Cleaning device for a sensor installed in the vehicle

Abstract

Cleaning device for a vehicle-integrated sensor (10) used in a vehicle (100) equipped with a vehicle-integrated sensor (53), comprising an electronic control unit (90) configured to perform an automatic cleaning process to clean a sensing part (531) of the vehicle-integrated sensor (53) by means of a cleaning fluid when an automatic cleaning condition is met, wherein: the electronic control unit (90) is configured: to obtain information about the current position of the vehicle (100) as vehicle information, wherein the vehicle information includes a traffic light distance between (i) the vehicle (100) and (ii) a traffic light which is a destination traffic light (202tgt), which is usable in regulating a movement of the vehicle (100); and to perform a modification process to change the automatic cleaning condition, depending on the vehicle information, where: the automatic cleaning condition is a condition that an accuracy index value, which represents a detection accuracy level of the sensor (53) installed in the vehicle, is less than or equal to a predetermined determination threshold; The change process is a process to modify the predetermined determination threshold depending on the traffic light distance; and the electronic control unit (90) is configured: to set a first threshold as the predetermined determination threshold if the traffic light distance is greater than or equal to a first distance; to set a second threshold, which is greater than the first threshold, as the predetermined determination threshold if the traffic light distance is shorter than the first distance and greater than or equal to a second distance; and to set a third threshold, smaller than the first threshold, as the predetermined determination threshold if the traffic light distance is shorter than the second distance.

Description

BACKGROUND area

[0001] The invention relates to a cleaning device for a sensor installed in a vehicle. Description of the related prior art

[0002] A vehicle is known in which sensors are installed that receive driver assistance information to assist a driver in driving the vehicle. Such a known vehicle comprises a vehicle in which a camera sensor is installed, which includes a camera that captures images of a view outside the vehicle and receives data about the images captured by the camera as the driver assistance information. Hereinafter, the sensor installed in the vehicle is referred to as "the vehicle-integrated sensor".

[0003] A lens on the camera sensor acts as a sensor that captures driver assistance information. If water droplets are present on this lens, the images captured by the camera become blurry. As a result, sufficiently accurate driver assistance information cannot be obtained from the images. This also generally applies to the sensor's sensor being dirty.

[0004] A cleaning device for a sensor installed in a vehicle is known which automatically cleans the sensing part of the sensor installed in the vehicle by means of a cleaning fluid when dirt is present on the sensing part of the sensor installed in the vehicle (see, for example, JP 2019 - 123 262 A).

[0005] While the sensor's sensing element is being cleaned with cleaning fluid, the sensor cannot receive the high-accuracy driver assistance information. Consequently, if the cleaning device is cleaning the sensor's sensing element while the vehicle is in motion and requires high-accuracy driver assistance information, this information cannot be obtained. As a result, the driver cannot receive adequate assistance.

[0006] The subsequently published document DE 10 2019 125 303 A1 describes a system comprising a processor and memory. The memory stores instructions that can be executed by the processor to detect an occlusion on a surface in an optical path of a vehicle sensor based on a segmentation of sensor image data and to select a cleaning plan for the surface based on the detected occlusion, the map data, and the vehicle's route data.

[0007] The German patent application DE 10 2016 220 011 A1 describes a motor vehicle with at least one sensor for detecting the vehicle's surroundings. The sensor can be switched from a non-operating position to an operating position. At least one cleaning device using a cleaning fluid is provided for cleaning the sensor.

[0008] Document US 2019 / 0202407A1 describes a control device that can be attached to a vehicle, comprising an observation device for monitoring a peripheral environment and a performance recovery device for restoring the performance of the observation device. The control device includes a predictive unit configured to predict a degree of performance degradation of the observation device based on driving information from the vehicle while the vehicle is in motion, and a determining unit configured to determine the execution of a driving operation of the performance recovery device based on a prediction result from the predictive unit.

[0009] Publication US 2019 / 0009752A1 describes systems and methods for cleaning one or more sensors on an autonomous vehicle according to a sensor cleaning system. A method may involve a computing system, comprising one or more computing devices, obtaining data indicating a sensor state for the autonomous vehicle. The method may further involve the computing system determining a sensor cleaning sequence for one or more sensor cleaning units of the autonomous vehicle, based at least partially on the data indicating the sensor state. The one or more sensor cleaning units may be configured to each clean one or more sensors of the autonomous vehicle.The method may further include controlling the one or more sensor cleaning units by the computer system in order to sequentially clean the one or more sensors, at least partially, based on the sensor cleaning sequence.

[0010] Document US 2019 / 0135239A1 describes systems and methods for cleaning vehicle sensors using a spray pattern. A sensor cleaning system may include a fluid source that supplies a fluid and a nozzle configured to deliver a spray of the fluid to a sensor of an autonomous vehicle to remove contaminants from the sensor. The sensor cleaning system may further include a controller comprising one or more processors and one or more computer-readable media that collectively store instructions which, when executed by the one or more processors, cause the controller to perform operations.The operations may include receiving sensor data from the sensor, determining a spray pattern at least partially based on the sensor data, and controlling a flow of fluid from the fluid source to the nozzle at least partially based on the spray pattern.

[0011] The subsequently published document DE 10 2020 100 256 A1 describes a sensor cleaning device. The device comprises a base, a cylindrical sensor window attached to the base, and a spiral cleaning element movable between a retracted position in the base and an extended position that surrounds the sensor window. The cleaning element includes an outlet that is directed towards the sensor window when the cleaning element is in the extended position.

[0012] The subsequently published document DE 10 2020 102 917 A1 describes a cleaning system for vehicle lights. A system comprises at least one sensor; a plurality of lights fixed relative to the sensor; at least one vehicle component attached to the lights; and a computer communicatively coupled to the lights, the at least one sensor, and the at least one vehicle component. The computer is programmed to sequentially switch on the lights, determine that the intensity for at least one of the lights is below a corresponding intensity threshold based on data from the sensor during the sequential switching on of the lights, and actuate the at least one vehicle component in response to the fact that one of the intensities is below the corresponding intensity threshold.

[0013] Publication JP 2011-170555A describes a vehicle group control device. A following vehicle compares acceleration / deceleration information from the immediately preceding vehicle, obtained through autonomous sensor information, with two parts of acceleration / deceleration information received as radio signals. This allows the following vehicle to determine that the acceleration / deceleration information pertains to the immediately preceding vehicle. Furthermore, the following vehicle recognizes, based on the recognition result of an arrow, that the following vehicle (3) is the last in the vehicle group. Since the radio signals contain vehicle identification codes, the following vehicle communicates via radio transmission that a vehicle transmitting acceleration / deceleration information (71) is the penultimate vehicle.Then, the penultimate vehicle indicates the vehicle immediately preceding it in the same way as the last vehicle. This process is carried out sequentially until the first vehicle, so that the first vehicle determines the number of vehicles in the group. Afterward, based on the number of vehicles in the group, the first vehicle determines the position of each vehicle in the sequence from the head of the group and transmits this information via radio broadcast. SUMMARY

[0014] The invention was made to solve the aforementioned problems. One object of the invention is to provide a cleaning device for a sensor installed in a vehicle, which can clean the sensing part of the sensor installed in the vehicle, ensuring a high level of sensing accuracy of the sensor installed in the vehicle when such a high level of sensing accuracy is required.

[0015] This problem is solved by a cleaning device according to claim 1. Advantageous embodiments are specified in the dependent claims.

[0016] A cleaning device for a vehicle-integrated sensor according to the invention is used in a vehicle (hereinafter also referred to simply as the vehicle) in which a vehicle-integrated sensor is installed. The cleaning device for the vehicle-integrated sensor comprises an electronic control unit configured to perform an automatic cleaning process to clean a sensing portion of the vehicle-integrated sensor with a cleaning fluid when an automatic cleaning condition is met. The electronic control unit is configured to receive information about the current position of the vehicle as vehicle information and to execute a modification process to change the automatic cleaning condition depending on the vehicle information.The vehicle information includes a traffic light distance between (i) the vehicle and (ii) a traffic light, which can be used to regulate the movement of the vehicle.

