in obstacle detection accuracy.

Reference Signs List 1 Electric vehicle 2R, 2L Front wheel 5 Operation unit 10 Seat 11 Backrest 12 Armrest 20 Battery 30A Three-dimensional sensor 30B, 30C Front two-dimensional sensor 30D Stereo camera 40 Basket 40F Basket Front surface 40B Basket rear surface 40W Partition wall 50 Leg shield 51 Front cover 52 Floor 53 Rear cover 60 Electronic device 70 Base bracket 90 Brace 100 Three-dimensional sensor bracket 110 Body frame 110A Chassis Frame 110B Steering shafts 150A, 150B Front two-dimensional sensor brackets 151A, 151B Arms 152A, 152B Holding portion 160 Lower brace 170 Rear two-dimensional sensor 180 Rear two-dimensional sensor bracket

Claims (5)

an electric vehicle,
body frame and
a three-dimensional sensor provided above and in front of the electric vehicle;
a pair of front two-dimensional sensors provided on the vehicle body frame in the vicinity of each of the left and right front wheels,
The three-dimensional sensor acquires three-dimensional position data of a field of view in front of the electric vehicle,
The electric vehicle, wherein the forward two-dimensional sensor detects a road surface condition at a short distance. The vehicle body frame has a chassis frame extending upward in a front portion of the electric vehicle,
a basket provided in front of the electric vehicle;
The electric vehicle according to claim 1, further comprising a three-dimensional sensor bracket that extends forward and upward, is connected to the chassis frame, and holds the three-dimensional sensor. a lower brace provided forwardly and downwardly of the electric vehicle;
a pair of front two-dimensional sensor brackets extending outward in the vehicle width direction from the lower brace;
3. The electric vehicle according to claim 1, wherein each of the pair of front two-dimensional sensors is attached to each of the pair of front two-dimensional sensor brackets. a rear two-dimensional sensor that detects at least one of a road surface condition and an obstacle at the rear of the electric vehicle when the electric vehicle is backing up;
a rear two-dimensional sensor bracket extending rearward at a rear portion of the vehicle body frame;
The electric vehicle according to any one of claims 1 to 3, wherein the rear two-dimensional sensor is attached to a rear two-dimensional sensor bracket. The three-dimensional camera is LiDAR,
A stereo camera that detects at least one of structures and obstacles around the electric vehicle is attached to the three-dimensional sensor bracket,
The electric vehicle according to any one of claims 1 to 4, wherein the orientation and current position of the electric vehicle are detected from the detection result of the stereo camera and preset surrounding environment information.

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