DETECTION MODULE FOR A DRIVING ASSISTANCE DEVICE OF A MOTOR VEHICLE

专利摘要:
The invention relates to a detection module (2) for a device for assisting the driving of an autonomous vehicle, said detection module comprising a base (6) and a cover wall (8) of this base, the base and cover wall for housing a plurality of detection means (20, 80) and cleaning means (22, 42, 82, 214) respectively associated with each of these detection means, as well as a central unit control (200) configured to give instructions and / or receive information from each of said means, said detection module further comprising at least one geolocation device (60).
公开号:FR3086749A1
申请号:FR1858998
申请日:2018-09-28
公开日:2020-04-03
发明作者:Marcel Trebouet
申请人:Valeo Systemes dEssuyage SAS；
IPC主号:

专利说明:

DETECTION MODULE FOR A DRIVING ASSISTANCE DEVICE OF A MOTOR VEHICLE
The present invention relates to a detection module for a driving assistance device for a motor vehicle, and more particularly for an autonomous vehicle.
Motor vehicles include more and more automated systems, among which there are in particular driving assistance systems which may make it possible, as well with a lesser degree of autonomy of the vehicle, to assist or carry out maneuvers of parking than performing, in a maximum degree of vehicle autonomy, driving the vehicle without a driver being present in the vehicle. Such driving assistance systems include in particular one or more devices for detecting a vehicle environment and parameters external to this vehicle as well as at least one control unit configured to interpret the information thus collected and to take the decisions required as a result of this information.
More particularly, the implementation of autonomous, driverless vehicles involves the use of a plurality of detection means arranged all around the vehicle, so that the control unit has a very precise image of the environment of the vehicle, less as reliable as the three-dimensional image that a driver could obtain by himself.
The driving assistance systems installed in vehicles, and in particular in autonomous vehicles, also imply taking into account precise geolocation data and therefore the presence in or on the vehicle of an antenna to allow reception of the geolocation signals, so that the control unit can process information about the precise position of the vehicle in a mapped environment.
Ideally, the presence of these sensors in the vehicle is originally planned and
WFR3273 the sensors are integrated in the appropriate bodywork elements, for example in bumper elements on the front or rear face, or in the periphery of the roof panel. However, the renewal of the entire current fleet to have only autonomous vehicles on the road promises to be long and expensive.
The present invention falls within this context and aims to propose a driving assistance system which integrates and optimally uses each of the components of the system, in order to ensure that the autonomous piloting of a motor vehicle is achieved. in complete safety on the basis of reliable road scene detection information, the system being able to be implemented to make autonomous vehicles which were not intended to be so at the time of their design.
An object of the present invention thus relates to a detection module for a device for assisting the driving of an autonomous vehicle, said detection module comprising a base and a cover wall of this base, the base and the wall of cover making it possible to house a plurality of optical detection means and cleaning means respectively associated with each of these detection means, as well as a central control unit configured to give instructions and / or receive information from each of said means, said detection module further comprising at least one geolocation device.
According to different characteristics of the invention, taken alone or in combination, it can be provided that:
- the geolocation device of a motor vehicle comprises a housing projecting from the cover wall and inside which are arranged means for receiving location signal;
- The housing is configured to house an optical detection device forming one of said detection means;
- The optical detection device housed in the housing of the geolocation device is configured to be cleaned by centrifugal effect;
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- The detection module comprises a detection assembly with a large field of vision arranged projecting from the cover wall covering the base, the detection assembly extending opposite the base;
- The detection assembly is a LIDAR system capable of transmitting and receiving light waves, for example a laser beam to operate image acquisition with an angular field of at least 180 °;
the geolocation device is placed in the field of vision of the detection assembly with a wide field of vision, thereby generating a blind spot, the central control unit being configured to process the image acquired by the detection assembly by replacing an image portion corresponding to the blind spot with the image acquired by the optical device housed in the geolocation device;
- The detection assembly comprises a cylindrical optical surface and it is associated with a cleaning assembly with several projection ramps arranged around the optical surface of the detection assembly;
- the projection ramps are respectively equipped with a deployment assembly, each deployment assembly being individually controllable by the central control unit;
- The base of the detection module has a front wall, capable of being turned towards the front of the vehicle, in which is disposed a detection element and an associated cleaning element, the detection element being equipped with a window protective and the cleaning element comprising a mechanical wiping element capable of moving along the protective glass;
- The detection element comprises two driving assistance sensors, the protective glass being arranged opposite each of the two sensors;
- The mechanical wiping element comprises a brush made mobile in translation along the protective glass to clean one or the other of the portions of the protective glass respectively opposite the two sensors;
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the base of the detection module comprises side walls, at least one of these side walls being configured to house a detection member and an associated cleaning member, the cleaning member comprising at least one nozzle for projecting a cleaning fluid arranged downstream of the detection member with respect to a direction of movement of the vehicle;
- the at least one side wall comprises an air deflector configured to guide an air flow towards the detection member; the air deflector is arranged downstream of the detection module and of the projection nozzle with respect to the direction of movement of the vehicle;
- The projection nozzle is mounted on a telescopic deployment member, so as to be able to take at least a first retracted position and at least a second deployed position;
- the detection module comprises solenoid valves arranged on a hydraulic distribution circuit, the solenoid valves being controlled by the central control unit to allow the passage of cleaning fluid towards the cleaning means distributed over the detection module;
- the detection module comprises additional detection means, arranged inside the detection module set back from a corner wall produced between the front wall and each of the side walls.
The invention further relates to a motor vehicle equipped with a detection module as described above, the central control unit being configured to send control instructions to driving assistance means of the vehicle.
The detection module can in particular be fixed to the roof of the vehicle to ensure that each of the detection means integrated in the detection module is able to participate in the acquisition of an image of the road scene all around of the vehicle.
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The fact that all of these detection means and the associated cleaning means are integrated into a detection module produced independently and attached to the vehicle, makes it possible to make a production vehicle autonomous, not originally intended to be autonomous.
Other characteristics, details and advantages will emerge more clearly on reading the detailed description given below by way of indication in relation to an exemplary embodiment of the present invention illustrated in the following figures:
FIG. 1 is a top view of a motor vehicle, making visible a detection module according to a first aspect of the invention, produced independently of the vehicle and attached to the roof of the vehicle;
- Figure 2 is a perspective view of the detection module illustrated in Figure 1, making visible in particular a side part of this detection module;
- Figure 3 is a perspective view of the detection module illustrated in Figures 1 and 2, making visible in particular a bottom wall of this detection module;
- Figure 4 is a horizontal sectional view of a side part of the detection module, showing the arrangement and shape of a deflector, an optical detection member and a cleaning member;
- Figure 5 is a perspective view of the detection module illustrated in Figure 1, making visible in particular a front part of this detection module;
- Figure 6 is a perspective view of a detail of the front part of the detection module making visible the arrangement and shape of a detection element and a cleaning element;
FIG. 7 is a perspective view of the detection module illustrated in FIG. 1, making in particular visible a detection assembly with a large field of vision in the center of the detection module and a geolocation device in the rear part of this detection module ;
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FIG. 8 is a detailed view of a detection assembly with a wide field of vision capable of being placed in the center of the detection module and of an associated cleaning assembly;
- Figure 9 is a vertical sectional view of the geolocation device in particular visible in Figure 7;
- Figure 10 is a top view of the detection module, in which the presence of the geolocation device in the field of vision of the wide field of view detection assembly has been illustrated;
- Figure 11 is a flowchart illustrating a method of image acquisition in the case illustrated in Figure 10, with a device for geolocation in the field of vision of the detection assembly with wide field of vision;
- And Figure 12 is a bottom view of a part of the detection module, the base of the detection module having been removed to make visible the components housed in the detection module.
In the following description, the terms "longitudinal", "transverse" and "vertical" refer to an orientation of a geolocation device according to the invention when the latter is integrated into a vehicle. Thus, the term "longitudinal" corresponds to a direction parallel to a longitudinal axis L of a trihedron L, V, T represented in the figures, the term "transverse" corresponds to a direction parallel to a transverse axis T of this trihedron, the transverse axis being perpendicular to the longitudinal axis L and the term "vertical" corresponds to a direction parallel to a vertical axis V of the trihedron, this vertical axis V being perpendicular to the longitudinal axis L and to the transverse axis T A cross section refers to a section made along a longitudinal and transverse plane, that is to say a plane in which the longitudinal axis L and the transverse axis T of the trihedron L, V, T illustrated. .
FIG. 1 is a view, from above, of a motor vehicle 1 comprising at least one detection module 2 according to the invention, produced independently of the
WFR3273 structure of the vehicle and attached and fixed to a body element, here the roof 4, of the vehicle. The detection module 2 according to the invention is particular in that it comprises in a structure a plurality of detection means and associated cleaning means, distributed in the detection module to allow the acquisition of images of the scene of road all around the vehicle, as well as a location system, necessary for the geolocation function. Thus, data can be acquired on an entire environment of the motor vehicle, that is to say 360 ° around this motor vehicle. The terms “front” and “rear” as they are used here and subsequently are understood here with respect to a direction S of main movement of the motor vehicle 1.