[0017] The required detection accuracy level of the sensor installed in the vehicle varies depending on the vehicle's current position (i.e., its current location). According to the invention, the electronic control unit receives vehicle information about the vehicle's current position and uses this information to modify the automatic cleaning condition. This allows the electronic control unit to adjust the automatic cleaning condition, which must be met at a relatively high detection accuracy level of the sensor installed in the vehicle, even when the required detection accuracy level is low. When the automatic cleaning condition is met, the automatic cleaning process is executed.This ensures the high detection accuracy of the sensor installed in the vehicle when required. The automatic cleaning condition is adjusted depending on the distance to the traffic light.

[0018] According to one embodiment of the invention, the automatic cleaning condition can be a condition that an accuracy index value, representing a detection accuracy level of the sensor installed in the vehicle, is less than or equal to a predetermined threshold value. In this embodiment, the modification process can be a process for changing the predetermined threshold value depending on the vehicle information. According to this embodiment of the invention, the automatic cleaning condition can be changed by changing the predetermined threshold value relative to the accuracy index value.

[0019] According to the embodiment of the invention, the automatic cleaning condition is a condition that an accuracy index value, representing a detection accuracy level of the sensor (53) installed in the vehicle, is less than or equal to a predetermined threshold value. Furthermore, in this embodiment, the modification process is a process for changing the predetermined threshold value depending on the distance to the traffic light. Additionally, in this embodiment, the electronic control unit is configured to set a first threshold value as the predetermined threshold value when the distance to the traffic light is greater than or equal to a first distance.Furthermore, the electronic control unit is configured to set a second threshold, greater than the first threshold, as the predetermined determination threshold if the traffic light distance is shorter than the first distance and greater than or equal to the second distance. Furthermore, the electronic control unit is configured to set a third threshold, less than the first threshold, as the predetermined determination threshold if the traffic light distance is shorter than the second distance.

[0020] According to this embodiment of the invention, if the traffic light distance is shorter than the first distance and greater than or equal to the second distance, the predetermined determination threshold is set to the second threshold, i.e., a higher value. Consequently, the automatic cleaning condition is met at the relatively high detection accuracy level of the sensor installed in the vehicle. As a result, the automatic cleaning process is executed at a relatively high detection accuracy level of the sensor installed in the vehicle. Thus, the high detection accuracy level of the sensor installed in the vehicle can be ensured even when the traffic light distance is shorter than the second distance.

[0021] According to a further embodiment of the invention, the electronic control unit can be configured to obtain the traffic light distance based on a traffic light installation signal transmitted by a transmitter, indicating that the traffic light is installed. According to this embodiment of the invention, the traffic light distance can be obtained using the traffic light installation signal transmitted by the transmitter.

[0022] According to a further embodiment of the invention, the electronic control unit can be configured to determine that the traffic light distance is greater than or equal to the first distance if the electronic control unit does not receive a traffic light installation signal transmitted by a transmitter indicating that the traffic light is installed. According to this embodiment of the invention, the traffic light installation signal transmitted by the transmitter can be used to determine whether the traffic light distance is greater than or equal to the first distance.

[0023] According to a further embodiment of the invention, the electronic control unit can be configured to determine that the traffic light distance is greater than or equal to the first distance if the electronic control unit does not receive a traffic light installation signal transmitted by a transmitter indicating that the traffic light is installed. Furthermore, the electronic control unit can be configured to determine that the traffic light distance is shorter than the first distance and greater than or equal to the second distance if (i) the electronic control unit receives the traffic light installation signal and (ii) the distance traveled by the vehicle since the electronic control unit began receiving the traffic light installation signal is less than or equal to a predetermined distance.Furthermore, the electronic control unit can be configured to determine that the traffic light distance is shorter than the second distance if the distance traveled by the vehicle since the electronic control unit began receiving the traffic light installation signal is longer than the predetermined distance.

[0024] According to this embodiment of the invention, it is possible to determine, using the traffic light installation signal transmitted by the transmitting device, whether the traffic light distance is greater than or equal to the first distance and whether the traffic light distance is greater than or equal to the second distance.

[0025] According to a further embodiment of the invention, the electronic control unit can be configured to perform a manual cleaning process to clean the sensing part by means of the cleaning fluid when (i) the traffic light distance is greater than or equal to the second distance and (ii) a switch is actuated to request that the sensing part be cleaned.

[0026] According to this embodiment of the invention, the manual cleaning process is not carried out if the traffic light distance is shorter than the second distance. This prevents the detection accuracy of the sensor installed in the vehicle from being reduced due to the presence of cleaning fluid on the detection element when the traffic light distance is shorter than the second distance.

[0027] According to a further embodiment of the invention, the vehicle information can include a distance between (i) the current position of the vehicle and (ii) a range where a detection accuracy level of the sensor installed in the vehicle, which is higher than or equal to a predetermined accuracy level, is required. According to this embodiment of the invention, the automatic cleaning condition can be changed depending on the required detection accuracy level of the sensor installed in the vehicle.

[0028] According to a further embodiment of the invention, the vehicle information can include a range distance between (i) the current position of the vehicle and (ii) a range where a detection accuracy level of the sensor installed in the vehicle is required that is greater than or equal to a predetermined accuracy level. In this embodiment, the automatic cleaning condition can be a condition that an accuracy index value, representing a detection accuracy level of the sensor installed in the vehicle, is less than or equal to a predetermined detection threshold. In this embodiment, the modification process can be a process for changing the predetermined detection threshold depending on the range distance.In this configuration, the electronic control unit can be configured to set a first threshold as the predetermined determination threshold when the range distance is greater than or equal to a first distance. Furthermore, the electronic control unit can be configured to set a second threshold, greater than the first threshold, as the predetermined determination threshold when the range distance is shorter than the first distance but greater than or equal to a second distance. Finally, the electronic control unit can be configured to set a third threshold, less than the first threshold, as the predetermined determination threshold when the range distance is shorter than the second distance.

[0029] According to this embodiment of the invention, if the detection range is shorter than the first distance and greater than or equal to the second distance, the predetermined detection threshold is set to the second threshold, i.e., a higher value. Consequently, the automatic cleaning condition is met at a relatively high detection accuracy level of the sensor installed in the vehicle. As a result, the automatic cleaning process is executed at the relatively high detection accuracy level of the sensor installed in the vehicle. Thus, the high detection accuracy level of the sensor installed in the vehicle can be ensured even when the detection range is shorter than the second distance.

[0030] According to a further embodiment of the invention, the vehicle information can include a range distance between (i) the current position of the vehicle and (ii) a range where a detection accuracy level of the sensor installed in the vehicle, greater than or equal to a predetermined accuracy level, is required. In this embodiment, the automatic cleaning condition is a condition that (i) the range distance is shorter than a first distance and (ii) an accuracy index value, representing the detection accuracy level of the sensor installed in the vehicle, is less than or equal to a predetermined determination threshold.

[0031] According to this embodiment of the invention, if the distance between the areas is greater than or equal to the first distance, the automatic cleaning process is not carried out. This reduces the amount of cleaning fluid consumed.

[0032] According to a further embodiment of the invention, the vehicle information can include a range distance between (i) the current position of the vehicle and (ii) a range where a detection accuracy level of the sensor installed in the vehicle, greater than or equal to a predetermined accuracy level, is required. In this embodiment, the automatic cleaning condition can be a condition that an accuracy index value, representing a detection accuracy level of the sensor installed in the vehicle, becomes less than or equal to a predetermined threshold value. In this embodiment, the modification process can be a process for changing the predetermined threshold value depending on the range distance.In this configuration, the electronic control unit can be configured to set a first threshold as the predetermined detection threshold when the area distance is greater than or equal to the distance at which the vehicle is assumed to be moving until cleaning of the detection element is complete. Furthermore, the electronic control unit can be configured to set a second threshold, greater than the first threshold, as the predetermined detection threshold when the area distance becomes equal to the distance at which the vehicle is assumed to be moving until cleaning of the detection element is complete, and immediately thereafter to set a third threshold, less than the first threshold, as the predetermined detection threshold.

[0033] According to this embodiment of the invention, the predetermined detection threshold is only set to the second threshold, i.e., a higher value, when the detection range becomes equal to the distance the vehicle is assumed to be moving around it until the detection element has finished cleaning. As a result, with the relatively high detection accuracy of the sensor installed in the vehicle, the automatic cleaning condition is only met when the detection range becomes equal to the distance the vehicle is assumed to be moving around it until the detection element has finished cleaning. This reduces the amount of cleaning fluid consumed.

