Retractable vehicle sensors

Abstract

A sensor cleaning system for a vehicle is disclosed, the sensor cleaning system comprising a sensor assembly. The sensor assembly may include a fluid dispensing nozzle for a vehicle sensor, a housing located within a body of the vehicle, and a drive element capable of moving the nozzle between a stowed position and a deployed position within the housing.

Description

Technical Field

[0001] The invention relates to a sensor cleaning system and a cleaning method for a vehicle, and in particular to a retractable vehicle sensor. Background Art

[0002] Cleaning the exterior of a vehicle can be done in a variety of ways. The user of the vehicle can hand wash the vehicle at home or power-wash the vehicle at a so-called self-service station. Or the vehicle can be driven through a so-called automatic car wash facility. For example, in an automatic car wash, a machine with nozzles is located near the vehicle; thereafter, a mixture of soap and water can be applied to the exterior of the vehicle, and a series of brushes on the machine can remove dirt and debris. The machine can also rinse and blow-dry the vehicle. Summary of the invention

[0003] According to the present invention, there is provided an assembly, comprising:

[0004] a housing having a cavity sized to fit the sensor, the housing including an opening at a first end and a housing base having a drain port at an opposite end;

[0005] sensor mountings; and

[0006] An actuation element is coupled to the mount to move the mount through the opening between the stowed position and the deployed position.

[0007] According to one embodiment of the invention, the assembly further comprises an annular nozzle for the sensor, the annular nozzle being positioned above the base so that fluid dispensed by the nozzle exits the cavity via the discharge opening.

[0008] According to one embodiment of the invention, the drive element comprises a screw coupled to the motor.

[0009] According to one embodiment of the invention, the driver includes an outer sleeve and an inner sleeve coupled to the mount, and the inner sleeve moves relative to the outer sleeve when the mount moves between the stowed and deployed positions.

[0010] According to one embodiment of the invention, the housing base is inclined towards the discharge opening.

[0011] According to one embodiment of the invention, the assembly further includes a sensor coupled to the nozzle and the mount.

[0012] According to one embodiment of the invention, the assembly further comprises a nozzle for the sensor, the nozzle being sized to move through the opening, wherein the nozzle comprises:

[0013] a first member including an annular first flange extending radially inwardly from the first nozzle base; and

[0014] A second member has an annular second flange extending radially outwardly from the second nozzle base, the first and second flanges forming a circumferential passage and an at least partially circumferential outlet.

[0015] According to one embodiment of the present invention, at least a portion of the first flange is parallel to at least a portion of the second flange.

[0016] According to one embodiment of the invention, the width of the outlet is uniform.

[0017] According to one embodiment of the invention, the first or second element comprises a circumferentially extending wall protruding from the respective first or second nozzle base, wherein the wall is located inside the second flange, wherein an edge of the wall abuts the respective second or first nozzle base.

[0018] According to the present invention, there is provided a system comprising:

[0019] A sensor assembly, the sensor assembly comprising:

[0020] sensor;

[0021] an annular nozzle, the annular nozzle being carried by the sensor;

[0022] a housing located in a body of the vehicle; and

[0023] A drive element moves the sensor and the nozzle between a stowed position and a deployed position within the housing.

[0024] According to one embodiment of the invention, the system further comprises: a first pump and at least one channel for conveying the fluid from the pump to the nozzle.

[0025] According to one embodiment of the invention, the system further comprises a second pump, wherein the first pump delivers a first fluid via the first channel and the second pump delivers a second fluid via the second channel, wherein the first and second fluids are different.

[0026] According to one embodiment of the present invention, the system further comprises: a computer programmed to control the first pump and receive data from the sensor.

[0027] According to one embodiment of the invention, the system further comprises: a computer; and a plurality of sensors, each sensor having an annular nozzle, wherein the computer is programmed to receive data from each of the plurality of sensors.

[0028] According to one embodiment of the invention, the sensor is a Light Detection and Ranging (LIDAR) device.

[0029] According to one embodiment of the present invention, the nozzle comprises:

[0030] a first member including an annular first flange extending radially inwardly from a first base; and

[0031] A second member has an annular second flange extending radially outwardly from the second base, the first and second flanges forming a circumferential channel and at least a portion of a circumferential outlet.

[0032] According to one embodiment of the invention, the first or second element comprises a circumferentially extending wall protruding from the respective first or second base, wherein the wall is located inside the second flange, wherein an edge of the wall abuts the respective second or first base.

[0033] According to the present invention, there is provided a method comprising:

[0034] actuating a drive element to move a sensor coupled to the nozzle from a first position within the vehicle upper housing to a second position at least partially outside the housing; and

[0035] Send fluid to the nozzle to clean the sensor.