The detection module 2 further comprises a central control unit 200 configured to communicate on the one hand with the various detection means, in particular giving them operating instructions and recovering the acquired images or information on their cleanliness, and for communicating on the other hand with the different cleaning means, in particular give them a cleaning instruction when the associated detection means is not in a condition to correctly carry out the acquisition of images.
The detection module 2 has the form of a box capable of housing the various detection means and the associated cleaning means as well as all the electronic and hydraulic components necessary for the proper functioning of these means. It should be noted that the detection module 2 according to the invention is produced independently and that it is autonomous in that the control unit which it comprises is configured to operate alone and allow the vehicle to be controlled on the base of information received and processed by the detection module. However, it may be noted that the detection module 2 can be connected to a pipe for supplying cleaning fluid for supplying the cleaning means and to an electrical network of the vehicle for supplying power to the detection means.
Figures 2 and 3 illustrate more precisely the configuration of the detection module 2 according to the invention.
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The detection module 2 comprises a base 6 and a cover wall 8. The base 6 more particularly forms a lower part of the detection module facing the roof of the vehicle when the detection module is attached and fixed to the vehicle and the cover wall is arranged opposite the roof.
The base 6 has two side walls 12, a front wall 14 and a rear wall 16, as well as a bottom wall 15 pierced in its center as can be seen in FIG. 12.
The detection module 2 comprises projecting from the covering wall, perpendicular to each side wall 12, a rear side tab 17 and a front side tab 18. These two side tabs both extend the covering wall towards the roof of the vehicle having a slope such that the free end 19 extends away from the side wall. As will be described below, an air passage is here allowed between the side wall 12 and the front side tab 18 which can thus form an air deflector configured to force the air to flow along the corresponding side wall when the vehicle is running.
The free ends 19 of the lateral tabs comprise means for fixing the detection module to the roof of the vehicle on which the detection module is attached and fixed. The module can be fixed advantageously by appropriate screwing means, allowing the module to be dismantled if maintenance operations on the components housed in the module are necessary. It could be envisaged without departing from the context of the invention that one or more access hatches are formed in the detection module on its side walls, and / or front and / or rear in order to allow this accessibility to the components with a module. sensor welded to the roof panel.
The various associated detection and cleaning means on board the detection module make it possible to acquire images of the road scene surrounding the vehicle and thus to establish a driving assistance strategy to facilitate autonomous driving of the vehicle then that the vehicle was not originally equipped with suitable means
WFR3273 to allow this autonomous driving.
More particularly, the detection module here comprises a detection member 20 and an associated cleaning member 22 arranged at each side wall 12 described above, a detection element 40 and a cleaning element 42 arranged at the front wall 14 described above, a detection assembly 80 and a cleaning assembly 82 arranged in the center of the cover wall 8 of the detection module, as well as a geolocation device 60 and at least one detection device 61 arranged at the level of the rear wall 16 previously described.
FIGS. 2 to 4 illustrate in particular a detection member 20 configured to perform detection of the lateral road scene, on one side of the vehicle, and a cleaning member 22 intended for cleaning the detection member 20. It is understood here by “detection organ” an organ configured to acquire images of its environment. It can for example be an image reconstitution organ or else a direct image acquisition organ. According to the examples illustrated here, the detection member is a camera, that is to say a member for direct acquisition of images.
As will be explained in more detail below, the cleaning member 22 comprises at least one spray nozzle configured to spray a cleaning fluid towards the detection member 20, so as to clean the latter. More particularly, this projection nozzle is configured to project the cleaning fluid onto an optical surface of the detection member, this optical surface being the surface of the detection member through which the acquisition of images is carried out.
As specified above, the detection module 2 according to the invention also comprises, in the example illustrated, an air deflector formed by each front side tab 18 configured to allow guidance of an air flow, which flows along the side wall 12 when the vehicle is moving, towards the detection member 20. In other words, this air deflector 18 forms a guide for an air flow generated by a movement of the vehicle 1 along of an axis X of principal displacement.
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It is understood that a direction of circulation of this air flow is opposite to the direction S of movement of the vehicle 1, the air flow circulating from the front to the rear of the vehicle when the latter is in running motion before.
More particularly, the air deflector 18 is arranged so as to guide the air flow in the direction of the detection member 20, thus making it possible to carry out drying of this detection member 20, for example after having the cleaning fluid was sprayed through the year minus a spray nozzle of the cleaning member 22. In other words, it is understood that the air deflector 18 is arranged downstream of the detection member 20 relative to the direction S of movement of the vehicle, that is to say upstream of this detection member 20 relative to the direction of circulation of the air flow.
As may have been specified previously, the front side tab 18 forming the air deflector also forms a means of fixing the detection module 2 to the roof of the vehicle.
The detection module advantageously comprises at least two pairs of detection and cleaning members respectively disposed on one of the side walls 12 of the detection module 2 according to the invention, on either side of the advancement axis X main vehicle to allow the acquisition of images from both sides of the vehicle.
According to the example illustrated here, the cleaning member 22 and the detection member 20 are arranged in a boss 23 produced in the side wall 12 of the detection module
2.
As shown, the optical surface 24 of the detection member 20 is flush with a wall 25 delimiting the boss 23 in which this detection member is arranged 20. Alternatively, provision may be made for this wall 25 to have at least one part made of a transparent material so that the detection member 20, and more particularly the optical surface 24 of this detection member 20, can be positioned opposite this transparent wall part, this wall then protecting the optical surface 24 of the member detection 20 of possible gravel projections
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or other elements potentially present on the road which could damage this optical surface 24.
The cleaning member 22 comprises at least one deployable projection nozzle 26, that is to say that this projection nozzle 26 is configured to take a first retracted position or a second deployed position. FIG. 4 illustrates for example the first retracted position of this projection nozzle 26, that is to say a position in which the projection nozzle 26 is flush with the side wall or the wall 25 delimiting the detachment of the detection module 2.
According to the invention, the expression “deployed position” means a position in which the projection nozzle 26 is released from the detection module 2. The deployed position allows this projection nozzle 26 to spray cleaning fluid onto the detection member 20, and more particularly on the optical surface 24 of this detection member 20, or on the transparent wall covering this optical surface if necessary. However, the deployment of this projection nozzle 26 deteriorates the aerodynamics of the vehicle. Also, once the projection of cleaning fluid has ended, the projection nozzle 26 is configured to fold back, that is to say to pass from its second deployed position to its first retracted position.
In order to allow the projection nozzle 26 to pass from its first retracted position to its second deployed position and vice versa, the cleaning member 22 comprises a deployment member 27 schematically shown in FIG. 4.
The deployment member 27 comprises for example at least one tube 28 for guiding a piston able to move in translation inside the tube, the projection nozzle 26 being mounted at the end of the piston. The deployment member may for example be a hydraulic deployment member, that is to say a member configured so that the piston and the associated projection nozzle are deployed under the effect of hydraulic pressure. Thus, this deployment member comprises at least one liquid inlet 29, this liquid inlet comprising at least one controllable closure means. Advantageously, the liquid allowing the deployment of the piston of the organ
WFR3273 of deployment, and therefore consequently of the projection nozzle which is associated with it, can for example be the cleaning fluid. In this way, when cleaning of the detection member 20 is requested, the shutter means is open so as to allow the arrival of the cleaning fluid in the deployment member. As the cleaning fluid enters the tube 28 of the deployment device, the piston of the latter moves inside the tube in the direction of deployment of the deployment member. The deployment member is configured so that the cleaning fluid can reach the projection nozzle and be projected onto the detection member 20 as soon as the projection nozzle assumes a deployed position.
Alternatively, the deployment member can be a pneumatic deployment member so that the liquid inlet is then replaced by a compressed air inlet.
According to the invention, the projection nozzle 26 is arranged downstream of the detection member 20 relative to the direction S of movement of the vehicle on which the detection module 2 according to the invention is disposed. Advantageously, this projection nozzle 26 is configured to project the cleaning fluid from the front to the rear relative to the direction of travel in forward movement of the vehicle, that is to say that a direction of projection of this fluid cleaner is identical to the direction of circulation of the air flow FA.
According to the example illustrated here, the detection member 20 and the cleaning member 22 are aligned along a horizontal and longitudinal straight line, that is to say parallel to the surface of the road on which the vehicle and parallel to the main X-axis of the vehicle. According to an exemplary embodiment not illustrated here, the cleaning member can be offset vertically relative to the detection module. In any event, the position of the cleaning member 22 relative to the detection member 20 is calculated so that in the event of a leak of cleaning fluid at the level of the spray nozzle 26 of this cleaning member 22, the cleaning fluid does not fall on the detection module, and more particularly on the optical surface 24 of this detection member 20, so as to avoid the formation of traces which could hinder or even prevent the acquisition of images by this detection member 20.
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As illustrated, the air deflector 18 has a section D for passage of the variable air flow FA, the section D for passage being measured between the side wall 12 of the detection module 2 and the air deflector. More particularly, this section D of passage of the air flow FA is variable in that it decreases along a direction of circulation of this air flow FA, that is to say that the section D of passage of the air flow decreases as one approaches the detection member 20. As can be seen in FIG. 4, the section D of the air flow passage FA is the smallest in a portion 30 the air deflector 18 closest to this detection member 20. Thus, it is understood that the air flow FA accelerates during its passage between the side wall 12 of the detection module 2 and the deflector. The air flow FA arrives at the air deflector 18 at a first speed lower than a second speed with which the air flow FA leaves the air deflector 18, this second speed also corresponding substantially to the speed at which the air flow FA reaches the level of the detection member 20. Thus, the reduction of this passage section D makes it possible to further improve the drying of the cleaning fluid projected onto the optical surface 24 of the detection member 20, thus improving the reliability of the detection module 2 according to the invention.