[0034] According to a further embodiment of the invention, the area can be an area where it is assumed that the vehicle itself is being braked.

[0035] When the vehicle is braked, the high detection accuracy of the sensor installed in the vehicle may be required. According to this embodiment of the invention, the high detection accuracy of the sensor installed in the vehicle can be ensured while the vehicle is moving into an area where the high detection accuracy of the sensor installed in the vehicle may be required.

[0036] According to a further embodiment of the invention, the electronic control unit can be configured to determine whether the automatic cleaning condition is met when the vehicle is in motion. Furthermore, the electronic control unit can be configured to stop determining whether the automatic cleaning condition is met when the vehicle is stopped.

[0037] When the vehicle stops, a person or similar may be walking around it. If (i) a person or similar is walking around the vehicle and (ii) the automatic cleaning process is executed, the cleaning fluid may splash the person or similar. According to this embodiment of the invention, it is not determined whether the automatic cleaning condition is met when the vehicle stops. As a result, the automatic cleaning process is not executed when the vehicle stops. Thus, it is possible to prevent the cleaning fluid from splashing the person or similar.

[0038] According to a further embodiment of the invention, the sensor installed in the vehicle can be a sensor that detects a situation behind the vehicle. In this embodiment, the electronic control unit can be configured to change such that the automatic cleaning condition is met at a higher detection accuracy level of the sensor installed in the vehicle when the sensor detects a following vehicle approaching the vehicle from behind at a speed greater than or equal to a predetermined speed.

[0039] When a following vehicle approaches the vehicle from behind, the driver likely needs information about the situation behind their vehicle. According to this embodiment of the invention, the automatic cleaning condition is modified to be met with a relatively high detection accuracy level of the vehicle-integrated sensor when (i) the vehicle-integrated sensor is the sensor that detects the situation behind the vehicle, and (ii) the vehicle-integrated sensor detects the following vehicle approaching the vehicle from behind at the predetermined speed or higher. Thus, the high detection accuracy level of the vehicle-integrated sensor can be ensured when the driver likely needs information about the situation behind their vehicle.

[0040] Elements of the invention are not limited to those elements of exemplary embodiments and modified examples of the invention described together with the drawing. The other problems, features, and associated advantages of the invention can be easily understood from the exemplary embodiments and modified examples of the invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 shows a representation that depicts a cleaning device for a sensor installed in a vehicle according to an embodiment of the invention and a vehicle in which the cleaning device for the sensor installed in the vehicle is installed. Fig. Figure 2 shows a representation describing the operation of the cleaning device for the sensor installed in the vehicle according to the embodiment of the invention. Fig. Figure 3 shows a representation that depicts a flowchart of a routine executed by a CPU of an ECU according to the embodiment of the invention. Fig. Figure 4 shows a diagram illustrating a flowchart of a routine executed by the CPU. Fig. Figure 5 shows a diagram depicting a flowchart of a routine executed by the CPU. DESCRIPTION OF THE EXAMPLES OF EXECUTION

[0041] A cleaning device for a sensor installed in a vehicle, according to an embodiment of the invention, is described below with reference to the drawing. As shown in Fig. As shown in Figure 1, the cleaning device for the sensor 10 installed in the vehicle is installed in a vehicle 100 according to the embodiment of the invention. The vehicle 100 is also equipped with a drive torque generating device 20 and a brake device 30.

[0042] The drive torque generating device 20 generates a vehicle drive torque that is applied to the driven wheels of the vehicle 100 to propel the vehicle 100. In this embodiment, the drive torque generating device 20 comprises an internal combustion engine. Alternatively, the drive torque generating device 20 can comprise at least one electric motor. Alternatively, the drive torque generating device 20 can comprise the internal combustion engine and the at least one electric motor. The braking device 30 generates braking forces that are applied to the wheels of the vehicle 100 to brake the vehicle 100.

[0043] Furthermore, the vehicle 100 is equipped with a control device that controls the activation of the drive torque generation device 20 and the brake device 30. The control device comprises a control unit, or ECU 90. The ECU 90 comprises a CPU, a ROM, a RAM, and an interface. The cleaning device for the sensor 10 installed in the vehicle includes the ECU 90 as a component thereof.

[0044] As it is in Fig. As shown in Figure 1, the drive torque generating device 20 and the brake device 30 are electrically connected to the ECU 90. The ECU 90 can control the vehicle drive torque generated by the drive torque generating device 20 by controlling an activation state of the drive torque generating device 20. Likewise, the ECU 90 can control the braking force generated by the brake device 30 by controlling an activation state of the brake device 30.

[0045] Furthermore, the vehicle 100 is equipped with an accelerator pedal actuation sensor 51 and a brake pedal actuation sensor 52. The accelerator pedal actuation sensor 51 and the brake pedal actuation sensor 52 are electrically connected to the ECU 90.

[0046] The accelerator pedal actuation amount sensor 51 detects the amount of actuation applied to an accelerator pedal 21 of the vehicle 100 and sends a signal representing the detected amount to the ECU 90. The ECU 90 receives the amount of actuation applied to the accelerator pedal 21 as an accelerator pedal actuation amount AP based on the received signal and controls the activation state of the drive torque generating device 20 based on the received accelerator pedal actuation amount AP.

[0047] The brake pedal actuation amount sensor 52 detects the amount of actuation applied to a brake pedal 31 of the vehicle 100 and sends a signal representing the detected amount to the ECU 90. The ECU 90 receives the amount of actuation applied to the brake pedal 31 as a brake pedal actuation amount BP based on the received signal and controls the activation state of the brake device 30 based on the received brake pedal actuation amount BP.

[0048] Furthermore, the cleaning device for the vehicle-installed sensor 10 is equipped with a vehicle-installed sensor 53, an interior mirror 61, a receiver 62, a manual cleaning switch 63 (also referred to as switch 63), a pump 71, a cleaning fluid injection device or cleaning fluid spray device 72, and a cleaning fluid reservoir 73. The vehicle-installed sensor 53, the interior mirror 61, the receiver 62, the manual cleaning switch 63, the pump 71, and the cleaning fluid injection device 72 are electrically connected to the ECU 90. The cleaning fluid reservoir 73 stores a cleaning fluid that is used to clean the vehicle-installed sensor 53.The cleaning fluid reservoir 73 is fluidly connected to the pump 71 via a cleaning fluid pipe 74, wherein the pump 71 is fluidly connected to the cleaning fluid injection device 72 via a cleaning fluid pipe 75.

[0049] The cleaning device for the sensor 10 installed in the vehicle includes the manual cleaning switch 63, the pump 71, the cleaning fluid injection device 72 and the cleaning fluid reservoir 73 as associated components.

[0050] The sensor 53 installed in the vehicle detects the situation around the vehicle 100. Information about the situation detected by the sensor 53 is used as driver assistance information to support the driving of the vehicle 100. The sensor 53 includes a detection element 531 that detects the situation around the vehicle 100. In this embodiment, the sensor 53 is a camera sensor comprising a CCD camera. Consequently, in this embodiment, the detection element 531 is a lens of the CCD camera.

[0051] The vehicle-integrated sensor 53 is attached to the vehicle 100 to capture images of the view behind the vehicle 100 using the CCD camera. The vehicle-integrated sensor 53 transmits data about the images captured by the CCD camera to the ECU 90. The ECU 90 displays the image behind the vehicle 100 on a display 611 of the interior mirror 61 based on the received data.

[0052] The interior mirror 61 is mounted in the vehicle 100 in a position in front of the driver's seat such that the driver can see the interior mirror 61. The driver can perceive the situation behind the vehicle 100 by seeing the image displayed on the screen 611 of the interior mirror 61 while driving the vehicle 100.

[0053] The sensor 53 installed in the vehicle can be a camera sensor that includes the CCD camera and is attached to the vehicle 100 to capture images of a view in front of the vehicle 100 through the CCD camera.

[0054] For example, if the sensor 53 installed in the vehicle is a camera sensor that captures images of the view in front of the vehicle 100 through the CCD camera, the ECU 90 stores the received data about the images captured by the CCD camera in a dashcam data recording device. Alternatively, if the ECU 90 determines that there is an object in front of the vehicle 100, based on the received data about the images captured by the CCD camera, the ECU 90 executes a control action to prevent the vehicle 100 from contacting the object.