[0036] According to one embodiment of the invention, the method further comprises actuating a pump to deliver the fluid, wherein actuation of the pump causes an arcuate blade of fluid to be dispensed from the nozzle to an outer surface of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a perspective view of an autonomous vehicle with a sensor cleaning system;

[0038] Figure 1A yes Figure 1 an enlarged view of a portion of the sensor assembly showing the sensor assembly in greater detail;

[0039] Figure 2 yes Figure 1 A schematic diagram of a sensor cleaning system for a vehicle shown;

[0040] Figure 3 is an exploded perspective view of a sensor, a nozzle, and a portion of a supply passage for supplying fluid to the nozzle for cleaning the sensor;

[0041] Figure 4 is a cross-sectional top view of the nozzle illustrating the fluid flow pattern therein;

[0042] Figure 5 is a perspective bottom view of a portion of a nozzle;

[0043] Figure 6 is a cross-sectional view of the nozzle carried by the sensor;

[0044] Figure 7is a cross-sectional view of the nozzle carried by the sensor, which also shows Figure 4 The exemplary fluid flow patterns shown in ;

[0045] Figure 8 is a cross-sectional view of a portion of a vehicle showing the Figure 1A Sensor assembly;

[0046] Fig. 9 is the same cross-sectional view, but showing the Figure 1A Sensor assembly;

[0047] Fig.10 is a partial cross-sectional view of a sensor assembly showing an actuation element for moving a sensor of the sensor assembly between stowed and deployed positions;

[0048] Fig.11 is shown for cleaning Figure 8-10 Flowchart of the sensor process shown in FIG. DETAILED DESCRIPTION

[0049] According to an illustrated example, a sensor cleaning system for a vehicle is described, the sensor cleaning system including a sensor assembly. The sensor assembly may include a fluid dispensing nozzle for a vehicle sensor, a housing located within a body of the vehicle, and a drive element that can move the nozzle between a stowed position and a deployed position within the housing.

[0050] According to one illustrated example, the assembly includes a housing having a cavity sized to fit the sensor, the housing including an opening at a first end and a housing base having a drain port at an opposite end; a sensor mount; and a drive element coupled to the mount to move the mount through the opening between a stowed position and a deployed position.

[0051] According to at least one example set forth above, the assembly may further include an annular nozzle for the sensor positioned above the base such that fluid dispensed by the nozzle exits the cavity via the discharge port.

[0052] According to at least one example set forth above, the drive element includes a screw coupled to the motor.

[0053] According to at least one example set forth above, the driver includes an outer sleeve and an inner sleeve coupled to the mount, and the inner sleeve moves relative to the outer sleeve when the mount moves between the stowed and deployed positions.

[0054] According to at least one of the examples set forth above, the housing base is inclined toward the discharge opening.

[0055] According to at least one example set forth above, the assembly may further include a sensor coupled to the nozzle and the mount.

[0056] According to at least one example described above, the assembly may also include: a nozzle for a sensor, the nozzle being sized to move through an opening, wherein the nozzle includes: a first element including an annular first flange extending radially inward from a first nozzle base; and a second element having an annular second flange extending radially outward from a second nozzle base, the first and second flanges forming a circumferential channel and an at least partially circumferential outlet.

[0057] According to at least one of the examples set forth above, at least a portion of the first flange is parallel to at least a portion of the second flange.

[0058] According to at least one example set forth above, the width of the outlet is uniform.

[0059] According to at least one example set forth above, the first or second element comprises a circumferentially extending wall protruding from the respective first or second nozzle base, wherein the wall is located inside the second flange, wherein an edge of the wall abuts the respective second or first nozzle base.

[0060] According to another example, a system is disclosed, the system comprising: a sensor assembly, the sensor assembly comprising: a sensor; an annular nozzle carried by the sensor; a housing located in a body of a vehicle; and a drive element that moves the sensor and the nozzle between a stowed position and a deployed position within the housing.

[0061] According to at least one example set forth above, the system may further include a first pump and at least one channel for delivering fluid from the pump to the nozzle.

[0062] According to at least one example set forth above, the system may further include a second pump, wherein the first pump delivers a first fluid via the first channel and the second pump delivers a second fluid via the second channel, wherein the first and second fluids are different.

[0063] According to at least one example set forth above, the system may further include a computer programmed to control the first pump and receive data from the sensor.

[0064] According to at least one example set forth above, the system may further include a computer; and a plurality of sensors, each sensor having an annular nozzle, wherein the computer is programmed to receive data from each of the plurality of sensors.

[0065] According to at least one example set forth above, the sensor is a light detection and ranging (LIDAR) device.

[0066] According to at least one example set forth above, the nozzle comprises: a first element comprising an annular first flange extending radially inward from a first base; and a second element having an annular second flange extending radially outward from a second base, the first and second flanges forming a circumferential channel and at least a portion of a circumferential outlet.

[0067] According to at least one example set forth above, the first or second element comprises a circumferentially extending wall protruding from the respective first or second base, wherein the wall is located inside the second flange, wherein an edge of the wall abuts the respective second or first base.

[0068] According to another example, a method is disclosed that includes actuating a drive element to move a sensor coupled to a nozzle from a first position within a housing on a vehicle to a second position at least partially outside the housing; and delivering a fluid to the nozzle to clean the sensor.

[0069] According to at least one example set forth above, the method may further include actuating a pump to deliver the fluid, wherein actuation of the pump causes the arcuate fluid blades to be dispensed from the nozzle to an outer surface of the sensor.

[0070] Turning now to the drawings, wherein like reference numerals represent like components throughout the several views, there is shown a sensor cleaning system 10 for a vehicle 12 (see, e.g., Figure 1 , 1A, 2). As an example, the system 10 may include at least one sensor assembly 16 (e.g., shown as (16, 18, 20) for illustrative purposes) and an onboard computer 22, which is programmed to control and / or communicate with the sensor assemblies 16-20 and other aspects of the sensor cleaning system. The sensor assemblies 16-20 may (respectively) include sensors 24, 26, 28 and corresponding fluid dispensing nozzles 30, 32, 34. The sensors 24-28 may provide data to the computer 22, which may be used to operate the vehicle 12 in a fully autonomous mode, and the nozzles 30-34 (which may be coupled to the respective upper ends of the sensors 24-28) may be used to clean the outer surfaces of the respective sensors. According to one example, the sensor assemblies 18-20 may include a left side bracket 36 and a right side bracket 38, respectively, for supporting each sensor 26, 28 near or via the vehicle A-pillars A1, A2 (as shown). And according to at least one example, the assembly 16 may also include a housing 40 and a drive element 42 that moves the sensor 24 and nozzle 30 between a stowed position (within a cavity 44 of the housing 40) and a deployed position (at least partially outside of the housing 40 and cavity 44). As will be explained in more detail below, the sensor 24 and nozzle 30 may be stowed within the housing 40 at times to minimize the collection of debris on the sensor 24 (e.g., when the sensor 24 is not in use).