It is understood that the shape and the proportions of this passage section D as illustrated in FIG. 4 are only given by way of example and are not limitative of the shapes and proportions that this passage section D can take . For example, according to the example illustrated, this section D of passage of the air flow FA decreases progressively and continuously, but it could also be provided that different stages are provided to decrease in sequence the section of passage of the air flow , without departing from the context of the present invention.
A cover may be provided, here not shown, capable of monitoring the deployment of the cleaning member to prevent the flow of air from flowing along the side wall 12 when the cleaning member is in operation. of cleaning. In this way, it is ensured that the jet projected by the nozzle of the cleaning member is not or only slightly deviated from its trajectory when the vehicle is in motion. In the retracted position of the cleaning member, the cover is folded and hidden in a suitable housing formed
WFR3273 in the side wall 12 and it does not impede the flow of air flow along the side wall, so that the air flow can dry the optical surface of the detection member.
FIG. 6 illustrates in more detail the configuration of the detection element 40 and of the cleaning element 42 arranged in the front wall 14 of the detection module according to the invention.
The detection element 40 houses at least one driving assistance sensor 43, 44 and is closed, in part, by a protective glass 45 of this at least one driving assistance sensor 43, 44. And the protective glass 45 can be cleaned by a mechanical action of a cleaning element 42 coming into contact with the protective glass. “Driving assistance sensor” is understood to mean a member configured to acquire data relating to an environment external to the vehicle comprising the detection module according to the invention and to transmit the data thus acquired to the central control unit. 200, for its part, configured to send, as a consequence of this information received, one or more instructions making it possible to initiate or assist an operation of the vehicle.
More particularly, according to the example illustrated here, a first driving assistance sensor 43 is a means of detection by emission of waves, for example electromagnetic, that is to say that this first sensor 43 is configured to evaluate a distance separating it from any object by measuring a delay between an instant t at which it sends a wave and an instant tl at which this wave is reflected. Thus, this first sensor 43 comprises at least one transmitting member configured to transmit at least one wave and at least one receiving member configured to receive the reflected wave. In FIG. 6, the first sensor 43 is shown diagrammatically, so that neither the transmitting member nor the receiving member are visible.
The waves can be radio waves, in which case the detection unit is called RADAR of the English acronym "RAdio Detection And Ranging", or light waves, for example a laser beam, in which case
WFR3273 the detection unit is called LIDAR of the acronym "Light Detection And Ranging". It is understood that these are only exemplary embodiments of the present invention and that the first driving assistance sensor could be formed by a different member without departing from the context of the present invention.
The detection element 40 can also house a second driving assistance sensor 44 configured to analyze substantially the same road scene as the first sensor 43. According to the example illustrated, this second driving assistance sensor 44 is arranged in the vicinity of the first sensor 44, and more particularly the first driving assistance sensor 44 and the second driving assistance sensor 44 are aligned along a transverse direction Dt. According to the example illustrated here, this second driving assistance sensor is a camera.
In other words, it is understood that the first driving assistance sensor 43 and the second driving assistance sensor 44 are both dedicated to the acquisition of data relating to the same road scene, here located at the front. of the vehicle, the first driving assistance sensor 43 allowing reconstruction of images and the second driving assistance sensor 44 allowing direct acquisition of images. It is understood that this is only an example and that the combination of the first sensor and the second sensor behind a protective glass capable of being mechanically cleaned by a cleaning element could be positioned anywhere on the vehicle.
The protective glass 45 is configured to protect the detection element, in particular against possible external aggressions, for example against the projection of gravel, or other objects which may be present on the road.
It is understood that the detection module according to the invention here comprises in its front wall 14 a receiving zone in which the protective glass 45 is embedded, that is to say that this protective glass 45 closes, at least partially , an opening in the front wall 14 of this detection module.
The protective glass 45 is arranged on a path taken by the waves or the
WFR3273 light rays emitted by the detection element 40. It is therefore understood that this protective glass 45 must imperatively be treated to ensure the proper functioning of the detection element 40. Thus, according to the invention, the protective glass 45 is firstly made of a material which lets light and / or the wavelengths of electromagnetic waves emitted by the detection element 40, or treated in this sense, and secondly an anti-reflective treatment is applied on this protective glass 45 so that the waves emitted by the detection element 40 pass completely through this protective glass 45. More specifically, it is understood that the anti-reflective treatment is applied to an inner face of the protective glass 45, c that is to say on one face of this protective glass 45 facing the detection element 40. According to the example illustrated here, this protective glass 45 extends in a plane, but it could also be provided that this protective window is curved, and advantageously which has a curve which is identical, or substantially identical, to the curve of the detection element 40 if necessary.
In addition, the protective glass 45 can be artificially divided into a first portion 47 intended to protect the first sensor 43 and a second portion 48 intended to protect the second sensor 44. The term “artificially divided” means that the protective glass protection 45 is in one piece, that is to say that the first portion 47 and the second portion 48 of this protective glass 45 form a single assembly which cannot be separated without causing deterioration of one or the other of these portions 47, 48. It is also noted that the first portion 47 and the second portion 48 of the protective glass 45 are advantageously aligned along an axis parallel to the transverse line Dt along which the two sensors 43 are aligned. , 44.
As mentioned above, the detection element 40 is associated with a cleaning element 42, specifically dedicated to cleaning the protective glass 45. In the context of what has been described above, the cleaning element 42 is configured to alternately clean one or the other of the portions 47, 48 of the protective glass 45. Advantageously, it is understood that this makes it possible to ensure that the two
WFR3273 sensors 43, 44 are not simultaneously blinded, that is to say to ensure that the road scene detection function located at the front of the vehicle is permanently maintained, at least in a degraded form. According to the invention, it is understood that this cleaning element 42 thus makes it possible to ensure, in a lasting manner, the data acquisition function performed by the driving assistance sensors 43, 44 of the detection element 40 .
To this end, the central control unit 200 of the detection module according to the invention is configured to process information coming from the sensors and to deduce therefrom operating instructions sent to the cleaning element. When one of the sensors 43, 44 detects the presence of a disturbing element, respectively, in its field of vision or in the path of the waves it emits, it sends corresponding information to the central control unit 200. This central control unit 200 is configured to send, depending on whether it has received the information coming from the first or from the sensor, a first instruction allowing a cleaning of the first portion 47 of the protective glass 45 or a second instruction allowing to clean the second portion 48 of this protective window 45.
The term “disturbing element” is understood here to mean an element which hinders, or even prevents, the acquisition of information by one or the other of the driving assistance sensors 43, 44. Thus, this disturbing element can for example be a stain, an organic element, or any other detritus which may be deposited on the protective glass 45.
Each instruction of the central control unit 200 can be divided into two sub-instructions: a first sub-instruction sent to the actuator associated with the guide rail of the wiper blade, which allows the movement of the wiper blade. wiping along the main direction of movement of this wiper blade and a second sub-instruction sent to the projection nozzles so as to initiate or stop the projection of cleaning fluid.
The control unit 200 can carry out the cleaning command via an order of
WFR3273 priority defined if it is to receive the first information and the second information simultaneously. For example, the first portion 47 of the protective glass 45 will be cleaned before the second portion 48 of this protective glass 45, that is to say that in this example we choose to make, as a priority, its total and optimal function at the first sensor 43, then in a second time at the second sensor 44.
The cleaning element 42 comprises in particular a wiping brush 49 mounted movable relative to the protective glass 45 and arranged in contact with this protective glass 45. As schematically represented in FIG. 6, this wiping brush 49 is movable along a principal direction D of rectilinear displacement. According to the example illustrated here in which the protective glass 45 has a planar profile, this direction D follows a straight line, which is part of a main extension plane of the protective glass 45. In other words, this direction D main rectilinear displacement is parallel to the transverse direction Dt of alignment of the driving assistance sensors 43, 44, that is to say also parallel to the alignment axis of the two portions 47, 48 of the protective glass 45.
The cleaning element 42 comprises, in addition to the wiper blade 49, a drive arm 50 movable relative to the protective glass 45, and configured to drive in its movement the wiper blade 49. The arm drive 50 comprises a guide part 51 which extends at least partially under the detection module 2 according to the invention and at least one connector 52 which connects this guide part 51 to the wiper blade 49. According to the example illustrated here, the guide part 51 comprises a carriage configured to slide in a rail 53, shown diagrammatically in FIG. 6 under the detection module, the carriage being set in motion in the rail by a belt driven by an actuator made integral with the module according to the invention and not illustrated here. This guide part 51 thus forms a movable portion of the drive arm 50 capable of driving the wiper blade 49 along the main direction D of rectilinear movement, via the connector 52 which participates in transmitting the movement of the arm. drive 50 to the wiper blade 49.
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It is understood that the wiper blade 49 is capable of moving in two opposite directions along this main direction D of rectilinear movement. Thus, according to a particular embodiment of the present invention, a rest position of the wiper blade 49 corresponds to a positioning of this wiper blade 49 at a - virtual - junction between the first portion 47 of the protective glass 45 and the second portion 48 of this protective glass 45. Thus, depending on the portion which requires cleaning, the wiper blade 49 can selectively clean one or the other of these portions without disturbing the 'image acquisition performed by the driving assistance sensor 43, 44 arranged behind the portion of the protective glass 45 which does not require cleaning.
