US-20260126310-A1 - SEGMENTED SENSOR ENCLOSURES

US20260126310A1US 20260126310 A1US20260126310 A1US 20260126310A1US-20260126310-A1

Abstract

Provided herein is a sensor enclosure assembly. The sensor assembly includes a first enclosure positioned at a front of a vehicle roof, and a second enclosure positioned at a rear of the vehicle roof. The first enclosure and the second enclosure each include sensors, which include at least two cameras, and at least one Lidar, cleaning nozzles that direct a fluid towards an exterior cover of the first enclosure or the second enclosure, and a fan disposed within an interior of the first enclosure or the second enclosure and facing towards vents on an exterior of the first enclosure or the second enclosure.

Inventors

Xiaocheng Zhang

Assignees

Pony.ai, Inc.

Dates

Publication Date: 20260507
Application Date: 20251230

Claims (20)

1 . A sensor enclosure assembly, comprising: a first enclosure positioned at a front of a vehicle roof; and a second enclosure positioned at a rear of the vehicle roof, wherein: the first enclosure and the second enclosure each comprise at least one camera and at least one Lidar, and the first enclosure or the second enclosure further comprises a fan disposed within an interior of the first enclosure or the second enclosure and facing towards one or more vents of the first enclosure or the second enclosure.
2 . The sensor enclosure assembly of claim 1 , wherein: the second enclosure comprises one or more antennae assemblies, wherein the antennae assemblies comprise a GNSS antenna or a cellular antenna.
3 . The sensor enclosure assembly of claim 1 , wherein: the first enclosure comprises four cameras, wherein a first camera comprises a field of view of 30 degrees, a second camera comprises a field of view of 120 degrees, and a third camera comprises a field of view of 60 degrees.
4 . The sensor enclosure assembly of claim 1 , wherein: the first enclosure or the second enclosure comprises: a base plate mounted to the vehicle roof or to a rack positioned on the vehicle roof; and adapters that are adapted or adhered to the base plate onto the vehicle roof or to the rack.
5 . The sensor enclosure assembly of claim 1 , wherein: the second enclosure comprises a junction box disposed between antennae assemblies, wherein the junction box comprises GNSS antenna receiver electronics or circuitry, cellular antenna receiver electronics or circuitry, or time synchronization electronics or circuitry to synchronize metadata to a GNSS clock, wherein the metadata comprises timestamps corresponding to sensor data captured from one or more of the sensors.
6 . The sensor enclosure assembly of claim 5 , wherein the antennae assemblies are positioned above the sensor mount bracket.
7 . The sensor enclosure assembly of claim 1 , wherein: the first enclosure or the second enclosure comprises: a sensor mount bracket positioned atop a base plate and upon which the sensors are disposed.
8 . The sensor enclosure assembly of claim 1 , wherein the second enclosure comprises vents disposed on three different sides of the second enclosure.
9 . The sensor enclosure assembly of claim 1 , wherein the second enclosure comprises a higher number of sensors compared to the first enclosure.
10 . The sensor enclosure assembly of claim 1 , wherein the second enclosure is spatially defined according to a horizontal axis and a perpendicular axis intersecting through a center of the second enclosure, and the second enclosure comprises a GNSS antenna assembly that is equidistant to a cellular antenna assembly with respect to the perpendicular axis.
11 . The sensor enclosure assembly of claim 1 , further comprising one or more electronic controllers configured to regulate one or more operations of the sensor enclosure assembly, wherein the operations comprise operations associated with the sensors.
12 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a concentration of contaminants or dust within a particular component or region of the first sensor enclosure or the second sensor enclosure; determining that the concentration of contaminants or dust exceeds a threshold concentration; and in response to determining that the concentration of contaminants or dust exceeds a threshold concentration, activating one or more of the cleaning nozzles to direct the fluid towards the particular component or region.
13 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a rate of change over time of a concentration of contaminants or dust within a particular component or region of the first sensor enclosure or the second sensor enclosure; determining that the rate of change of the concentration of contaminants or dust exceeds a threshold rate; and in response to determining that the rate of change of the concentration of contaminants or dust exceeds a threshold rate, activating one or more of the cleaning nozzles to direct the fluid towards the particular component or region.
14 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining an air quality index (AQI) within a particular component or region of the first sensor enclosure or the second sensor enclosure; determining that the AQI exceeds a threshold rate; and in response to determining that the AQI exceeds a threshold rate, activating one or more of the cleaning nozzles to direct the fluid towards the particular component or region.
15 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a rate of change of an air quality index (AQI) within a particular component or region of the first sensor enclosure or the second sensor enclosure; determining that the rate of change of the AQI exceeds a threshold rate; and in response to determining that the rate of change of the AQI exceeds a threshold rate, activating one or more of the cleaning nozzles to direct the fluid towards the particular component or region.
16 . The sensor enclosure assembly of claim 12 , wherein the electronic controllers are further configured to perform: determining an intensity or a rate of output of the one or more of the cleaning nozzles based on the concentration of contaminants or dust, and wherein the activating of the one or more of the cleaning nozzles comprises activating the one or more of the cleaning nozzles according to the intensity or the rate of output.
