Perimeter sensor housings
The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.
1. An external sensing module for a vehicle configured to operate in an autonomous driving mode, the external sensing module comprising:
a lidar sensor arranged along a first housing section of the external sensing module, the lidar sensor being configured to detect objects in a region of an external environment around the vehicle and within a threshold distance of the vehicle;
an image sensor arranged along a second housing section of the external sensing module, the second housing section with the image sensor being vertically aligned with the first housing section with the lidar sensor, the image sensor being arranged along the vehicle to have an unobstructed field of view of the region of the external environment, the image sensor providing a selected resolution for objects within the threshold distance of the vehicle to classify objects detected by the lidar sensor; and
a third housing section of the external sensing module disposed between the first and second housing sections, the third housing section including an exterior surface arranged to prevent interference between the image sensor and the lidar sensor.
2. The external sensing module of claim 1 , wherein the image sensor is arranged above the lidar sensor.
3. The external sensing module of claim 1 , wherein the image sensor is arranged below the lidar sensor.
4. The external sensing module of claim 1 , wherein the image sensor is arranged at a downward angle relative to a side of the vehicle, the downward angle being on the order of 20-40° to provide coverage within the threshold distance of the vehicle.
5. The external sensing module of claim 4 , wherein the threshold distance is between 1-3 meters from the vehicle.
6. The external sensing module of claim 1 , further comprising one or more illuminator units configured to illuminate the field of view of the image sensor.
7. The external sensing module of claim 6 , wherein the one or more illuminator units are disposed adjacent to the image sensor along the second housing section.
8. The external sensing module of claim 7 , wherein the one or more illuminator units are a pair of illuminators disposed on either side of the image sensor.
9. The external sensing module of claim 6 , further including a cleaning mechanism configured to clean the image sensor and/or the one or more illuminator units.
10. The external sensing module of claim 1 , further comprising a radar sensor disposed along a fourth housing section of the external sensing module arranged to one side of both the first and second housing sections.
11. The external sensing module of claim 10 , wherein the fourth housing section is arranged closer to a front of the vehicle than the first and second sections.
12. The external sensing module of claim 10 , further comprising at least one additional image sensor disposed along a fifth housing section of the external sensing module, the fourth housing section being arranged between the fifth housing section and the first and second housing sections.
13. The external sensing module of claim 12 , wherein the at least one additional image sensor comprises a given additional image sensor disposed generally planar to the radar sensor and arranged to provide a selected field of view along a side of the vehicle separate from the field of view of the image sensor arranged along the second housing section.
14. The external sensing module of claim 12 , wherein the at least one additional image sensor comprises a given additional image sensor disposed generally perpendicular to the radar sensor and arranged to provide a selected field of view along a front of the vehicle separate from the field of view of the image sensor arranged along the second housing section.
15. The external sensing module of claim 12 , wherein the at least one additional image sensor comprises:
a first additional image sensor disposed generally planar to the radar sensor and arranged to provide a selected field of view along a side of the vehicle separate from the field of view of the image sensor arranged along the second housing section; and
a second additional image sensor disposed generally perpendicular to the radar sensor and the first additional image sensor and arranged to provide a selected field of view along a front of the vehicle separate from the field of view of the image sensor arranged along the second housing section and the selected field of view of the first additional image sensor.
16. An external sensing module for a vehicle configured to operate in an autonomous driving mode, the external sensing module comprising:
a radar sensor arranged along a first housing section of the external sensing module, the radar sensor being configured to detect objects in a region of an external environment around the vehicle and within a threshold distance of the vehicle; and
an image sensor arranged along a second housing section of the external sensing module, the second housing section with the image sensor being adjacent to the first housing section with the radar sensor, the image sensor being arranged along the vehicle to have an overlapping field of view of the region of the external environment, the image sensor providing a selected resolution for objects within the threshold distance of the vehicle to classify objects detected by the radar sensor, wherein the selected resolution satisfies a threshold classification of a selected shape of at least one of the objects based on a minimum number of pixels.
17. The external sensing module of claim 16 , wherein the external sensing module is disposed along a rear fascia of the vehicle to detect and classify objects behind the vehicle.
18. The external sensing module of claim 17 , wherein the field of view of the image sensor is between 30-60° along the rear of the vehicle.
19. The external sensing module of claim 17 , wherein the field of view of the image sensor has an outer azimuth of between 15-35° and an inner azimuth of between 10-25°.
20. The external sensing module of claim 17 , wherein the second housing section is disposed closer to an adjacent side of the vehicle than the first housing section.
21. A vehicle configured to operate in an autonomous driving mode, the vehicle comprising:
a driving system including:
a deceleration system configured to control braking of the vehicle;
an acceleration system configured to control acceleration of the vehicle; and
a steering system configured to control wheel orientation and a direction of the vehicle; and
an external sensing module including:
a lidar sensor arranged along a first housing section of the external sensing module, the lidar sensor being configured to detect objects in a region of an external environment around the vehicle and within a threshold distance of the vehicle;
an image sensor arranged along a second housing section of the external sensing module, the second housing section with the image sensor being vertically aligned with the first housing section with the lidar sensor, the image sensor being arranged along the vehicle to have an unobstructed field of view of the region of the external environment, the image sensor providing a selected resolution for objects within the threshold distance of the vehicle to classify objects detected by the lidar sensor; and
a third housing section of the external sensing module disposed between the first and second housing sections, the third housing section including an exterior surface arranged to prevent interference between the image sensor and the lidar sensor.
22. The vehicle of claim 21 , wherein the external sensing module further comprises one or more illuminator units configured to illuminate the field of view of the image sensor, the one or more illuminator units being disposed adjacent to the image sensor along the second housing section.
23. The vehicle of claim 22 , wherein the external sensing module further includes a cleaning mechanism configured to clean the image sensor and/or the one or more illuminator units.