In the example illustrated in FIG. 6, the cleaning element 42 also includes an inlet 54 for cleaning fluid. This cleaning fluid is thus, according to the example illustrated here, directly injected into distribution channels of this cleaning fluid which can for example be formed inside of wiping brush 49, or on the surface of the latter. It is understood that this is only an exemplary embodiment, and that the drive arm 50 of the cleaning element 42 can take another form without departing from the context of the invention insofar as it allows movement of the wiper blade 49 along the main direction D of rectilinear movement.
The wiper blade 49 may comprise at least one duct for dispensing a cleaning fluid, advantageously two ducts for dispensing the cleaning fluid, provided with a projection hole for cleaning fluid. It is possible to provide one or more nozzle (s) for spraying the cleaning fluid associated with the duct for dispensing the cleaning fluid for an optimized spraying of fluid. For example, these distribution conduits can extend over a whole length of the wiper blade 49, that is to say along the vertical direction. Advantageously, the wiper blade 49 comprises a plurality of projection nozzles, distributed over a whole length of the distribution conduit (s). Although not illustrated here, the duct (s) for dispensing the cleaning fluid is / are also fluidly connected to a tank of cleaning fluid.
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Note also that the wiper blade 49 extends over an entire height h of the protective glass 45, that is to say a dimension of this protective glass 45 measured parallel to the vertical axis V of the trihedron, that is to say perpendicular to the main direction D of movement of the wiper blade 49, between two edges 55, 56 delimiting this protective window 45 vertically. In other words, the wiper blade 49 is in contact with the entire protective glass 45 on its vertical dimension, so as to ensure complete cleaning of the surface of this protective glass 45 when the brush is moved longitudinally d from one end to the other of the protective glass. More particularly, and as will be described in more detail below, the wiper blade 49 comprises a wiper blade and it is this wiper blade which is effectively pressed against the protective glass and which wipes the latter. . According to the invention, the plating of this wiping blade is for example carried out using one or more elastic return devices, or else thanks to an elastic return effect specific to this wiping blade.
Advantageously, when the protective glass 45 is curved, provision may be made for the wiper blade to follow this curve so as to ensure optimal wiping of this protective glass 45.
It will be understood from the above that the cleaning element 42 implements mechanical wiping of the protective glass 45, by friction, so that the quantities of cleaning fluid necessary for this wiping are reduced, thus making it possible to reduce the size of the storage tank for this cleaning fluid and therefore the total weight of the detection module 2 according to the invention. The fact that the duct (s) for distributing the cleaning fluid and the spray nozzles are arranged directly on the wiper blade 49 also contributes, with the use of mechanical wiping, to reducing the quantity of cleaning fluid used. However, provision may also be made for the projection nozzles to be arranged at a non-zero distance from the wiper blade without departing from the context of the present invention.
FIGS. 7 and 8 schematically illustrate a detection assembly 80 with a wide field of vision, arranged in the center of the detection module fixed and report on the
WFR3273 roof, and an associated cleaning set 82.
The detection assembly 80 is configured to acquire images according to an angular field of at least 180 °, here 360 °, of an environment of the vehicle 1. In other words, this detection module 80 is configured to acquire images of the entire vehicle environment 1.
According to the invention, the detection assembly 80 here has a straight cylindrical shape, with an axis of revolution Z parallel to the vertical axis V of the trihedron and it comprises an optical surface 84 surrounding a detection member by emission of waves , that is to say a detection member configured to evaluate a distance separating it from any object by measuring a delay between an instant t at which it sends a wave and an instant tl at which this wave is reflected. Thus, this detection member comprises at least one transmitting member configured to transmit at least one wave and at least one receiving member configured to receive the reflected wave, neither the transmitting member nor the receiving member being visible on the figures. According to various exemplary embodiments of the present invention, the detection member can be a RADAR system, acronym for “RAdio Detection And Ranging”, capable of transmitting and receiving electromagnetic waves, or even a LIDAR system, acronym -saxon for "Light Detection And Ranging", able to transmit and receive light waves, for example a laser beam. According to the example illustrated in the figures, the detection assembly 80 is a LIDAR system, and the optical surface 84 of this detection module is configured to allow the transmission of light waves the acquisition of images mentioned above is formed by a lens capable of shaping the light waves.
The positioning of this detection assembly 80 outside the vehicle 1 exposes it to dirt, organic elements or any other detritus. Also, in order to allow this detection assembly 80 to function optimally, it is advisable to regularly clean its optical surface directly in contact with this dirt and other detritus. To this end, the detection module 2 according to the invention also comprises a cleaning assembly 82 of this detection assembly 80. According to a
WFR3273 example illustrated in the figures, the cleaning assembly 82 comprises three projection ramps 85a, 85b, 85c, each dedicated to cleaning an angular sector ocl, oc2, oc3 of the optical surface of the detection assembly 80. Thus, a first projection ramp 85a is dedicated to cleaning a first angular sector ocl, a second projection ramp 85b is dedicated to cleaning a second angular sector oc2 and a third projection ramp 85c is dedicated to cleaning a third angular sector oc3.
As will be detailed below, the cleaning of an angular sector of the detection assembly 80 disturbs, or even completely prevents, the acquisition of images by this precise angular sector. Also, the present invention is designed to allow selective cleaning, by angular sector, of this detection assembly 80, so that the acquisition of images, at least partially, can be carried out permanently by the detection assembly. The present invention thus makes it possible to avoid total blindness of the detection assembly 80 which could be dangerous for the safety of the occupants of the vehicle 1 equipped with the driving assistance system operating via the detection module 2 according to the invention , but also for other users who share the road with this vehicle 1.
As shown in FIG. 7, each angular sector ocl, oc2, oc3 of the detection assembly 80 is identical to the other two. In other words, according to the illustrated example of a detection assembly whose optical surface allows a 360 ° shot, each angular sector ocl, oc2, oc3 has an opening of 120 °. According to this example, the first angular sector ocl is dedicated to the acquisition of images of a road scene located at the front of the vehicle 1, the second angular sector oc2 and the third angular sector oc3 being dedicated to acquisition of road scene images located laterally and at the rear of the vehicle, each of these second and third angular sectors oc2, oc3 being dedicated to a defined side of the vehicle 1. As illustrated, the first angular sector ocl is centered on an axis X of advancement of the vehicle 1.
Alternatively, one could for example plan to divide the set of
WFR3273 detection in addition to three angular sectors, for example in four angular sectors of 90 ° each, in which case the cleaning assembly will include four projection ramps, each of them being dedicated to cleaning one of these angular sectors .
As illustrated in particular in FIG. 8, the cleaning assembly 82 according to the invention has a generally annular shape with the projection ramps which form this cleaning assembly which each have a shape of a portion of a ring. In other words, each projection ramp 85a, 85b, 85c is delimited by two edges in the form of circular arcs connected together by two straight edges and has a thickness e greater than a height h of this same projection ramp 85. As shown, the thickness e of each projection ramp 85a, 85b, 85c is measured radially between the two edges in the form of arcs of a circle and parallel to one of the straight edges of the projection ramp 85a, 85b, 85c concerned and the height h of each of these projection ramps 85a, 85b, 85c is measured parallel to the vertical axis V of the trihedron illustrated, that is to say parallel to the direction of telescopic movement of the ramp projection. 85a, 85b, 85c
Each of these projection ramps 85a, 85b, 85c comprises at least two projection nozzles - not illustrated here - configured to spray the cleaning fluid intended for washing the angular sector to which the projection ramp 85a, 85b, 85c is dedicated. As shown, each projection ramp 85a, 85b, 85c extends only over a portion of the angular sector to which it is dedicated. However, the projection nozzles of each of these projection ramps 85a, 85b, 85c are arranged so as to cover the entire angular sector to which the projection ramp concerned is dedicated, that is to say so that that cleaning fluid is sprayed over the entire angular sector concerned. The term "projection of cleaning fluid onto the entire angular sector" means a projection of cleaning fluid onto the optical surface of the detection module configured to allow the acquisition of images in the angular sector concerned. It is understood that this arrangement of the nozzles thus makes it possible to cover all of the angular sectors while leaving a
WFR3273 space 850 between the projection ramps 85a, 85b, 85c in order to allow their respective deployment without hindrances.
As described above, each projection ramp 85a, 85b, 85c of the cleaning assembly 82 is dedicated to cleaning an angular sector of the detection assembly 80. In order to allow the detection assembly 80 to acquire images of its environment outside the cleaning phases without the projection ramps being in the field of vision of the detection assembly, the projection ramps 85a, 85b, 85c are movable between a first retracted position in which image acquisition is possible and a second position deployed, in which cleaning can be carried out.
These two positions are visible in FIGS. 7 and 8: the first projection ramp 85a in its first retracted position 86, that is to say a position in which this first projection ramp 85a is located outside of a path borrowed by the waves emitted by the detection assembly 80, and the third projection ramp 85c in its second deployed position 87, that is to say a position in which this third projection ramp 85c is capable of projecting fluid cleaner on the optical surface 84 so as to clean the angular sector concerned.
It is clear from the figures that when a projection ramp is in its second deployed position, it is arranged across the path taken by the waves emitted by the detection assembly 80, so that the detection assembly 80 does not can no longer acquire complete data on its environment. As will be detailed below, each projection ramp 85a, 85b, 85c is controlled independently of the other two, so that only one projection ramp can assume a deployed position, as illustrated in FIG. 8. Thus, it is ensured that the detection assembly 80 can continue to acquire images on at least one angular sector, advantageously two angular sectors, even during cleaning. In other words, the driving assistance system provided by the detection module 2 according to the invention allows continuous image acquisition, this driving assistance system thus being particularly suitable for being integrated into a vehicle.
WFR3273 autonomous or partially autonomous.