[0071] The vehicle 12 is shown as a passenger car; however, the vehicle 12 may also be a truck, a sport utility vehicle (SUV), a recreational vehicle, a bus, a train, a ship, an airplane, etc., including the sensor cleaning system 10. According to at least one example, the vehicle 12 may operate in any of a plurality of autonomous modes using the computer 24 (as described in more detail below). For example, as explained in more detail below, the vehicle 12 may operate in a fully autonomous mode (e.g., level 5) as defined by the Society of Automotive Engineers (SAE), which has defined level 0-5 operations. In other examples, the vehicle may operate at levels 0-2, where a human driver typically monitors or controls most of the driving tasks without the assistance of the vehicle 12. For example, in level 0 ("no automated operation"), the human driver is responsible for all vehicle operations. In level 1 ("driver assistance"), the vehicle 12 sometimes assists with steering, acceleration, or braking, but the driver is still responsible for the vast majority of vehicle control. In level 2 ("partial automated operation"), the vehicle 12 may control steering, acceleration, and braking in certain situations without human intervention. In other examples, the vehicle can operate at Levels 3-4, where the vehicle 12 takes on more driving-related tasks. For example, in Level 3 ("conditional automated operation"), the vehicle 12 can handle steering, acceleration and braking, and monitoring the driving environment in certain situations. However, Level 3 may require occasional driver intervention. In Level 4 ("highly automated operation"), the vehicle 12 can handle the same tasks as Level 3, but does not rely on driver intervention in certain driving modes. And in at least one example, the vehicle 12 operates at Level 5 ("fully automated operation"), where the vehicle 12 can handle all tasks without any driver intervention.

[0072] The vehicle 12 may include a body 46, which may be a body-on-frame structure, wherein at least some of the body 46 is exposed, presenting a so-called Class A surface 48, i.e., specifically manufactured to have a high quality, finished aesthetic, and no imperfections. Alternatively, the body 46 may be a non-body-on-frame structure or any other suitable structure. Regardless, the body 46 may be formed of any suitable material, such as steel, aluminum, etc. As will be described in more detail below, the body 46 may carry and / or support the sensor assemblies 16-20.

[0073] like Figure 2As best shown, the sensor cleaning system 10 can more specifically include a sensor assembly 16-20 (e.g., each including a sensor and a nozzle), a computer 22, a first fluid pump 50 in a reservoir 52, a second fluid pump 54, and a plurality of supply channels L1, L2, L3, L4, L5, L6. As briefly described above, each sensor 24-28 can be connected to a nozzle to clean the corresponding sensor. According to at least one example, each sensor 24-28 can be similar or identical, and each nozzle 30-34 can be similar or identical. Therefore, only one of them is described below.

[0074] Now, more specifically, Figure 3-7 , the sensor 24 can include a housing 60 having a top 62, a bottom 64, and at least one circumferentially extending side 66 extending between the top 62 and the bottom 64 (the top 62, the bottom 64, and the side 64 collectively define an interior volume (not shown)). The housing 60 shown is shaped as a right cylinder; however, this is not required. For example, the housing 60 (and more specifically the side 66) can have different shapes (e.g., non-limiting examples include at least a partial cylinder, at least a partial elliptical cylinder, at least a partial oval shape, at least a partial parabolic cylinder, at least a partial hyperbolic cylinder, at least a partial angled or multi-faceted shape, etc.). In addition, the shape of the housing 60 can be inclined rather than straight.

[0075] The housing 60 can carry a light-transmitting window 68 (e.g., constructed of glass, acrylic, etc.) and a panoramic sensing element (not shown; e.g., a so-called detector, imaging engine, imaging core, etc.). An outer surface 70 of the window 68 extends at least partially circumferentially around the side 66. And in at least one example, the contour of the window 68 follows the shape of the housing 60 (e.g., the shape of the window 68 can also be cylindrical). In other examples, the window 68 can be additionally curved or even at least partially angled (e.g., elliptical, parabolic, faceted, etc. as described above).

[0076] Although not shown, it should be understood that the panoramic sensing element can be positioned within the housing 60 and relative to the inner surface (not shown) of the vehicle window 68 so that the sensing element can receive light and / or other radiation and / or focus light and / or other radiation onto one or more detection surfaces thereof. In this manner, the sensing element can provide imaging data from the vehicle's surroundings to one or more computing devices (e.g., such as computer 22), thereby enabling computer 22 to control vehicle 12 in a fully autonomous or other autonomous mode. In some examples, the panoramic sensing element is mechanically rotated relative to the vehicle window 68 within the housing 60. In other examples, the sensing element is fixed within the housing 60, for example, with the detection surface of the sensing element positioned and oriented to be suitable for receiving light and / or radiation passing through the vehicle window 68.