[0055] The sensor 53 installed in the vehicle can be a radar sensor, a free-space sonar, or a LiDAR, which is mounted on the vehicle 100 to detect the object around the vehicle 100. For example, if the ECU 90 detects the object around the vehicle 100 by the radar sensor, the free-space sonar, or the LiDAR, the ECU 90 executes the control to prevent the vehicle 100 from contacting the object.

[0056] The receiving device 62 receives signals transmitted by a transmitting device 200 (or a so-called street-side communication device). As described in Fig. As shown in Figure 2, the transmitter 200 is installed, for example, around a traffic intersection 201 with traffic lights 202. In this case, the transmitter 200 transmits signals representing the lighting states of the traffic lights 202. The receiver 62 receives the signals. When the receiver 62 receives the signals transmitted by the transmitter 200, the receiver 62 sends the received signals to the ECU 90.

[0057] Based on the received signals, the ECU 90 can detect whether one of the traffic lights 202 is installed in front of the vehicle 100 in a direction of travel, in order to regulate the vehicle 100's movement. The traffic light 202 that regulates the vehicle 100's movement is referred to below as "the destination traffic light 202tgt". One of the signals transmitted by the transmitter 200 is a traffic light installation signal indicating the presence of the destination traffic light 202tgt. Furthermore, the ECU 90 can detect whether the destination traffic light 202tgt is illuminated (red or green).

[0058] If the distance between the receiving device 62 and the transmitting device 200 is less than or equal to a certain distance Dsig, the receiving device 62 receives the signals transmitted by the transmitting device 200. Consequently, the distance between the receiving device 62 and the transmitting device 200 corresponds to the distance Dsig when the receiving device 62 begins receiving the signals transmitted by the transmitting device 200. Therefore, the ECU 90 can determine the distance between the vehicle 100 and the traffic light 202 based on the distance Dsig.

[0059] The transmitter 200 can be configured to transmit signals indicating that stop lines are in place on roads. When the transmitter 200 is configured to transmit signals indicating that stop lines are in place on roads, the receiver 62 sends the received signal indicating that stop lines are in place on roads to the ECU 90. Based on the received signals, the ECU 90 can detect the stop lines in front of the vehicle 100 in the direction of travel of the vehicle 100 in order to regulate the movement of the vehicle 100.

[0060] The manual cleaning switch 63 is operated by the driver of vehicle 100. When the manual cleaning switch 63 is operated by the driver, it sends a signal to the ECU 90 indicating that it has been activated. When the ECU 90 receives the signal, it determines that the manual cleaning switch 63 is being activated.

[0061] The ECU 90 can control the activation states of pump 71 and the cleaning fluid injection device 72. When pump 71 is activated by the ECU 90, it draws cleaning fluid from the cleaning fluid reservoir 73 via the cleaning fluid tube 74 and supplies it to the cleaning fluid injection device 72 via the cleaning fluid tube 75. When the cleaning fluid injection device 72 is activated while the cleaning fluid is being supplied to it by pump 71, the device sprays the cleaning fluid. The cleaning fluid injection device 72 is positioned to apply the sprayed cleaning fluid to the sensing element 531 of the vehicle-integrated sensor 53. In this embodiment, the vehicle-integrated sensor 53 is the camera sensor.Thus, the cleaning fluid injection device 72 is positioned to apply the sprayed cleaning fluid to the lens of the camera sensor. When the cleaning fluid is applied to the sensing part 531 of the vehicle-mounted sensor 53, the sensing part 531 of the vehicle-mounted sensor 53 is cleaned by the cleaning fluid. <Zusammenfassung der Betriebe der Reinigungsvorrichtung für den im Fahrzeug eingebauten Sensor>

[0062] Next, a summary of the operation of the cleaning device for the vehicle-integrated sensor 10 is described. If the sensing element 531 of the vehicle-integrated sensor 53 becomes dirty due to water droplets and the like, the sensing accuracy level of the vehicle-integrated sensor 53 decreases. For example, if (i) the vehicle-integrated sensor 53 is the camera sensor and (ii) the lens of the CCD camera corresponding to the sensing element 531 becomes dirty, the sensing accuracy level of the CCD camera decreases. As a result, the images captured by the CCD camera may become blurred. If the images are blurred, the images of the view behind the vehicle 100 displayed on the display 611 of the interior rearview mirror 61 may also be blurred.If the images on display 611 are blurred, the driver may not be able to properly perceive the situation behind vehicle 100 by looking at the interior mirror 61.

[0063] The cleaning device initiates an automatic cleaning process for the sensor 10 installed in the vehicle, cleaning the sensing element 531 of the sensor 53 installed in the vehicle with the cleaning fluid when an automatic cleaning condition is met. The automatic cleaning process is a process to activate the pump 71 and the cleaning fluid injection device 72 to spray the cleaning fluid onto the sensing element 531 of the sensor 53 installed in the vehicle from the cleaning fluid injection device 72.

[0064] The cleaning device for the vehicle-installed sensor 10 receives a value representing the detection accuracy level of the vehicle-installed sensor 53, as an accuracy index value P, as described below.

[0065] The image provided by the vehicle-integrated sensor 53 includes images of figures and characters. The cleaning device for the vehicle-integrated sensor 10 determines whether the image includes figures or characters that can be uniquely identified. If the cleaning device for the vehicle-integrated sensor 10 determines that the image includes figures or characters that can be uniquely identified, the cleaning device for the vehicle-integrated sensor 10 receives the sizes of the figures or characters that can be uniquely identified. The cleaning device for the vehicle-integrated sensor 10 has a previously stored relationship between the sizes of the figures or characters that can be uniquely identified and the accuracy index value P.The cleaning device for the sensor 10 installed in the vehicle obtains the accuracy index value P based on (i) the size of the smallest figure or character that can be uniquely recognized, and (ii) the previously stored relationship. The obtained accuracy index value P increases as the size of the smallest figure or character decreases.

[0066] If the accuracy index value P is less than or equal to a predetermined determination threshold value Pth, the cleaning device for the vehicle-integrated sensor 10 determines that the automatic cleaning condition is met. If the cleaning device for the vehicle-integrated sensor 10 determines that the automatic cleaning condition is met, the cleaning device for the vehicle-integrated sensor 10 executes the automatic cleaning process.

[0067] If (i) the destination traffic light 202tgt is present and (ii) the vehicle 100 is approaching the destination traffic light 202tgt, the driver can apply the brake pedal 31 to decelerate the vehicle 100. When the driver applies the brake pedal 31, the driver can check the situation behind the vehicle 100 using the interior mirror 61. Consequently, if (i) the destination traffic light 202tgt is present and (ii) the sensing element 531 of the sensor 53 installed in the vehicle required cleaning by the cleaning fluid, the cleaning of the sensing element 531 by the cleaning fluid should ideally be completed before the driver begins applying the brake pedal 31, i.e., before the driver looks at the interior mirror 61.

[0068] As it is in Fig. As shown in Figure 2, the cleaning device for the sensor 10 installed in the vehicle has set a braking area Abrk, a first area A1, a second area A2 and a third area A3 as areas where the vehicle 100 moves.

[0069] The braking zone Abrk is a region between (i) a point at a predetermined distance Dbrk before the finish line light 202tgt and (ii) the finish line light 202tgt. In other words, the braking zone Abrk is a region that has a distance Dtgt to the finish line light 202tgt that is less than the predetermined distance Dbrk.

[0070] The braking range Abrk is a range where the driver can apply the brake pedal 31 to brake the vehicle 100 in response to a lighting condition of the destination traffic light 202tgt. In other words, the braking range Abrk is a range where the driver may be looking at the image displayed on the screen 611 of the interior mirror 61. In other words, the braking range Abrk is a range where the detection accuracy level of the sensor 53 installed in the vehicle, which is greater than or equal to a predetermined accuracy level, is required. In other words, the braking range Abrk is a range where information about the situation around the vehicle 100, detected by the sensor 53 installed in the vehicle, is likely to be needed.