In order to pass from their first retracted position 86 to their second deployed position 87, the projection ramps 85a, 85b, 85c are telescopic, that is to say which each comprises a deployment assembly 88 configured to lie down or fall back along a vertical straight line parallel to the vertical direction Z of main extension of the detection assembly 80. In the following description, the phenomenon of elongation of the deployment assembly 88, set work when one wishes to move the projection ramp towards the deployed position, will be designated as "deployment of the deployment assembly" and the phenomenon of folding of this deployment assembly, implemented when one wishes to move the projection ramp projection towards the retracted position, will be designated as "folding of the deployment assembly".
Each deployment assembly 88 comprises a tube 89 for guiding a piston 90 capable of moving in translation inside the tube, the projection ramp 85a, 85b, 85c associated with each deployment assembly being mounted at the end of the piston .
The deployment assemblies 88 can for example be hydraulic deployment assemblies, that is to say assemblies configured so that the piston and the associated ramp are deployed under the effect of hydraulic pressure. Thus, each of these deployment assemblies 88 comprises at least one liquid inlet 91, this liquid inlet comprising at least one controllable shutter means, not visible in the figures. According to the invention, the controllable closure means for each of the liquid inlets can be controlled independently of each other. In other words, the deployment of each deployment assembly 88 is controlled independently of the deployment of the other deployment assemblies 88. Thus, each projection ramp 85a, 85b, 85c can pass from its first retracted position 86 to its second position 87 deployed independently of the other. In other words, the present invention allows targeted and individualized cleaning of each angular sector of the detection assembly 80.
WFR3273
Advantageously, the liquid allowing the deployment of the piston of the deployment assembly 88, and therefore consequently of the projection ramp 85a, 85b, 85c concerned, can be the cleaning fluid, for example a windshield washer fluid. In this way, when a cleaning of one of the angular sectors is requested, the shutter means is opened so as to allow the arrival of the cleaning fluid in the deployment assembly 88. As the fluid enters the deployment assembly 88, the piston of the latter moves inside the tube in the direction of deployment of the assembly. As soon as the fluid joins the projection nozzles carried by the projection ramps 85a, 85b, 85c, the cleaning of the angular sector concerned begins. Depending on the arrangement of the liquid circulation channels within the deployment assembly, it is understood that the cleaning of this angular sector can begin before the projection ramp 85 reaches its highest position, so that the 'detection assembly 80, and more particularly the angular sector of this detection assembly is cleaned over its entire height, that is to say over its entire vertical dimension.
Alternatively, these deployment assemblies 88 can be pneumatic deployment assemblies in which case the arrival of liquid described above is replaced by an arrival of compressed air.
The detection assembly 80 is carried by a support 92 which comprises at least one upper wall 93 and a lower wall 94 connected together by a trunk 95. As mentioned above, the projection ramps 85a, 85b, 85c are movable along vertical axes and openings 96 are formed in the upper wall 93 of the support 92, these openings 96 being configured on the one hand to receive the projection ramps in their retracted positions and the passage of the deployment assemblies 88 projection ramps 85a, 85b, 85c. Advantageously, these openings 96 have identical, or substantially identical, dimensions to the dimensions of the projection ramps 85a, 85b, 85c so that these openings 96 are closed by the projection ramps 85a, 85b, 85c when the latter are in their first position 86 retracted. One of these openings 96 is thus visible in FIG. 8.
WFR3273 understands that, according to the invention, as many openings 96 are formed in the upper wall 93 as there are projection ramps 85a, 85b, 85c.
Ports 97 are further provided in the bottom wall 94 so as to allow the tubes 89 of the deployment assemblies 88 to be held in place. Again, it is understood that the support 92 comprises as many orifices 97 as the cleaning assembly comprises. projection ramps 85a, 85b, 85c.
It is also noted that the support 92 has first reinforcements arranged between the deployment assemblies 88. These first reinforcements comprise, according to the example illustrated here, at least two brackets 99 fixed to the trunk of the support and carrying a perforated board 100 for be crossed by the tubes of the deployment assemblies 88.
Each deployment assembly 88 is secured to the trunk 95 of the support 92 by means of fixing means 101 which is specific to it. According to the example illustrated here, the fixing means 101 comprise at least two legs 102 - only one of these legs 102 being visible for each fixing means 101 illustrated here - configured to grip the deployment assembly 88 concerned. Alternatively, one could for example provide that the deployment assemblies 88 are glued, or screwed onto the trunk 95 of the support 92. It is understood that these are only exemplary embodiments and that any other fixing means is conceivable without departing from the context of the invention insofar as it allows the deployment assembly to be maintained on the support, as well as the deployment and the folding of a piston of this deployment assembly.
The method of cleaning the detection assembly is implemented by an appropriate command from the central control unit 200 which receives information concerning the presence of a disturbing element on an angular sector ocl, oc2, oc3, l 'detection assembly 80. Here, the term "disturbing element" means an element that interferes with, or even prevents, the acquisition of information by one or the other of the angular sectors of the detection assembly 80. Thus, this disturbing element can for example be a dirt, an organic element, or any other detritus which could be deposited on this detection assembly 80 and hinder or prevent the acquisition of images.
WFR3273
The central control unit 200 sends a request to the detection unit 80 in order to determine whether each of the angular sectors of the detection unit is operational. In the case where several pieces of information from different angular sectors are sent simultaneously to the central control unit, that is to say that several angular sectors of the optical surface of the detection assembly are dirty and require an operation of cleaning, an order of priority is predetermined so that at least one, advantageously at least two, of the angular sectors of the detection assembly are not cleaned immediately after information indicating the presence of a disturbing element has been received by the central control unit 200, but offset from the first cleaned angular sector, so as to remain capable of acquiring images, even in degraded operation. According to an example of application of the invention, the cleaning of the angular sector dedicated to the acquisition of images of the road scene located at the front of the vehicle has priority over the cleaning of the other two angular sectors. The central control unit can also give instructions to clean this angular sector dedicated to the acquisition of images of the road scene located at the front of the vehicle only when the vehicle is stopped (at a low beam for example) or when the vehicle is traveling below a given speed.
This possibility of controlling which part of the large optical surface detection assembly is cleaned is made possible by the fact that each projection ramp can be activated independently of the other projection ramps. The central control unit 200 is then programmed to send a first instruction specifically to the projection ramp 85a, 85b, 85c, dedicated to cleaning the angular sector ocl, oc2, oc3, which has sent the information indicating the presence of a disruptive element. This first instruction allows the deployment of the projection ramp 85a, 85b, 85c concerned, that is to say that this first instruction more particularly causes the opening of the shutter means to allow the arrival of liquid or compressed air so that the associated deployment assembly can deploy and thus bring the projection ramp 85a, 85b, 85c opposite the surface to be cleaned. In the case where the deployment assemblies are deployed using the fluid
WFR3273 cleaner, this first instruction makes it possible both to generate the deployment of the projection ramp 85a, 85b, 85c concerned and the projection of the cleaning fluid by the projection nozzles of this projection ramp 85a, 85b, 85c. On the other hand, if this liquid is different from the cleaning fluid or if the deployment assemblies are pneumatic assemblies, the central control unit 200 is further configured to send a second instruction allowing the projection of cleaning fluid. For example, the sending of the first instruction and the sending of the second instruction can be simultaneous.
Once the angular sector ocl, oc2, oc3 concerned cleaned, the central control unit 200 sends a third instruction causing the folding of the deployment assembly of the projection ramp concerned. In other words, the first instruction makes it possible to pass the projection ramp concerned from its retracted position to its deployed position and the third instruction makes it possible to pass this projection ramp from its deployed position to its retracted position.
Figures 7 and 9 illustrate more particularly the geolocation device 60, arranged in the rear part of the detection module 2 as previously described and the detection device 61 that it houses.
The geolocation device 60 comprises a housing 63 which in particular has a rear face, that is to say a face facing the rear of the vehicle, which forms an optical detection face 64 and a front face, or face of attack 65 as it faces the front of the vehicle and therefore directly across the air flow when the vehicle is running, which has a pointed shape.
The housing 63 is advantageously made in one piece with the cover wall 8 of the detection module 2, the housing 63 being obtained if necessary by means of an overmolding operation.
An optical surface 66, that is to say an advantageously transparent optical element, is arranged in the optical detection face 64 of the housing, said optical surface here having a domed part projecting from the main plane defined by the face
WFR3273 optical detection 64. The optical surface 66 is configured to allow an appropriate field of vision 67 towards the rear of the vehicle.
The optical detection face 64 has a proximal portion, close to a base of the housing, and a distal portion 69, turned away from the vehicle on which the housing is arranged, and the profile of the housing is here such that the portion proximal has a transverse dimension greater than that of the distal portion 69 forming the top of the housing. In this way, the housing here has a pointed shape from the rear face towards the front face and a pointed shape from the base secured to the structure of the vehicle towards the top. It is understood that these shapes are in particular suitable for the aerodynamic profile of the detection module capable of being attached and fixed to the roof of a vehicle and that the shapes of the faces of the housing are not limiting here, and in particular the hollow shape of the lateral faces. extending between the rear face and the front face.
Inside the housing 63 forming an antenna, the geolocation device comprises means 71 for receiving a signal from a location system, for example a satellite signal of GPS type ensuring the geolocation function, and the optical detection device previously mentioned 61. In the example illustrated, the optical detection device is specific in that it can be cleaned by centrifugal effect, that is to say by rotation at high speed of an optical surface of this detection device .
In the example illustrated, the housing 63 forming the antenna of the geolocation device 60 also incorporates an additional cleaning device by spraying of fluid configured to spray, via a spray nozzle 72, cleaning fluid, whether it be air, water or windshield washer fluid, on the optical surface 66 arranged in the optical detection face 64 of the housing.
The housing 63 has at its base, arranged in the plane of the cover wall of the detection module, an opening to allow passage for the insertion and removal of the optical detection device configured to be cleaned by centrifugal effect. Furthermore, such an opening allows passage from inside the housing to
WFR3273