[0077] The housing 60 may have any suitable dimensions. According to one example, the housing 60 has a circular diameter of less than five (5) inches and a height of less than four (4) inches. Also, in one example, the window 68 is circular with a diameter of less than five (5) inches and a height of less than two (2) inches, and extends circumferentially around the entire side portion 66, enabling the sensor 24 to have a field of view (FOV) of up to 360°.

[0078] According to one example, sensor 24 is a light detection and ranging (LIDAR) device. A non-limiting commercial implementation is the VLP-16 of Velodyne LiDAR, Inc. However, this is merely an example and is not required. Sensor 24 may also be a charge-coupled device (CCD) camera, a complementary metal oxide semiconductor (CMOS) camera, a near infrared (NIR) device (e.g., operating in the range of 0.74-1 micrometers (μm)), a thermal imaging or forward-looking infrared (FLIR) device (e.g., operating in the range of short (1-3 μm), medium (3-5 μm) or long (8-14 μm)), etc. Moreover, in some examples, sensor 24 may be a LIDAR device, while sensors 26 and / or 28 may be different types of sensors (or vice versa); however, in at least one example, sensors 24-28 are all LIDAR devices. In yet another example, the vehicle 12 may include only one or two sensor assemblies, or in other examples, it may include more than the three illustrated sensor assemblies 16 - 20 .

[0079] Turning now to a description of the nozzle 30 coupled to the sensor 24, the nozzle 30 may include a two-piece (or two-part) design; for example, the nozzle 30 includes a first or upper element 80 coupled to a second or lower element 82 to form a passage 84 that receives fluid from the first and / or second pumps 50, 54 and delivers the fluid to the surface 70 of the sensor window 68 via an at least partially circumferential outlet 88. The upper element 80 includes a base 90, a circumferential flange 92 extending from a side 94 (e.g., underside) of the base 90 (e.g., shown as downward), and a port element 96 located on the flange 92 that forms at least a portion of the inlet 86.

[0080] The base 90 may be flat, and its shape and size may correspond to the shape of the sensor housing 60. For example, where the top 62 of the sensor 24 is circular, the base 90 may also be circular; however, this is merely an example (and is not required in all examples). The diameter of the base 90 may be larger than the top 62 of the sensor 24 so that fluid dispensed from the outlet 88 may travel downward along its side 66. The base 90 may also have a through hole 98 extending from the upper side 100 of the base 90 to its lower side 94 (for example, and in one example, the hole 98 may be centered, located along the longitudinal axis B of the nozzle 30). In one example, a boss 102 including a circumferentially extending wall (along the axis B) may protrude from the lower side 94 to position the upper element 80 relative to the lower element 82; however, the boss is not required. As shown, the hole 98 may be located within the boss 102.

[0081] As described below, the flange 92 can be adapted to form a portion of the channel 84 when connected to the lower element 82, for example. The flange 92 can extend axially (from the lower side 94) and radially inward relative to the axis B to terminate at the edge 104. The angle formed between the inner surface 106 of the flange 92 and the base 90 can be adapted to direct the flow of fluid toward the surface 70 of the vehicle window 68 (e.g., non-limiting examples include angles measuring 45°-90°). According to one example, the larger the diameter of the base 90, the smaller the angle can be, such as 80°-90° when the diameter of the base 90 is minimally larger than the diameter of the sensor top 62 (e.g., 5-10% larger).

[0082] The port element 96 can be adapted to direct fluid into the channel 84 formed by the upper element 80 and the lower element 82 to promote a circumferential fluid flow direction 110 within the corresponding nozzle 30 (e.g., shown herein as a counterclockwise fluid flow direction (from a top view); however, the port element 96 can be arranged to promote a clockwise fluid flow direction instead). In at least the illustrated example, the port element 96 projects radially outward from the flange 92 and can include a ramp portion 112 and a receptacle portion 114. The ramp portion 112 includes an outer wall 116 that can extend radially outward from an outer surface 118 of the flange 92 at a first region 120. The ramp portion 112 can extend circumferentially and radially outward from the first region 120 to a second region 122 (e.g., having any suitable slope or curvature) adjacent to the receptacle portion 114 (e.g., the first region 120 is arcuately spaced from the second region 122). In the illustration, the ramp portion 112 gradually extends radially outward in a clockwise direction (e.g., from a top view); however, this is merely an example. The ramp portion 112 may also include an upper wall 124 and a lower wall 126. The upper wall 124 may include a radially outward extension of the base 90, such as extending to the outer wall 116. The lower wall 126 may extend from the flange edge 104 to the outer wall 116. Therefore, as described in more detail below, the outer wall, the upper wall, and the lower wall 116, 124, 126 can guide the fluid received from the end 128 of the channel L1 into the channel 84.

[0083] The receiving portion 114 may include a first wall 130 and a second wall 132 arranged to define a cavity 134 sized to receive the end 128 of the passage L1. More specifically, the first wall 130 may extend circumferentially (from a top view) from the outer wall 116 to the second wall 132 in a clockwise direction - and the second wall 132 may extend radially inwardly adjacent to the outer surface 118 of the flange 92 at a third region 136 (e.g., wherein the third region 136 is arcuately spaced from both the first region 120 and the second region 122). Thus, the cavity 134 may be defined by the inner surface 138 of the first wall 130, the inner surface 140 of the second wall 132, and a third wall 142 extending inwardly from the first wall 130 to the flange edge 104. The third wall 142 may include a coupler 144 adapted to receive the end 128 of the passage L1. According to one example, the coupler 144 includes an opening 146 sized to receive the end 128. The third wall 142 is optional; for example, the channel end 128 may be press-fit within the cavity 134 to direct fluid directly into the ramp portion 112, or the coupler 144 may be attached to any suitable portion or surface of the upper element 80, etc.