[0071] The braking range Abrk can be a range between (i) the point of predetermined distance Dbrk before the finish light 202tgt and (ii) a point of predetermined distance D10 after the finish light 202tgt. Hereinafter, the predetermined distance D10 is referred to as "the predetermined traffic light distance D10". The predetermined traffic light distance D10 is a distance from the finish light 202tgt to a point where the driver can potentially apply the brake pedal 31 to brake the vehicle 100.

[0072] The first area A1 is an area in front of a point at a predetermined distance D11 before the destination traffic light 202tgt. In other words, the first area A1 is an area that has a distance Dtgt to the destination traffic light 202tgt that is greater than or equal to the predetermined distance D11. The predetermined distance D11 is longer than the predetermined distance Dbrk. Hereinafter, the predetermined distance D11 is referred to as "the first traffic light distance D11".

[0073] The second area A2 is an area between (i) a point at the first traffic light distance D11 before the destination traffic light 202tgt and (ii) a point at a predetermined distance D12 before the destination traffic light 202tgt. In other words, the second area A2 is an area that has a distance Dtgt to the destination traffic light 202tgt that is shorter than the first traffic light distance D11 and greater than or equal to the predetermined distance D12. The predetermined distance D12 is shorter than the first traffic light distance D11. The predetermined distance D12 is longer by a distance dD than the predetermined distance Dbrk. The distance dD is a distance at which the vehicle is assumed to travel 100° until the cleaning fluid has been removed from the sensing part 531 after it has been sprayed onto the sensing part 531.In other words, the distance dD is the distance that vehicle 100 is assumed to be moving around until the cleaning of the detection part 531 by the cleaning fluid is complete. The distance dD can be a constant distance, regardless of the speed of vehicle 100. Alternatively, the distance dD can be a distance that increases as the speed of vehicle 100 increases. Hereinafter, the predetermined distance D12 is referred to as "the second traffic light distance D12".

[0074] The third area A3 is an area between (i) a point of the second traffic light distance D12 before the destination traffic light 202tgt and (ii) the destination traffic light 202tgt. In other words, the third area A3 is an area that has a distance Dtgt to the destination traffic light 202tgt that is shorter than the second traffic light distance D12.

[0075] The third area A3 can be an area between (i) the point at the second traffic light distance D12 before the target traffic light 202tgt and (ii) the point at the predetermined traffic light distance D10 after the target traffic light 202tgt.

[0076] The cleaning device for the sensor 10 installed in the vehicle determines whether the vehicle 100 is moving in the first area A1, the second area A2, or the third area A3, based on a distance Ds between the vehicle 100 and the destination traffic light 202tgt, as described below. Hereinafter, the distance Ds is referred to as "the traffic light distance Ds".

[0077] In particular, if the cleaning device for the vehicle-mounted sensor 10 does not receive the signal transmitted by the transmitter 200, the cleaning device for the vehicle-mounted sensor 10 determines that the traffic light distance Ds is greater than or equal to the first traffic light distance D11. In this case, the cleaning device for the vehicle-mounted sensor 10 determines that the vehicle 100 is moving within the first area A1.

[0078] When the cleaning device for the vehicle-mounted sensor 10 begins to receive the signal transmitted by the transmitter 200, the cleaning device for the vehicle-mounted sensor 10 determines that the traffic light distance Ds becomes equal to the first traffic light distance D11. In this case, the cleaning device for the vehicle-mounted sensor 10 determines that the vehicle 100 enters the second area A2.

[0079] The cleaning device for the vehicle-integrated sensor 10 determines that the traffic light distance Ds is less than the first traffic light distance D11 and greater than or equal to the second traffic light distance D12 until the vehicle 100 moves a predetermined distance D21 after the cleaning device for the vehicle-integrated sensor 10 has determined that the vehicle 100 is entering the second zone A2. In this case, the cleaning device for the vehicle-integrated sensor 10 determines that the vehicle 100 is moving into the second zone A2. The cleaning device for the vehicle-integrated sensor 10 obtains a distance by which the vehicle 100 moves based on the vehicle 100's speed and an elapsed time. Hereinafter, the predetermined distance D21 is referred to as "the first movement distance D21".

[0080] When vehicle 100 moves the first distance D21 after entering the second zone A2, the cleaning device determines for the sensor 10 installed in the vehicle that the traffic light distance Ds becomes equal to the second traffic light distance D12. In this case, the cleaning device determines for the sensor 10 installed in the vehicle that vehicle 100 enters the third zone A3.

[0081] The cleaning device for the vehicle-integrated sensor 10 determines that the traffic light distance Ds is less than the second traffic light distance D12 until the vehicle 100 moves a predetermined distance D22 after the cleaning device for the vehicle-integrated sensor has determined that the vehicle 100 is entering the third zone A3. In this case, the cleaning device for the vehicle-integrated sensor 10 determines that the vehicle 100 is moving into the third zone A3. Hereinafter, the predetermined distance D22 is referred to as "the second movement distance D22".

[0082] When vehicle 100 moves the second distance D22 after entering the third zone A3, the cleaning device determines for the sensor 10 installed in the vehicle that the traffic light distance Ds becomes zero. Specifically, the cleaning device determines for the sensor 10 installed in the vehicle that vehicle 100 has reached the target traffic light 202tgt. In this case, the cleaning device determines for the sensor 10 installed in the vehicle that vehicle 100 is moving out of the third zone A3.

[0083] The cleaning device uses the sensor 10 installed in the vehicle to configure the first area A1, the second area A2, and the third area A3 based on the stop lines that regulate the movement of the vehicle 100. The stop line that regulates the movement of the vehicle 100 is referred to below as "the target stop line".

[0084] The cleaning device for the sensor 10 installed in the vehicle can be configured to obtain a current position of the vehicle 100 by using GPS signals and to obtain the traffic light distance Ds by using the obtained current position of the vehicle 100 and map information.

[0085] The cleaning device for the vehicle-installed sensor 10 sets the predetermined determination threshold Pth to a predetermined value or a first threshold P1 when the vehicle 100 moves into the first zone A1. In other words, the cleaning device for the vehicle-installed sensor sets the predetermined determination threshold Pth to the first threshold P1 when the traffic light distance Ds is greater than or equal to the first traffic light distance D11. In other words, the cleaning device for the vehicle-installed sensor 10 sets the predetermined determination threshold Pth to the first threshold P1 when a distance Da between the vehicle 100 and the braking zone Abrk is greater than or equal to a first zone distance B31 (see Fig. 2) Hereinafter, the distance Da will be referred to as "the range distance Da".

[0086] In this embodiment, the first threshold value P1 is, for example, a lower limit of the accuracy index value P, which enables the driver to recognize the largest figure or character on a license plate of the following vehicle, as displayed in the interior mirror 61.

[0087] If the accuracy index value P becomes less than or equal to the first threshold value P1 while the vehicle 100 is moving within the first area A1, the cleaning device for the vehicle-integrated sensor 10 determines that the automatic cleaning condition is met. In other words, the cleaning device for the vehicle-integrated sensor 10 determines that it is necessary to clean the sensing part 531 of the vehicle-integrated sensor 53. In this case, the cleaning device for the vehicle-integrated sensor 10 performs the automatic cleaning process. This cleans the sensing part 531. As a result, the sensing accuracy level of the vehicle-integrated sensor 53 increases.

[0088] The quantity of cleaning fluid sprayed by the cleaning fluid injection device 72 during the automatic cleaning process can be adjusted as appropriate. The quantity of cleaning fluid sprayed by the cleaning fluid injection device 72 during the automatic cleaning process can be set to a constant quantity, independent of the accuracy index value P, or it can be set to a quantity that varies depending on the accuracy index value P at a given time when the automatic cleaning process is initiated.If the amount of cleaning fluid sprayed by the cleaning fluid injection device 72 during the automatic cleaning process is set to a quantity that varies depending on the accuracy index value P at the time the automatic cleaning process is started, the amount of cleaning fluid sprayed by the cleaning fluid injection device 72 during the automatic cleaning process can be set to a quantity that increases when the accuracy index value P decreases at the time the automatic cleaning process is performed.

[0089] The number of times the cleaning fluid is sprayed from the cleaning fluid injection device 72 through the automatic cleaning process can be adjusted appropriately.