3i the outside thereof of a liquid supply conduit 73 of the spray nozzle 72 of the additional cleaning device, as well as of a control and electrical supply circuit of an actuator associated with the device optical detection 61, said actuator allowing the rotation of the optical element, or optical surface, to allow its cleaning by centrifugal effect.
Of course, the opening formed in the fixing face can also allow the passage of an electrical supply circuit of the means for receiving the geolocation signal by satellite also housed in the antenna housing and it can be provided to make pass through this opening of the wired communication means between said signal reception means, and / or the optical detection device, and the central control unit 200 described above and located in the detection module.
The detection device 61 comprises a sensor 74, the body of which contains means for acquiring and, if necessary, image processing, the body being covered by a projection lens 75. The detection device also comprises a protective glass forming the optical surface 66, or optical element, previously mentioned and arranged in the detection face 64 of the housing. The sensor is fixed relative to the housing and the protective glass is configured to rotate at high speed when dirt is detected on the optical surface formed by this protective glass. To this end, the detection device 61 is associated with the actuator arranged in the longitudinal extension of the detection device. More particularly, the actuator here is a brushless type motor, which includes an internal stator 76 carrying coils supplied with current and an external rotor 77 carrying permanent magnets and configured to rotate around the stator. The stator 76 carries a support 78 of the body of the sensor so as to ensure its fixed position and the rotor 77 is linked to the protective glass forming the optical surface 66 via an intermediate wall 79, so that the rotation of the rotor around the stator causes the high-speed rotation of the protective window forming an optical surface 66 around the axis of rotation of the actuator, advantageously coincident with the optical axis of the sensor. The fact that
WFR3273 the actuator either here an external rotor motor is not limiting of the invention and the optical surface of the detection device integrated according to the invention in the housing of the geolocation device could without departing from the context of the invention be rotated with an internal rotor actuator.
It should be noted that the size of the detection device and the means necessary for cleaning its optical surface, here by centrifugal effect, is essentially longitudinal, that is to say according to the direction of advance of the vehicle. This is particularly advantageous in the position of the housing of the geolocation device illustrated in the figures, since the aerodynamic grip can be limited due to the only increase in the longitudinal dimensions, little penalizing for aerodynamics, and the non- increase in vertical and / or transverse dimensions, which would be penalizing for aerodynamics.
FIG. 9 also illustrates in more detail an additional cleaning device allowing the projection of fluid onto the optical surface, which can be used before or simultaneously with the rotation of the optical surface, in order to facilitate the removal of dirt from the surface optical during rotation thereof. To follow up on what has just been described above, it should be noted that in this case the additional cleaning device by spraying of fluid is only an auxiliary device, and that one can be satisfied with a nozzle projection 72 unique and fixed, and therefore compact. The projection nozzle 72 has a body capable of guiding the fluid received via the liquid supply conduit 73. The nozzle 72 is configured to project a jet onto the optical surface 66.
As has been specified above, FIG. 9 also schematically illustrates the presence of the signal reception means 71 of a location system, for example a satellite signal of the GPS type ensuring the geolocation function. These are arranged as close as possible to the distal portion 69 forming the top of the housing, in order to benefit from the best reception quality. Electromagnetic shielding may be provided if necessary between the actuator of the detection device 61 and the reception means 71, so as not to disturb the reception of the
WFR3273 signal and the processing of this geolocation information.
It follows from the above that the geolocation device is arranged in the field of vision of the detection assembly 80 with a wide field of vision, here at 360 °. More particularly, the housing 63 forming the antenna of the geolocation device 60 is located in at least one angular segment of the field of vision of the detection assembly 80 with a wide field of vision and prevents the analysis of the road scene arranged downstream of the housing in this angular segment. This results in a blind spot in the field of vision of the detection assembly 80.
Figures 10 and 11 illustrate this problem more clearly. The housing 63 of the geolocation device is found in the wide angular segment SI covered by the detection assembly 80. This results in an image portion S2 detected by this detection assembly which remains fixed, due to the presence of the housing static, unlike the rest of the detected image which evolves as the vehicle moves.
For example, the segment of the field of vision of the detection assembly obstructed by the geolocation device has an angular value a of the order of 5 to 45 °. It is understood that the transverse dimension of the housing and the distance between this housing and the detection assembly can be modulated to vary this angular value, it being understood that it is desirable not to go beyond a value of 45 °.
The detection assembly 80 is in communication with the central control unit 200 of the detection module, which is configured to cut out this portion of image S2 from the rest of the detected image and then to replace it with an image detected by the detection device 61 integrated in the housing 63 of the geolocation device 60, whose field of vision 67 is clear.
The image detection and processing method implemented by the central control unit 200 in the context mentioned in the preceding paragraph is illustrated in FIG. 11. A first step E1 consists in the acquisition and processing of image, on a given angular sector, by the detection assembly 80. In a
WFR3273 second step E2, an analysis of the image is carried out by the central control unit 200 and appropriate image processing means in order to determine whether a portion of the detected image remains fixed and if this portion of the still image is due to the presence of the housing of the geolocation device, in particular by estimating whether the angular segment corresponds. If no portion of the image remains fixed, or if the fixed portion of the image is analyzed as being due to soiling rather than the presence of the housing in the field of vision, the image acquired by the assembly detection 80 is supplied as is to the driving assistance system in a third step E3. If, on the other hand, the fixed portion of the image is analyzed as being due to the presence of the box in the field of vision, the central control unit proceeds to a fourth step E4 during which, simultaneously, it recovers in a first sub-step E41 an image detected by the detection device 61 on board the housing 63 and it processes in a second sub-step E42 the image acquired by the detection module to erase the fixed portion of this image. This fourth step E4 is then followed by a fifth step E5 of image processing by adding and superimposing the two images obtained simultaneously in each of the preceding substeps, the image resulting from this superposition of images then being supplied to the system. driving assistance.
FIG. 12 illustrates the interior of the detection module 2, in which most of the detection and cleaning means mentioned above are made visible. This FIG. 12 also makes it possible to make visible the components necessary for the operation of the detection module according to the invention.
The detection module comprises the central control unit 200 described above, which is here formed of two distinct entities 201, 202 communicating with each other by a wired communication line 204 to perform the different functions implemented by the detection module, and in particular image analysis and processing.
The detection module also includes solenoid valves 206 arranged on a hydraulic distribution circuit 208. In order to make this circuit visible
WFR3273 distribution, one end has been illustrated outside the volume defined by the detection module, and it should be understood that the duct is connected to a pump and to a reservoir for storing cleaning fluid. These elements can be deported or else integrated into the detection module according to invention 2.
The solenoid valves 206 are controlled by the central control unit 200 to allow the passage of cleaning fluid towards the cleaning means distributed over the detection module. It is understood that the central control unit is configured to control, as a function of the requests for cleaning instructions from the various detection means, both the operation of the solenoid valves and that of a pump arranged between the hydraulic distribution circuit and the cleaning fluid storage tank. The solenoid valves 206 are grouped here in two bars arranged at the front and at the rear of the detection module in order to limit the length of the branches of the hydraulic distribution circuit between the solenoid valves and the corresponding cleaning means.
The central control unit 200 is configured to control the operation of the solenoid valves, and in particular give them instructions to allow cleaning fluid to pass to such or such cleaning means associated with such or such detection means needing to be cleaned.
FIG. 12 also illustrates, schematically, the communication lines 210 for the transmission of the instructions to each of the detection means and for the recovery of the images acquired by these different detection means, here all connected to one of the entities forming the central control unit.
Finally, FIG. 12 shows additional detection means 212, arranged inside the detection module according to the invention, set back from a corner wall 13 produced between the front wall 14 and each of the side walls 12. These additional detection means here have the form of devices whose optical surface can be cleaned by centrifugal effect, and they make it possible to obtain a more complete and more reliable image of the road scene which takes place in front of the vehicle. An optical surface
WFR3273
213 of these additional detection means is notably visible in FIGS. 2 or
5. If necessary, and as illustrated in these two figures, a nozzle 214 can be provided to provide additional cleaning.
The foregoing description clearly and completely explains how the present invention achieves the goals it has set itself, namely the integration of a plurality of detection means of vision camera type or RADAR or LIDAR devices, and cleaning means, of the fluid projection nozzle type or cleaning devices by centrifugal effect, in a module produced independently of a vehicle and capable of giving autonomy to this vehicle which is not equipped from its conception with an appropriate driving assistance system. In this way, the detection module attached and fixed to the vehicle, in particular to the roof, allows the acquisition of reliable data, due to the piloting of appropriate cleaning means, on the road scene all around the vehicle and allows the processing of this information to participate in generating driving assistance or autonomous driving instructions.
The present invention cannot however be limited to the means and configurations described and illustrated here and it also extends to any equivalent means or configuration and to any technically effective combination of such means. In particular, the shape and the arrangement of the housing forming the detection module can be modified without harming the invention insofar as the detection module integrates both optical detection means and cleaning means, capable of being controlled. by a central control unit specific to the detection module. Another variant could also be to provide a plurality of control units, the functions of which would respectively be to control the operation of such and such a detection means and / or such or such cleaning means, and this would be in the context of the invention as soon as these control units are able to communicate with one another and are configured to ensure the operation of the detection module according to the invention, produced independently of the vehicle and attached and fixed to a structure thereof.