[0084] Turning now to the lower element 82, the lower element 82 may include a base 150, a circumferential wall 152 extending from an upper side 154 of the base 150, and a flange 156 extending radially outward from the wall 152 and axially relative to the upper side 154. The base 150 may be flat, and its shape and size may also correspond to the shape of the sensor housing 60. For example, where the window 68 of the sensor 24 is cylindrical, the base 150 may be circular; however, this is merely an example (and is not required in all examples). In addition, the underside 160 of the base 150 may be located near the top 62 of the sensor 24. The underside 160 may be flat or have any other suitable shape, for example, it may or may not follow the contour of the top 62.

[0085] The diameter of the base 150 can be greater than the diameter of the sensor 24 (or the same as the diameter of the sensor 24) but smaller than the diameter of the upper element 80, for example, in order to direct fluid downward along its side 66 (as will be described in more detail below). The base 150 can have a through hole 158 extending from the upper side 154 of the base 150 to the lower side 160 thereof (e.g., and the hole can be centered along the axis B); as will be explained in more detail below, the holes 98, 158 can be aligned so that the upper and lower elements 80, 82 of the nozzle 30 can form the channel 84 and the outlet 88, and also so that the nozzle 30 can be coupled to the sensor 24.

[0086] In one example, a boss 162 (along axis B) including a circumferentially extending wall may protrude from upper side 154 to position lower element 82 relative to upper element 80 and sensor 16; however, boss 162 is not required. Hole 158 may be located within boss 162. When assembled, bosses 102, 162 may abut one another as shown and act as spacers. According to at least one example, boss 162 may serve as an alignment guide for boss 102 during assembly—e.g., the diameter of boss 102 may be greater than the diameter of boss 162, such that boss 102 can slide on boss 162 (or the diameters may be different, which enables boss 162 to slide on boss 102); other examples of bosses 102, 162 are also possible.

[0087] The circumferential wall 152 may be located in an outer region 164 of the base 150 and may extend axially from a surface thereof terminating at an edge 166. When the upper and lower components 80, 82 are assembled, the edge 166 may abut the underside 94 of the upper component 80. Figure 6 As shown, the position of the wall 152 relative to the side 94 can define a peripheral area 167 on the underside 94 of the upper element 80 (e.g., the outside of the wall 152), and the area 167 of the flange 92 and the inner surface 106 can form a portion of the channel 84.

[0088] On the lower element 82, the interior region 168 can be located within the interior of the wall 152 - for example, within the volume of the interior region 168 defined by the lower side 94 of the upper element 80, the inner surface 170 of the wall 152, the upper side 154 of the lower element 82, and the bosses 102 and / or 162. The edge 166 can be press-fit onto the lower side 94 of the upper element 80 so that the interior region 168 is isolated from the fluid flow within the channel 84 (thereby promoting greater fluid pressure at the outlet 88). In one example, to save weight, the interior region 168 is hollow; however, this is not required.

[0089] The flange 156 can be coupled to and extend radially outward from the outer surface 174 of the circumferential wall 152. The flange 156 can include an upper surface 178 extending radially outward from the surface 174, an edge surface 180, and a lower surface 182, with the edge surface 180 extending between the upper surface 178 and the lower surface 182. In at least one example, the angle formed between the outer surface 174 and the upper surface 178 can be less than 90 degrees, thereby forming a passage 184 of the channel 84, which promotes circumferential fluid flow and circulation.

[0090] The edge surface 180 can define a diameter of the lower element 82. In at least one example, the diameter of the edge surface 180 is less than the diameter of the inner surface 106 (e.g., measured closer to the edge 104). And according to one example, at least a portion of the edge surface 180 and at least a portion of the inner surface 106 can be parallel and oriented to direct fluid flow axially and radially inward (e.g., so that the fluid can flow downward along the side 66 of the sensor 24).

[0091] In general, the inner surface 106 of the flange 92 (upper element 80) and the edge surface 180 of the flange 156 (lower element 82) define an opening 186 of the outlet 88. In at least one example, the width of the opening 186 can be uniform, thereby promoting uniform fluid pressure delivery from the outlet 88. According to one example, the circumferential outlet 88 extends completely around the lower element 80. And according to another example, the circumferential outlet 88 extends partially around it - for example, at least 270° (for example, and the channel L1 is located near the side 66 within the so-called blind zone of the sensor 24). When mounted to the sensor 24, the lower surface 182 can extend radially outward farther than the side 66 of the housing 60. However, this is not required (for example, instead, the edge surface 180 can be flush with the side 66).

[0092] As used herein, a blind spot is an area where a corresponding sensor (e.g., a panoramic sensing element) does not receive imaging data either due to its optical configuration (e.g., aperture size and shape, focusing parameters, etc.) or due to a shield, physical obstruction, or other structure (such as one or more fixed vehicle components). One or more portions of channels L1-L6 may block a portion of a corresponding field of view of a detector (not shown) of sensors 24-28; thus, in at least some examples, each sensor 24-28 may have a blind spot (e.g., between 5° and 90°). According to one example, the blind spots of sensors 26-28 may be directed toward the longitudinal vehicle center axis A of vehicle 12 so that sensors 26-28 may sense objects in front of vehicle 12 and along the sides of vehicle 12, and the blind spot of sensor 24 may be directed toward the front of the vehicle so that sensor 24 may still sense objects along the sides and behind vehicle 12.