[0090] The number of times the cleaning fluid is sprayed by the cleaning fluid injection device 72 during the automatic cleaning process can be set to a constant value, independent of the total amount of cleaning fluid sprayed by the cleaning fluid injection device 72 during the automatic cleaning process. Alternatively, the number of times the cleaning fluid is sprayed by the cleaning fluid injection device 72 during the automatic cleaning process can be set to a value that varies depending on the total amount of cleaning fluid sprayed by the cleaning fluid injection device 72 during the automatic cleaning process.If the number of times to spray the cleaning fluid from the cleaning fluid injection device 72 through the automatic cleaning process is set to a value that varies depending on the total amount of cleaning fluid sprayed from the cleaning fluid injection device 72 through the automatic cleaning process, the number of times to spray the cleaning fluid from the cleaning fluid injection device 72 through the automatic cleaning process is set, for example, to a value that increases when the total amount of cleaning fluid sprayed from the cleaning fluid injection device 72 through the automatic cleaning process increases.

[0091] When vehicle 100 enters the second zone A2 from the first zone A1, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to a second threshold P2 that is greater than the first threshold P1. In other words, if the traffic light distance Ds is shorter than the first traffic light distance D11 and greater than or equal to the second traffic light distance D12, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to the second threshold P2. In other words, if the zone distance Da is shorter than the first zone distance D31 and greater than or equal to a second zone distance D32 (see Fig. 2) The cleaning device for the sensor installed in the vehicle sets the predetermined detection threshold Pth to the second threshold P2. This increases the predetermined detection threshold Pth. As a result, the automatic cleaning condition is met at a relatively high detection accuracy level of the sensor 53 installed in the vehicle. Thus, the automatic cleaning process is executed at a relatively high detection accuracy level of the sensor 53 installed in the vehicle.

[0092] In this embodiment, the second threshold value P2 is, for example, a lower limit of the accuracy index value P, which enables the driver to recognize the smallest figure or character of the license plate of the following vehicle displayed in the interior mirror 61.

[0093] If (i) the vehicle 100 enters the second area A2 of the first area A1 and (ii) the accuracy index value P is less than or equal to the second threshold value P2, the cleaning device for the vehicle-integrated sensor 10 determines that the automatic cleaning condition is met. In this case, the cleaning device for the vehicle-integrated sensor 10 performs the automatic cleaning process. This cleans the sensing element 531. As a result, the sensing accuracy level of the vehicle-integrated sensor 53 increases.

[0094] Even if the accuracy index value P is greater than the second threshold value P2 when the vehicle 100 enters the second area A2 from the first area A1, the accuracy index value P can become less than or equal to the second threshold value P2 while the vehicle is moving into the second area A2. In this case, the cleaning device for the vehicle-integrated sensor 10 determines that the automatic cleaning condition is met. The cleaning device then performs the automatic cleaning process for the vehicle-integrated sensor 10. This cleans the sensing element 531. As a result, the sensing accuracy level of the vehicle-integrated sensor 53 increases.

[0095] When vehicle 100 enters the third zone A3 from the second zone A2, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to a third threshold P3, which is lower than the first threshold P1. In other words, if the traffic light distance Ds is shorter than the second traffic light distance D12, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to the third threshold P3. Similarly, if the zone distance Da is shorter than the second zone distance D32, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to the third threshold P3. This lowers the predetermined determination threshold Pth to a lower value.Thus, the automatic cleaning condition is met at the relatively low detection accuracy level of the sensor 53 installed in the vehicle. As a result, the automatic cleaning process is executed at the relatively low detection accuracy level of the sensor 53 installed in the vehicle.

[0096] In this embodiment, the third threshold is, for example, a lower limit of the accuracy index value P, which enables the driver to recognize the following vehicle displayed in the interior mirror 61.

[0097] If the accuracy index value P becomes less than or equal to the third threshold value P3 while the vehicle 100 is moving within the third area A3, the cleaning device for the vehicle-integrated sensor 10 determines that the automatic cleaning condition is met. In this case, the cleaning device for the vehicle-integrated sensor 10 performs the automatic cleaning process. This cleans the sensing element 531. As a result, the sensing accuracy level of the vehicle-integrated sensor 53 increases.

[0098] This cleans the detection element 531 with the relatively high detection accuracy level of the vehicle-integrated sensor 53 when the vehicle 100 moves in the second area A2. Consequently, the high detection accuracy level of the vehicle-integrated sensor 53 can be ensured when the vehicle 100 moves in the braking area Abrk. Thus, the driver can accurately perceive the situation behind the vehicle 100 through the interior mirror 61 when the vehicle 100 is moving in the braking area Abrk. <Manuelle Reinigung>

[0099] If (i) the manual cleaning switch 63 is activated and (ii) the vehicle 100 is moving within the third area A3, the cleaning device for the vehicle-integrated sensor 10 determines that a manual cleaning condition is not met. If the cleaning device for the vehicle-integrated sensor 10 determines that the manual cleaning condition is not met, the cleaning device for the vehicle-integrated sensor 10 does not perform a manual cleaning operation to spray the cleaning fluid from the cleaning fluid injection device 72 onto the sensing part 531 of the vehicle-integrated sensor 53. In other words, the cleaning device for the vehicle-integrated sensor 10 prohibits the execution of the manual cleaning operation if (i) the manual cleaning switch is activated and (ii) the vehicle 100 is moving within the third area A3.

[0100] In contrast, when (i) the manual cleaning switch 63 is activated and (ii) the vehicle 100 is moving in the first area A1 or the second area A2, the cleaning device for the vehicle-integrated sensor 10 determines that the manual cleaning condition is met. When the cleaning device for the vehicle-integrated sensor 10 determines that the manual cleaning condition is met, the cleaning device for the vehicle-integrated sensor 10 performs the manual cleaning process. In other words, the cleaning device for the vehicle-integrated sensor 10 allows the manual cleaning process to be carried out when (i) the manual cleaning switch is activated and (ii) the vehicle 100 is moving in the first area A1 or the second area A2.

[0101] This ensures that the manual cleaning process is carried out when the vehicle 100 moves within the first area A1 or the second area A2. This guarantees the high detection accuracy of the sensor 53 installed in the vehicle while the vehicle 100 is moving within the braking area Abrk.

[0102] The cleaning device for the sensor 10 installed in the vehicle can be configured, independently of the accuracy index value P, to determine that the automatic cleaning condition is not met when the vehicle 100 is moving within the first area A1. This can further reduce the total amount of cleaning fluid consumed.

[0103] When vehicle 100 stops, a person may be walking around it. If the automatic cleaning process is executed while a person is walking around vehicle 100, the cleaning fluid could splash the person. Therefore, the cleaning device can be configured for the sensor 10 installed in the vehicle not to determine whether the automatic cleaning condition is met when vehicle 100 stops, i.e., when the vehicle 100's speed is zero. This prevents the automatic cleaning process from being executed when vehicle 100 stops, thus preventing the cleaning fluid from splashing the person. In this case, the cleaning device is configured for the sensor 10 installed in the vehicle to determine whether the automatic cleaning condition is met while vehicle 100 is moving.when the vehicle's speed is 100 times greater than zero.

[0104] If another vehicle is approaching vehicle 100 from behind it at a speed greater than or equal to a predetermined speed, the driver may attempt to visually detect the other vehicle through the interior mirror 61. Accordingly, the cleaning device for the sensor 10 installed in the vehicle may be configured to increase the predetermined detection threshold Pth when a following vehicle condition is met, namely that another vehicle is approaching vehicle 100 from behind it at a speed greater than or equal to the predetermined speed.In particular, the cleaning device for the vehicle-mounted sensor 10 can be configured to increase the predetermined detection threshold Pth of the first threshold P1 when (i) the vehicle 100 is moving within the first area A1 and (ii) the following vehicle condition is met. In other words, the cleaning device for the vehicle-mounted sensor 10 can be configured to change the automatic cleaning condition at the relatively high detection accuracy level of the vehicle-mounted sensor 53 when the following vehicle condition is met. Hereinafter, a vehicle approaching vehicle 100 from behind it at a speed greater than or equal to the predetermined speed is referred to as the “rapidly approaching following vehicle”.