权利要求:
Claims (20)
[1" id="c-fr-0001]
1. Detection module (2) for a device for assisting the driving of an autonomous vehicle, said detection module comprising a base (6) and a cover wall (8) of this base, the base and the cover wall for housing a plurality of detection means (20, 40, 61, 80, 212) and cleaning means (22, 42, 82, 214) respectively associated with each of these detection means, as well as a central control unit (200) configured to give instructions and / or receive information from each of said means, said detection module further comprising at least one geolocation device (60).
[2" id="c-fr-0002]
2. Detection module according to the preceding claim, characterized in that the geolocation device (60) comprises a housing (63) projecting from the cover wall (8) and inside which are arranged receiving means ( 71) of location signal.
[3" id="c-fr-0003]
3. Detection module according to the preceding claim, characterized in that the housing (63) is configured to house an optical detection device (61) forming one of said detection means.
[4" id="c-fr-0004]
4. Detection module according to the preceding claim, characterized in that the optical detection device (61) housed in the housing (63) of the geolocation device (60) is configured to be cleaned by centrifugal effect.
[5" id="c-fr-0005]
5. Detection module according to one of the preceding claims, characterized in that the detection module (2) comprises a detection assembly with a wide field of vision (80) projecting from the cover wall (8) coming in covering the base (6), the detection assembly (80) extending opposite the base.
[6" id="c-fr-0006]
6. Detection module according to the preceding claim, characterized in that the detection assembly (80) is a LIDAR system capable of transmitting and receiving light waves, for example a laser beam for operating image acquisition according to a field angular at least 180 °.
[7" id="c-fr-0007]
7. Detection module according to claim 5 or 6, characterized in that the
WFR3273 geolocation device (60) is arranged in the field of vision of the detection assembly with wide field of vision (80), thereby generating a blind spot, the central control unit (200) being configured to process the image acquired by the detection assembly (80) by replacing an image portion corresponding to the blind spot with the image acquired by the optical detection device (61) housed in the geolocation device.
[8" id="c-fr-0008]
8. Detection module according to one of claims 5 to 7, characterized in that the detection assembly (80) has a cylindrical optical surface (84) and in that it is associated with a cleaning assembly (82 ) with several projection ramps (85a, 85b, 85c) arranged around the optical surface of the detection assembly (80).
[9" id="c-fr-0009]
9. Detection module according to the preceding claim, characterized in that the projection ramps (85a, 85b, 85c) are respectively equipped with a deployment assembly (88), each deployment assembly being individually controllable by the central unit (200).
[10" id="c-fr-0010]
10. Detection module according to one of the preceding claims, characterized in that the base (6) of the detection module (2) has a front wall (14), capable of being turned towards the front of the vehicle, in which is arranged a detection element (40) and an associated cleaning element (42), the detection element being equipped with a protective glass (45) and the cleaning element comprising a mechanical wiping element ( 49) able to move along the protective glass.
[11" id="c-fr-0011]
11. Detection module according to the preceding claim, characterized in that the detection element (40) comprises two driving assistance sensors (43, 44), the protective glass (45) being arranged opposite each of the two sensors.
[12" id="c-fr-0012]
12. Detection module according to claim 10 or 11, characterized in that the mechanical wiping element comprises a brush (49) made movable in translation along the protective glass (45) to clean one or the 'other of the portions of the protective glass respectively opposite the two sensors.
WFR3273
[13" id="c-fr-0013]
13. Detection module according to one of the preceding claims, characterized in that the base (6) of the detection module (2) has side walls (12), at least one of these side walls being configured to accommodate a detection member (20) and an associated cleaning member (22), the cleaning member comprising at least one spray nozzle (26) of a cleaning fluid arranged downstream of the detection member (20) with respect to to a direction of movement (S) of the vehicle.
[14" id="c-fr-0014]
14. Detection module according to the preceding claim, characterized in that the at least one side wall (12) comprises an air deflector (13) configured to guide an air flow towards the detection member (20) .
[15" id="c-fr-0015]
15. Detection module according to the preceding claim, characterized in that the air deflector (13) is arranged downstream of the detection module (20) and the projection nozzle (26) relative to the direction of movement (S ) of the vehicle.
[16" id="c-fr-0016]
16. Detection module according to one of claims 13 to 15, characterized in that the projection nozzle (26) is mounted on a telescopic deployment member (27), so as to be able to take at least one first retracted position and at least a second deployed position.
[17" id="c-fr-0017]
17. Detection module according to one of the preceding claims, characterized in that the detection module (2) comprises solenoid valves (206) arranged on a hydraulic distribution circuit (208), the solenoid valves being controlled by the central unit control (200) to allow the passage of cleaning fluid towards the cleaning means (22, 42, 82, 214) distributed over the detection module.
[18" id="c-fr-0018]
18. Detection module according to one of the preceding claims, characterized in that the detection module (2) comprises additional detection means (212), disposed inside the detection module set back from a wall d angle (13) formed between the front wall (14) and each of the side walls (12).
[19" id="c-fr-0019]
19. Motor vehicle equipped with a detection module (2) according to one of the preceding claims, the central control unit (200) being
WFR3273 configured to send control instructions to vehicle driving aids.
[20" id="c-fr-0020]
20. Motor vehicle according to the preceding claim, characterized in that the detection module (2) is fixed to the roof panel (4) of the vehicle.