[0093] According to at least one example, the inlet 86 of the nozzle 20 also includes a notch 190 in the flange 156 (of the lower element 82) and the port element 96 (of the upper element 80). For example, the notch 190 may include a circumferential region in which the flange 156 is absent and the circumferential wall 152 extends from the edge 166 of the lower element 82 to the underside 160. When assembled, the notch 190 may be aligned with the cavity 134 of the receiving portion 114 (of the upper element 80) so that the flange 156 does not interfere with the end 128 of the channel L1 when the end 128 is inserted therein. The notch 190 is optional and is not required for all examples. Therefore, the inlet 86 may include the port element 96, the notch 190, or a combination thereof. Therefore, the inlet 86 includes any suitable means for coupling a corresponding channel (e.g., channel L1) to the nozzle 30, for example, including any suitable fluid connector, any suitable fastener (e.g., such as a ring clamp, a clip, etc.), etc.

[0094] According to at least one example, the shape of the nozzle 30 is circular, corresponding to the cylindrical shape of the sensor 24. Thus, in this example, the base 90 (of the upper element 80) is circular, and the flange 92 and the edge 104 are annular. Similarly, with respect to the corresponding lower element 82, the base 150 is circular and the wall 152 and the flange 156 are annular. Thus, in at least one example, the channel 84 is annular, for example, because the common features forming the channel 84 are annular (e.g., features such as the inner surface 106, the peripheral region 167, the outer surface 174, the channel 184, the edge surface 180, etc.). Moreover, as Figure 6 As best shown, in this example, the cross-section of the channel 84 may be L-shaped. Of course, this is merely an example.

[0095] The elliptical (and particularly annular shaped) channel 84 can promote an entrainment effect that can be used to remove debris from the vehicle window 68. As used herein, debris should be broadly interpreted to include dirt, dust, sand, dirt, pollen, insect or animal body parts or feces, garbage or waste fragments, ice, snow, food, and other types of contaminants, etc. The entrainment effect is a phenomenon related to the movement of unpressurized fluid based on the movement of a pressurized fluid, resulting in an overall increase in fluid movement. More specifically, unpressurized fluid in proximity to the moving (pressurized) fluid begins to move in the direction of the moving fluid - moving the unpressurized fluid can depend on the shape of the outlet through which the pressurized fluid is directed. In the present case, the entrainment effect can result in an increase in fluid velocity due to the pressurized fluid moving through the circumferential outlet 88. More specifically, unpressurized fluid located around the inner surface 106, around the edge surface 180, around the lower surface 182, etc., begins to move with the pressurized fluid delivered (from the pumps 50 and / or 54) (and) through the outlet 88, thereby increasing the overall flow rate and improving debris removal on the window 68. Thus, according to at least one example, the so-called air blades can include compressed air delivered via the passage L1 and unpressurized air located around the outlet 88.

[0096] The nozzle 30 may also include a fastener 192 that holds the upper element 80 and the lower element 82 to the sensor 24. For example, the fastener 192 may be positioned through the two through holes 98, 158 and into a blind hole 194 or other suitable attachment feature of the top 62 of the housing 60. The term fastener should be broadly interpreted to include any device that appropriately holds the nozzle 30 to the sensor 24. In at least one example, the term fastener should be broadly interpreted to include any device that appropriately holds the nozzle 30 to the top 62 of the sensor 24. In some examples, the fastener 192 may also maintain the orientation of the upper element 80 relative to the orientation of the lower element 82; however, this is not required. Non-limiting examples of the fastener 192 include one or more screws, bolts, nails, pins, paper clips, clips, locks, combinations thereof, and the like.

[0097] Incorporating or mounting the nozzle 30 to the top 62 of the sensor 24 can prevent the outlet 88 from becoming clogged (or at least partially clogged). For example, if the outlet 88 were directed upward, debris could fall into the outlet 88—for example, after being removed from the window 68 of the sensor 24. Also, by placing the nozzle 30 on top of the sensor 24, fluid flow pressure can be increased—for example, because gravity can aid in the movement of the fluid. However, there are examples where the nozzle 30 can be located in other locations relative to the sensor 24.

[0098] Return to Figure 2, the computer 22 of the sensor cleaning system 10 is shown as being electrically coupled to the sensors 24-28, the pumps 50, 54, and the drive element 42. The computer 22 can be a single computer (or multiple computing devices - for example, as described above, the computer 22 can be physically and / or logically shared with other vehicle systems and / or subsystems). The computer 22 can include processing circuitry or a processor 196 coupled to a memory 198. For example, the processor 196 can be any type of device capable of processing electronic instructions, non-limiting examples of which include a microprocessor, a microcontroller or controller, an application specific integrated circuit (ASIC), etc. - to name a few. Generally, the computer 22 may be programmed to execute digitally stored instructions that may be stored in the memory 198 that enable the computer 22 to, among other steps: actuate the drive element 42 to move a sensor (e.g., sensor 24) between a first or stowed position and a second or deployed position; determine the presence of debris on any of the sensors 24-28; selectively control the delivery of fluid to the sensors 24-28 (e.g., selectively control which sensor to clean and what type of fluid to deliver); selectively control the delivery of fluid to the sensors 24-28 when the corresponding sensor is in the deployed position; selectively control the delivery of gas to the sensors 24-28; determine whether the gas has removed the debris; determine when the debris has not been removed by the application of gas; selectively control the delivery of liquid to the sensors 24-28; determine whether the liquid has removed the debris; selectively repeat the delivery of gas and / or liquid to the sensors 24-28 when debris remains; repeat the delivery of gas and / or liquid a predetermined number of times before generating a diagnostic trouble code (DTC) for an authorized service technician; or execute any combination of these or other instructions.