[0105] When the automatic cleaning process is performed, the image displayed in the interior mirror 61 is temporarily blurred. As a result, it is difficult for the driver to visually detect the rapidly approaching following vehicle through the interior mirror 61 until the detection element 531 has finished cleaning. Consequently, if (i) the distance between the rapidly approaching following vehicle and the vehicle 100 is short and (ii) the automatic cleaning process is performed, the driver may not be able to easily detect the rapidly approaching following vehicle visually through the interior mirror 61, despite the driver's strong need to do so.Accordingly, the cleaning device for the vehicle-mounted sensor 10 can be configured to set the predetermined detection threshold Pth to a larger value if (i) the following vehicle condition is met and (ii) the distance between the rapidly approaching following vehicle and vehicle 100 is greater than or equal to a predetermined distance. In this case, the cleaning device for the vehicle-mounted sensor 10 can be configured to maintain the predetermined detection threshold Pth or to set the predetermined detection threshold Pth to a smaller value if (i) the following vehicle condition is met and (ii) the distance between the rapidly approaching following vehicle and vehicle 100 is shorter than the predetermined distance. <Modifiziertes Beispiel>

[0106] Next, the operation of the cleaning device for the vehicle-mounted sensor 10 according to a modified embodiment of the invention is described. According to the modified example, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to the first threshold P1, even when the vehicle 100 is moving in the second area A2. Then, according to the modified example, the cleaning device for the vehicle-mounted sensor 10 sets the predetermined determination threshold Pth to the second threshold P2 when the vehicle 100 enters the third area A3 from the second area A2, determining whether the accuracy index value P is less than or equal to the second threshold P2.Immediately after the cleaning device for the vehicle-installed sensor 10 has determined whether P is less than or equal to the second threshold P2, the cleaning device for the vehicle-installed sensor 10 sets the predetermined determination threshold Pth to the third threshold P3.

[0107] This means that the predetermined detection threshold Pth is only increased to a higher value when the vehicle enters the third area A3 from the second area A2. As a result, the automatic cleaning condition, given the relatively high detection accuracy of the sensor installed in the vehicle, is only met when the vehicle enters the third area A3 from the second area A2. This reduces the total amount of cleaning fluid consumed. <Konkrete Betriebe der Reinigungsvorrichtung für den im Fahrzeug eingebauten Sensor>

[0108] Next, specific operations of the cleaning device for the vehicle-integrated sensor 10 are described. The CPU of the ECU 90 of the vehicle-integrated sensor 10 cleaning device is configured or programmed to perform a cleaning operation. Fig. The routine shown in point 3 should be executed each time a predetermined time expires.

[0109] Consequently, at a predetermined time, the CPU begins a process of one step 300 in Fig. 3, proceeding to step 310 to determine if the value of an automatic cleaning indicator or cleaning flag Xauto is "0". The value of the automatic cleaning flag Xauto is set to "1" when the cleaning fluid is sprayed from the cleaning fluid injection device 72 during the automatic cleaning process. Conversely, the value of the automatic cleaning flag Xauto is set to "0" when a predetermined time Tth has elapsed since the cleaning fluid was sprayed from the cleaning fluid injection device 72 during the automatic cleaning process. The predetermined time Tth is set to the amount of time required to complete cleaning of the sensing unit 531. The predetermined time Tth is obtained through experimentation and is previously stored in the ROM of the ECU 90.

[0110] If the CPU determines "Yes" in step 310, the CPU proceeds to step 320 to execute a Fig. 4. To execute the routine shown. Consequently, when the CPU advances the operation to step 320, the CPU begins to execute the operation from step 400 in Fig. 4 to execute and proceed to step 405 to determine whether a first motion condition is met. The first motion condition is met if the vehicle 100 moves within the first area A1.

[0111] If the CPU determines "Yes" in step 405, it proceeds to step 410 to set the predetermined determination threshold Pth to the first threshold P1. Next, the CPU proceeds to step 415 to determine whether the accuracy index value P is less than or equal to the first threshold P1.

[0112] If the CPU determines "Yes" in step 415, the CPU proceeds to step 420 to execute the automatic cleaning process. Specifically, the CPU activates pump 71 and sends an injection command signal Sinj to the cleaning fluid injection device 72. When the cleaning fluid injection device 72 receives the injection command signal Sinj, it activates. This causes the cleaning fluid to be sprayed from the cleaning fluid injection device 72 onto the sensing part 531 of the sensor 53 installed in the vehicle, thereby cleaning the sensing part 531.

[0113] Next, the CPU proceeds to step 425 of the process to set the value of the automatic cleaning flag Xauto to "1". Then, the CPU proceeds to step 395 of the process. Fig. 3. Advance by step 495 to complete one execution of this routine.

[0114] In contrast, if the CPU determines "No" in step 415, the CPU proceeds with the process to step 395 in Fig. 3. Proceed past step 495 to complete one execution of this routine.

[0115] If the CPU determines "No" in step 405, it proceeds to step 430 to determine if a second movement condition is met. The second movement condition is met if the vehicle moves 100 units within the second area A2.

[0116] If the CPU determines "Yes" in step 430, it proceeds to step 435 to set the predetermined determination threshold Pth to the second threshold P2. Next, the CPU proceeds to step 440 to determine whether the accuracy index value P is less than or equal to the second threshold P2.

[0117] If the CPU determines "Yes" in step 440, the CPU proceeds to step 445 to execute the automatic cleaning process. Specifically, the CPU activates pump 71 and sends the injection command signal Sinj to the cleaning fluid injection device 72. When the cleaning fluid injection device 72 receives the injection command signal Sinj, it activates. This causes the cleaning fluid to be sprayed from the cleaning fluid injection device 72 onto the sensing part 531 of the sensor 53 installed in the vehicle, thereby cleaning the sensing part 531.

[0118] Next, the CPU proceeds to step 450 to set the value of the automatic cleaning flag Xauto to "1". Then, the CPU proceeds to step 395. Fig. 3. Proceed past step 495 to complete one execution of this routine.

[0119] In contrast, if the CPU determines "No" in step 440, the CPU proceeds to step 395. Fig. 3. Proceed past step 495 to complete one execution of this routine.

[0120] If the CPU determines "No" in step 430, it proceeds to step 455 to set the predetermined determination threshold Pth to the third threshold P3. Next, the CPU proceeds to step 460 to determine whether the accuracy index value P is less than or equal to the third threshold P3.

[0121] If the CPU determines "Yes" in step 460, it proceeds to step 465 to execute the automatic cleaning process. Specifically, the CPU activates pump 71 and sends the injection command signal Sinj to the cleaning fluid injection device 72. When the cleaning fluid injection device 72 receives the injection command signal Sinj, it activates. This causes the cleaning fluid to be sprayed from the cleaning fluid injection device 72 onto the sensing part 531 of the sensor 53 installed in the vehicle, thereby cleaning the sensing part 531.

[0122] Next, the CPU proceeds to step 470 to set the value of the automatic cleaning flag Xauto to "1". Then, the CPU proceeds to step 395. Fig. 3. Proceed past step 495 to complete one execution of this routine.

[0123] In contrast, if the CPU determines "No" in step 460, the CPU proceeds to step 395. Fig. 3. Proceed past step 495 to complete one execution of this routine.

[0124] Furthermore, the CPU is configured or programmed to be in Fig. The routine shown in step 5 is executed every time the predetermined time expires. Consequently, at a predetermined time, the CPU begins a process of one step in 500. Fig. 5, proceeding with the process to step 510 to determine whether a third motion condition is met. The third motion condition is met if the vehicle 100 moves within the third area A3.

[0125] If the CPU determines "Yes" in step 510, it proceeds to step 520 to set the value of a manual permission flag Xmanu to "0". Next, the CPU proceeds to step 540.

[0126] In contrast, if the CPU determines "No" in step 510, the CPU proceeds to step 530 to set the value of the manual permission flag Xmanu to "1". Next, the CPU proceeds to step 540.

[0127] As the CPU progresses to step 540, it determines whether the manual cleaning switch 63 is activated by the driver.

[0128] If the CPU determines "Yes" in step 540, the CPU proceeds to step 550 to determine if the value of the manual permission flag Xmanu is "1".

[0129] If the CPU determines "Yes" in step 550, it proceeds to step 560 to perform the manual cleaning process. Specifically, the CPU activates pump 71 and sends the injection command signal Sinj to the cleaning fluid injection device 72. When the cleaning fluid injection device 72 receives the injection command signal Sinj, it activates. This causes the cleaning fluid to be sprayed from the cleaning fluid injection device 72 onto the sensing part 531 of the sensor 53 installed in the vehicle, thereby cleaning the sensing part 531.