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同族专利:

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公开号 | 公开日

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FR3086749B1|2021-06-11|

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WO2020064885A1|2020-04-02|

引用文献:

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公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

DE102015210449A1|2015-06-08|2016-12-08|Continental Teves Ag & Co. Ohg|Arrangement of a camera in the rear of a vehicle|

---

US9880382B1|2016-04-14|2018-01-30|Ford Global Technlogies, Llc|Exterior vehicle camera protection and cleaning mechanisms|

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US20170305360A1|2016-04-22|2017-10-26|Uber Technologies, Inc.|External sensor assembly for vehicles|

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DE102016006039A1|2016-05-18|2016-11-17|Daimler Ag|Cleaning device of a sensor module|

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WO2018017395A1|2016-07-18|2018-01-25|Uber Technologies, Inc.|Sensor cleaning system for vehicles|

---

DE102016221858A1|2016-11-08|2018-05-09|Continental Teves Ag & Co. Ohg|Roof fin and vehicle with such a roof fin|

---

FR3058652A1|2016-11-17|2018-05-18|Valeo Systemes D'essuyage|OPTICAL SENSOR PROTECTION DEVICE, DRIVING ASSISTANCE SYSTEM AND CLEANING METHOD THEREOF|

---

CN106945612A|2017-03-08|2017-07-14|北京百度网讯科技有限公司|The sensor integrated device of pilotless automobile|

---

FR3109105A1|2020-04-13|2021-10-15|Valeo Systemes D'essuyage|Method of cleaning a protective device for a driving assistance system for a motor vehicle and associated driving assistance system|

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CN111799539A|2020-06-18|2020-10-20|广州百士臣科技有限公司|Network communication equipment with good protection effect|

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FR3113476A1|2020-08-24|2022-02-25|Valeo Systemes D'essuyage|Motor vehicle driving assistance module|

法律状态:
2019-09-30| PLFP| Fee payment|Year of fee payment: 2 |

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2020-04-03| PLSC| Search report ready|Effective date: 20200403 |

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2020-09-30| PLFP| Fee payment|Year of fee payment: 3 |

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2021-09-30| PLFP| Fee payment|Year of fee payment: 4 |

优先权:

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申请号 | 申请日 | 专利标题

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FR1858998A|FR3086749B1|2018-09-28|2018-09-28|DETECTION MODULE FOR A MOTOR VEHICLE DRIVING ASSISTANCE DEVICE|FR1858998A| FR3086749B1|2018-09-28|2018-09-28|DETECTION MODULE FOR A MOTOR VEHICLE DRIVING ASSISTANCE DEVICE|

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PCT/EP2019/075946| WO2020064885A1|2018-09-28|2019-09-25|Detection module for a motor vehicle driving assistance device|