[0099] Memory 198 may include any non-transitory computer usable or readable medium, which may include one or more storage devices or articles. Exemplary non-transitory computer usable storage devices include conventional computer system RAM (random access memory), ROM (read only memory), EPROM (electrically programmable read only memory), EEPROM (electrically erasable programmable read only memory), and any other volatile or non-volatile media. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes main memory. Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, compact disk-ROMs, digital versatile disks (DVDs), any other optical media, punch cards, paper tapes, any other physical media with hole patterns, random access memory (RAM), programmable read-only memory (PROM), EPROM, flash electrically erasable programmable read-only memory (FLASH-EEPROM), any other memory chip or cassette or any other medium that a computer can read. As described above, the memory 198 can store one or more computer program products that can be embodied as software, firmware, etc.

[0100] Also like Figure 2 As shown, the reservoir 52 of the sensor cleaning system 10 may include one or more walls 200 defining a closed cavity 202 adapted to hold a first fluid. In at least one example, the first fluid is a liquid cleaning solution, such as water, windshield washer fluid, etc.; however, this is not required (e.g., in other examples, the first fluid may be any suitable gas or other fluid).

[0101] The pump 50 can be located within at least a portion of the cavity 202 (e.g., at least partially immersed in the first fluid) - for example, having an inlet (not shown), as described in more detail below, which receives and pressurizes the first fluid and selectively delivers it to the nozzles 30-34 via one or more of the channels L1-L3. The pump 50 can be any suitable electronically actuatable pump. Non-limiting examples include one or more positive displacement pumps (e.g., gear pumps, impeller pumps, plunger pumps, etc.), one or more speed pumps (e.g., including jet pumps, jet valves, etc.), combinations thereof, and the like.

[0102] The pump 50 may also include one or more electronically actuatable ports P1, P2, P3. In one example: when selectively actuated by the computer 22, port P1 may provide the first fluid to the nozzle 30 via channel L1; when selectively actuated by the computer 22, port P2 may provide the first fluid to the nozzle 32 via channel L2; and when selectively actuated by the computer 22, port P3 may provide the first fluid to the nozzle 34 via channel L3. This arrangement is merely an example. For example, the pump 50 may be controlled to simultaneously provide the first fluid to any combination of nozzles 30-34 via a single port (e.g., port P1). Or in another example, ports P1, P2, P3 may be embodied as computer-controlled valves located at any suitable position along the respective channels L1, L2, L3 - for example, ports P1, P2, P3 may be electronically actuatable flow control valves, etc.

[0103] According to at least one example, the reservoir 52 and the pump 50 can be shared with other vehicle systems. For example, in one example, the reservoir 52 and the first pump 50 can be used to deliver the first fluid to the vehicle front windshield, the vehicle rear windshield, the vehicle headlights, and combinations thereof.

[0104] As described above, the second pump 54 may not require the use of a reservoir. The pump 54 may pressurize a second fluid (e.g., such as air or other gas) and selectively provide the second fluid to the nozzles 30-34 via port P4 (e.g., via channels L4-L6, respectively) (Note: when a single port (P4) is shown relative to the pump 54, in other examples, the pump 54 may include multiple ports similar to the pump 50). In at least one example, the second pump 54 may also include at least one electronically actuatable pump such as a positive displacement pump (including the pump examples cited above). It should be understood that although only two pumps 50, 54 are shown; however, as will be explained in more detail below, any suitable number of pumps may be used to deliver the first or second fluid to the nozzles 30-34 so that debris can be removed from the vehicle sensors 24-28. For example, the reservoir 52 may carry multiple pumps (or the system 10 may include multiple reservoirs, each having one or more pumps). Moreover, while the system 10 is shown as being proximate to the front side S1 of the vehicle 12, this is not required (e.g., elements of the pumps 50, 54, reservoir 52, etc. may be located at or near the front side S1, at or near the rear side S2 of the vehicle 12, at or near the left side S3 of the vehicle 12, or at or near the right side S4 thereof).

[0105] Channels L1-L6 may include any suitable tubes, pipes, conduits, fittings, joints, couplings, valves, etc. suitable for conveying pressurized contents. They may be composed of metal, plastic and / or any suitable composite material. Figure 3As shown, channel L4 can be adjacent to channel L1, and channel L1 can include an elbow region 210 extending to the nozzle 30. Thus, a first fluid can be delivered to the nozzle 30 via channel L1, and a second fluid can be delivered to the nozzle 30 via channel L4 and the ends of channel L1 (these channels are in fluid communication with each other). As described above, the elbow region 210 can include any suitable bend or turn that enables the end 128 of channel L1 to deliver the fluid to the nozzle 30. In at least one example, channels L1 and L4 form (or merge at) a Y-shaped intersection; however, this is not required. Channels L2, L5 and channels L3, L6 corresponding to nozzles 32, 34, respectively, can be arranged similarly; therefore, this will not be described in more detail.

[0106] Although the sensor assemblies 26-28 may include the brackets 36, 38 (as described above), this is not required. According to at least one example, one or more of the sensor assemblies 26-28 may include a housing and a drive element similar to the housing 40 and the drive element 42 shown in the example of the sensor assembly 16. In such an example, the corresponding housing and drive element may be identical; therefore, only one will be described.

