Mirror pod environmental sensor arrangement for autonomous vehicle enabling lane change decisions
An approach to arrange sensors needed for automated driving, especially where semitrailer trucks are operating in an autonomous convoy with one automated or semi-automated truck following another. The sensors are fitted to a location adjacent to or within the exterior rearview mirrors, on each of the left- and right-hand side of the tractor. The sensors provide overlapping fields of view looking forward of the vehicle and to both the left and right hand sides at the same time.
1. An apparatus comprising:
a pair of assemblies, each comprising a plurality of perception sensors, the assemblies mounted to an exterior of a truck, wherein each assembly is further configured such that:
a. a first assembly is located on a left side of the exterior of the truck and a second assembly is located on a right side of the exterior of the truck;
b. the first and second assemblies are disposed in a location that is outboard of a respective left side or right side of the exterior of the truck;
c. at least some of the perception sensors in each assembly further comprise a forward facing sensor and a rearward facing sensor, and wherein the forward facing sensor and rearward facing sensor have at least one region of overlapping field of view along a least one side of the truck;
d. the perception sensors are further disposed such that (i) lane markings adjacent to the truck, and (ii) lane markings adjacent nearby a companion truck are each within a field of view of at least one perception sensor; and
e. the perception sensors are also further disposed such that any adjacent nearby vehicles, objects and/or navigational landmarks that are forward, behind or to the side of the truck are within a field of view of at least one perception sensor; and
a control computer, configured for
receiving information from a companion truck regarding a desired lane change; and
sending information to the companion truck to veto the desired lane change.
2. The apparatus of claim 1 wherein the control computer is further configured for communicating information to the companion truck regarding objects detected to either side of either the truck or the companion truck.
3. The apparatus of claim 1 wherein the perception sensors are one or more of LiDAR, camera, radar, or sonar sensors.
4. The apparatus of claim 1 wherein each assembly is further disposed within or adjacent to a respective left side or right side mirror housing.
5. The apparatus of claim 1 wherein the control computer is additionally for processing outputs of one or more perception sensors to detect whether the companion truck is staying in or departing from its respective lane.
6. The apparatus of claim 1 wherein two or more perception sensors in each assembly are mounted such that one sensor is at least partially vertically aligned with another sensor.
7. The apparatus of claim 4 wherein one or more of the perception sensors are arranged to minimize occlusion by respective exterior body components of the truck.
8. The apparatus of claim 1 wherein controlling lane center offset of the truck is further coordinated with information received from the companion truck.
9. The apparatus of claim 1 wherein two or more of the perception sensors on the truck are arranged to detect objects located in blind spots from a perspective of the companion truck.
10. The apparatus of claim 1 wherein the perception sensors are further arranged within mirror assemblies in a configuration that is specific to a particular model of the truck.
11. The apparatus of claim 10 wherein cables connecting the perception sensors to the control computer are fed through a mounting arm for the mirror assemblies.
12. The apparatus of claim 1 wherein the perception sensors include a plurality of lidar sensors that are further arranged such that a union of their fields of view either, as compared to each individual sensor, either (i) reduces occlusion of areas of interest or (ii) increases usable lidar data points around both the truck and the companion truck.
13. The apparatus of claim 1 wherein data provided by one or more perception sensors detects landmarks adjacent a path of travel that are further utilized by the control computer to determine the lane center offset of the truck.
14. The apparatus of claim 1 wherein data provided by one or more perception sensors is used by the control computer to estimate and/or control a distance or a change in distance to a companion truck.
15. The apparatus of claim 14 wherein at least some of the perception sensors are cameras that are further arranged to estimate distance to the companion truck.
16. The apparatus of claim 4 wherein data from the perception sensors is used by the control computer to detect objects that are located in blind spots of the companion truck.
17. The apparatus of claim 4 wherein the perception sensor outputs on the truck are further used by the control computer to detect a landmark adjacent the companion truck.
18. The apparatus of claim 1 wherein an ideal location of lane markings adjacent the truck accommodates an offset from an ideal location of the lane markings adjacent the companion truck.
19. The apparatus of claim 1 wherein an ideal location of any one of the lane markings includes a time varying offset.
20. The apparatus of claim 1 wherein the companion truck is located forward of the truck, and wherein the control computer is further for:
processing outputs of the sensors to detect lane markings adjacent the truck and to thereby determine a lane center offset of the truck;
processing outputs of the sensors to detect lane markings adjacent the companion truck and to thereby determine a lane center offset of the companion truck; and
using the determined lane center offset of the truck and the determined lane center offset of the companion truck for further controlling the lane center offset of the truck so as to mimic the lane center offset of the companion truck.
21. The apparatus of claim 1 wherein
at least some of the perception sensors are located on the left side positioned and oriented relative to at least some of the perception sensors located on the right side, so that at least some of the perception sensors on the left side have a substantially different field of view (FOV) than at least some of the perception sensors on the right side.
22. The apparatus of claim 1 additionally comprising:
a vehicle to vehicle (V2V) radio configured for sending and receiving communications between the truck and the companion truck.