17 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a first power level to be supplied to the first enclosure based on a density of traffic in a region within a threshold distance of the first enclosure.
18 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a level of activation of first sensors within the first enclosure based on a density of traffic in a region within a threshold distance of the first enclosure.
19 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a second power level to be supplied to the second enclosure based on a density of traffic in a region within a threshold distance of the second enclosure.
20 . The sensor enclosure assembly of claim 11 , wherein the electronic controllers are further configured to perform: determining a first level of activation of first sensors within the first enclosure based on a first density of traffic in a first region within a threshold distance of the first enclosure; and determining a second level of activation of second sensors within the first enclosure based on a second density of traffic in a second region within a threshold distance of the second enclosure, wherein the first level of activation is different from the second level of activation.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. patent application Ser. No. 18/144,165, filed May 5, 2023, which is incorporated herein by reference. TECHNICAL FIELD The present disclosure relates generally to a sensor enclosure. BACKGROUND On-board sensors in vehicles, such as autonomous vehicles (AVs), supplement and bolster the vehicles'field of vision by providing accurate sensor data. Sensor data is utilized, for example, in applications of blind spot detection, lane change assisting, rear end radar for collision warning or collision avoidance, park assisting, cross-traffic monitoring, brake assisting, emergency braking, and/or automatic distance controlling. Examples of on-board sensors include, for example, passive sensors and active sensors. On-board sensors include camera, Lidar, radar, GPS, sonar, ultrasonic, IMU (inertial measurement unit), accelerometers, gyroscopes, magnetometers, and FIR (far infrared) sensors. Sensor data may include image data, reflected laser data, and/or the like. Often, images captured by the on-board sensors utilize a three-dimensional coordinate system to determine a distance and angle of the objects and features captured in the image. Such real-time space information may be acquired near the vehicles using various on-board sensors located throughout the vehicles, which may then be processed to calculate and to determine the safe driving operations of the vehicles. Often, on-board sensors are exposed to harsh environmental elements (e.g., large temperature swings, ultra violet radiation, oxidation, wind, moisture, etc.), which can prematurely shorten the sensors'lifetimes. Furthermore, mounting the sensors exterior to the vehicles can subject the sensors to an increased risk of impact from road debris, thereby increasing a possibility of damaging the sensors. To alleviate these and other problems, a sensor enclosure may be used to house the sensors. Such a sensor enclosure may offer additional protection against environmental elements and road debris while still allowing the sensors to function or operate. However, encasing sensors in current sensor enclosures can create operational challenges which can lead to sensor malfunction. SUMMARY Described herein are sensor enclosures. A sensor enclosure assembly may include a first enclosure positioned at a front of a vehicle roof, and a second enclosure positioned at a rear of the vehicle roof, wherein: the first enclosure and the second enclosure each comprise: sensors comprising at least two cameras, and at least one Lidar; cleaning nozzles configured to direct a fluid towards an exterior cover of the first enclosure or the second enclosure; and a fan disposed within an interior of the first enclosure or the second enclosure and facing towards vents on an exterior of the first enclosure or the second enclosure. In some embodiments, the second enclosure comprises two antennae assemblies, wherein the antennae assemblies comprise a GNSS antenna and a cellular, mobile, or radio (hereinafter “cellular”) antenna. For example, the cellular antenna can include a 2.4 GHz, 5 GHz, 5.8 GHz, or 6 GHz antenna. In some embodiments, the first enclosure comprises four cameras, wherein a first camera comprises a field of view of 30 degrees, a second camera comprises a field of view of 120 degrees, and a third camera comprises a field of view of 60 degrees. In some embodiments, the first enclosure and the second enclosure each comprise: a base plate mounted to the vehicle roof or to a rack positioned on the vehicle roof; and three adapters that are adapted or adhered to the base plate onto the vehicle roof or to the rack. The adapters may include mechanical components such as fasteners, and/or chemical adhesives or glue (e.g., urethane). In some embodiments, the second enclosure comprises a junction box disposed between the two antennae assemblies, wherein the junction box comprises GNSS antenna receiver electronics or circuitry, cellular antenna receiver electronics or circuitry, and time synchronization electronics or circuitry to synchronize metadata to a GNSS clock, wherein the metadata comprises timestamps corresponding to sensor data captured from one or more of the sensors. In some embodiments, the two antennae assemblies are positioned above the sensor mount bracket. In some embodiments, the first enclosure and the second enclosure each comprise: a sensor mount bracket positioned atop the base plate and upon which the sensors are disposed. In some embodiments, the second enclosure comprises vents disposed on three different sides of the second enclosure. In some embodiments, the second enclosure comprises a higher number of sensors compared to the first enclosure. In some embodiments, the second enclosure comprises a horizontal axis and a perpendicular axis intersecting through a center of the second enclosure, and the second enclosure comprises a GNSS antenna assembly that is equidistant to a cellul