[0130] The CPU then advances the process to step 595 to complete one execution of this routine.

[0131] In contrast, if the CPU determines "No" in step 550, the CPU proceeds to step 595 to complete one execution of this routine.

[0132] Similarly, if the CPU determines "No" in step 540, the CPU proceeds to step 595 to complete one execution of this routine.

[0133] According to the routines that are in Fig. 3 and Fig. As shown in Figure 4, the cleaning process for the vehicle-integrated sensor 10 is carried out by the cleaning device. The automatic cleaning condition is met at the relatively high detection accuracy level of the vehicle-integrated sensor 53 when the vehicle 100 moves in the second area A2. Consequently, the high detection accuracy level of the vehicle-integrated sensor 53 can be ensured when the vehicle 100 moves in the braking area Abrk.

[0134] It should be noted that the invention is not limited to the aforementioned embodiments, and various modifications may be used within the scope of the invention.

[0135] A cleaning device for a vehicle-integrated sensor (10) is used on a vehicle (100) equipped with a vehicle-integrated sensor (53). The cleaning device for the vehicle-integrated sensor (10) performs an automatic cleaning process to clean a sensing part (531) of the vehicle-integrated sensor (53) with a cleaning fluid when an automatic cleaning condition is met. The cleaning device for the vehicle-integrated sensor (10) receives information about the current position of the vehicle (100) as vehicle information and performs a modification process to change the automatic cleaning condition depending on the vehicle information.

Claims

[1] Cleaning device for a vehicle-installed sensor (10) used in a vehicle (100) equipped with a vehicle-installed sensor (53), comprising an electronic control unit (90) configured to perform an automatic cleaning operation to clean a sensing part (531) of the vehicle-installed sensor (53) by means of a cleaning fluid when an automatic cleaning condition is met, wherein: the electronic control unit (90) is configured: to obtain information about the current position of the vehicle (100) as vehicle information, wherein the vehicle information includes a traffic light distance between (i) the vehicle (100) and (ii) a traffic light which is a destination traffic light (202tgt), which is usable in regulating a movement of the vehicle (100); and to perform a modification process to change the automatic cleaning condition, depending on the vehicle information, where: the automatic cleaning condition is a condition that an accuracy index value, which represents a detection accuracy level of the sensor (53) installed in the vehicle, is less than or equal to a predetermined determination threshold; The change process is a process to modify the predetermined determination threshold depending on the traffic light distance; and the electronic control unit (90) is configured: to set a first threshold as the predetermined determination threshold if the traffic light distance is greater than or equal to a first distance; to set a second threshold, which is greater than the first threshold, as the predetermined determination threshold if the traffic light distance is shorter than the first distance and greater than or equal to a second distance; and to set a third threshold, smaller than the first threshold, as the predetermined determination threshold if the traffic light distance is shorter than the second distance. [2] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: the automatic cleaning condition is a condition that an accuracy index value, representing a detection accuracy level of the sensor (53) installed in the vehicle, is less than or equal to a predetermined determination threshold; and The change process is a process to modify the predetermined determination threshold depending on the vehicle information. [3] Cleaning device for a sensor (10) installed in a vehicle according to one of claims 1 or 2, wherein: the electronic control unit (90) is configured to obtain the traffic light distance based on a traffic light installation signal transmitted by a transmitter (200) indicating that the traffic light (202tgt) is installed. [4] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: the electronic control unit (90) is configured to determine that the traffic light distance is greater than or equal to the first distance when the electronic control unit (90) does not receive a traffic light installation signal transmitted by a transmitter (200) indicating that the traffic light (202tgt) is installed. [5] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: the electronic control unit (90) is configured: to determine that the traffic light distance is greater than or equal to the first distance when the electronic control unit (90) does not receive a traffic light installation signal transmitted by a transmitter (200) indicating that the traffic light (202tgt) is installed; to determine that the traffic light distance is shorter than the first distance and greater than or equal to the second distance when (i) the electronic control unit (90) receives the traffic light installation signal and (ii) a distance traveled by the vehicle (100) since the electronic control unit (90) began receiving the traffic light installation signal is less than or equal to a predetermined distance; and to determine that the traffic light distance is shorter than the second distance if the distance traveled by the vehicle (100) since the electronic control unit (90) began receiving the traffic light installation signal is longer than the predetermined distance. [6] Cleaning device for a sensor (10) installed in the vehicle according to one of claims 1 and 5, wherein: the electronic control unit (90) is configured to perform a manual cleaning operation to clean the sensing part (531) by means of the cleaning fluid when (i) the traffic light distance is greater than or equal to the second distance and (ii) a switch (63) is actuated to request that the sensing part (531) be cleaned. [7] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: The vehicle information further includes a range distance between (i) the current position of the vehicle (100) and (ii) a range where a detection accuracy level of the sensor installed in the vehicle (53) that is greater than or equal to a predetermined accuracy level is required. [8] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: the vehicle information includes a range distance between (i) the current position of the vehicle (100) and (ii) a range where a detection accuracy level of the sensor (53) installed in the vehicle that is greater than or equal to a predetermined accuracy level is required; The automatic cleaning condition is a condition that an accuracy index value, which represents a detection accuracy level of the sensor installed in the vehicle, is less than or equal to a predetermined determination threshold; The change process is a process to modify the predetermined determination threshold depending on the range distance; and the electronic control unit (90) is configured: to set a first threshold as the predetermined determination threshold if the range distance is greater than or equal to a first distance; to set a second threshold, greater than the first threshold, as the predetermined determination threshold if the range distance is shorter than the first distance and greater than or equal to the second distance; and to set a third threshold, smaller than the first threshold, as the predetermined determination threshold if the range distance is shorter than the second distance. [9] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: the vehicle information includes a range distance between (i) the current position of the vehicle (100) and (ii) a range where a detection accuracy level of the sensor installed in the vehicle (53) that is greater than or equal to a predetermined accuracy level is required; and the automatic cleaning condition is a condition that (i) the area distance is shorter than a first distance and (ii) an accuracy index value representing the detection accuracy level of the sensor (53) installed in the vehicle is less than or equal to a predetermined determination threshold. [10] Cleaning device for a sensor (10) installed in the vehicle according to claim 1, wherein: the vehicle information includes a range distance between (i) the current position of the vehicle (10) and (ii) a range where a detection accuracy level of the sensor (53) installed in the vehicle that is greater than or equal to a predetermined accuracy level is required; the automatic cleaning condition is a condition that an accuracy index value, which represents a detection accuracy level of the sensor (53) installed in the vehicle, becomes less than or equal to a predetermined determination threshold; The change process is a process to modify the predetermined determination threshold depending on the range distance; and the electronic control unit (90) is configured: to set a first threshold as the predetermined determination threshold if the area distance is greater than or equal to a distance at which the vehicle (100) is assumed to be moving until cleaning of the detection part (531) is completed; and to set a second threshold, greater than the first threshold, as the predetermined determination threshold when the area distance becomes equal to the distance at which the vehicle (100) is assumed to be moving until a cleaning of the detection part (531) is completed, and immediately thereafter to set a third threshold, less than the first threshold, as the predetermined determination threshold. [11] Cleaning device for a sensor (10) installed in a vehicle according to one of claims 8 to 10, wherein: the area is an area where it is assumed that the vehicle (100) will be slowed down. [12] Cleaning device for a sensor (10) installed in the vehicle according to one of claims 1 to 11, wherein: the electronic control unit (90) is configured: to determine whether the automatic cleaning condition is met when the vehicle (100) is moving; and to determine whether the automatic cleaning condition is met, to stop when the vehicle (100) is stopped. [13] Cleaning device for a sensor (10) installed in a vehicle according to one of claims 1 to 12, wherein: the sensor (53) installed in the vehicle is a sensor that detects a situation behind the vehicle (100); and the electronic control unit (90) is configured to change such that the automatic cleaning condition is met at a higher detection accuracy level of the sensor (53) installed in the vehicle when the sensor (53) installed in the vehicle detects a following vehicle approaching the vehicle (100) from behind the vehicle (100) at a speed of movement greater than or equal to a predetermined speed of movement.

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