[0107] like Figure 8-10 As best shown, the housing 40 may include a base 220 and one or more walls 222 extending axially from the base 220 to form the cavity 44. In one example, the wall 222 may be shaped as a right cylinder having a diameter slightly larger than the diameter of the upper element 80 of the nozzle 30; furthermore, the housing 40 may also be centered along the axis B. Of course, this is merely an example and is not required. The base 220 may include a drain or opening 224 leading to a drain passage 226 such that the cavity 44 is in fluid communication with the passage 226. In this manner, liquid that may otherwise collect within the housing 40 may be drained therefrom; for example, the passage 226 may be open at an opposite end (not shown) such that the fluid therein may drain to the ground below the vehicle 12. According to one example, the fluid may be a windshield washer fluid; however, the passage 226 may also facilitate draining other fluids (such as rainwater, melted snow or ice, etc.) from the housing 40. In at least one example, the base 220 is tilted relative to the ground such that the fluid within the housing 40 moves toward the opening 224 via gravity. As used herein, the term "sloped" should be broadly interpreted to include any surface that is inclined, angled, slanted, etc. relative to horizontal ground, funnel-shaped, etc.

[0108] The housing 40 can include an opening 228 at an end 230 opposite the base 220. In at least one example, the opening 228 has the same shape as the upper element 80 (e.g., only slightly larger). Thus, the opening 228 can be generally circular - for example, sized and shaped to accommodate an inlet 86 that can extend radially outward from the base 90 (of the upper element 80). The housing 40 can be carried by the vehicle body 46, and the opening 228 can be an opening in the surface 48. In at least one example, the opening 228 includes a circumferential elastomeric seal 232 that facilitates a sealing engagement between the housing 40 and the nozzle 30 (e.g., between the housing 40 and the flange 92 of the upper element 80). In this manner, when the sensor 24 and the nozzle 30 are in the stowed position (e.g., Figure 8 As shown), fluid and debris may be at least partially prevented from entering cavity 44.

[0109] The drive element 42 may include a drive element for moving the sensor 24 and the nozzle 30 from the stowed position ( Figure 8 ) to the expanded position ( Fig. 9 ). In at least one example, the drive element 42 axially displaces the sensor 24 and the nozzle 30 along the axis B, and further--in at least one example, the axial displacement is a vertical translation; however, this is not required. For example, the drive element 42 can translate the sensor 24 and the nozzle 30 in other directions; the drive element 42 can simultaneously rotate and translate the sensor 24 and the nozzle 30; etc.

[0110] In at least one example, the drive element 42 includes a screw 240 and a motor 242 coupled to the screw 240. Fig.10 As best shown, the screw 240 can be a lead screw and can include a shaft 244 having a first thread 246 (coupled to a motor 242 - e.g., a stepper motor), a nut 250 having a second thread 252 correspondingly engaging the first thread 246, an inner sleeve 254 coupled to a sensor mount 255 coupled to the bottom 64 of the sensor 24, and an outer sleeve 258 that can be coupled to the base 220 of the housing 40 and the body 46. As shown, the inner sleeve 254 can also be coupled to the (upper) end 256 of the nut 250 - e.g., and can be formed as a single piece. The outer sleeve 258 can have an opening 260 at one end 262, and the inner sleeve 254 can be at least partially located within the outer sleeve 258 - e.g., adapted to slide relative thereto without interference. As used herein, the sensor mount 255 is any mechanical interface for carrying an imaging device (e.g., such as the sensor 24) - e.g., including brackets, fasteners, etc.

[0111] The outer surface 264 of the nut 250 can have any suitable shape. In at least one example, the nut 250 is hexagonal; however, it can also be square, pentagonal, etc. The inner surface 266 of the outer sleeve 258 can have a shape corresponding to the outer surface 264 of the nut 250. Therefore, in at least one example, the shape of the surface 266 can also be hexagonal. The inner diameter of the outer sleeve 258 can be larger than the outer diameter of the nut 250, so that the nut 250 can be slidably moved within the outer sleeve 258 without interference; however, the inner diameter can be suitably small enough to prevent the nut 250 from rotating relative to the outer sleeve 258.

[0112] In addition, the sensor 24, the nozzle 30, the sensor mount 255, the inner sleeve 254, and the nut 250 (collectively, examples of a driven element) can be fixed to one another or otherwise coupled to one another so that when the motor 242 rotates the shaft 244, the driven element moves relative to the outer sleeve 258 and the shaft 244. The inner surface 266 of the outer sleeve 258 can have a stop 270 (e.g., at Fig.10 262 of the sleeve 258). In this way, the motor 242 can be actuated until the nut 250 abuts the stop 270 - whereby the sensor 24 is in the deployed position. In some examples, the end 262 of the sleeve 258 may have a sealing ring 272 to prevent dust and debris from entering the outer sleeve 258; however, this is not required.

[0113] The motor 242 may be any suitable device for moving a driven element; and in the example shown, for providing angular rotation of the shaft 244. Non-limiting examples include brushed and brushless electric motors, including, for example, so-called servo and stepper motors. The motor 242 may include one or more gears, couplings, and / or other components (not shown) that may be used to engage the shaft 244. And the computer 22 may be coupled to the motor 242 in any suitable manner and used to control the motor 242.

[0114] Thus, computer 22 may actuate motor 242 in a first direction (e.g., rotating shaft 244 counterclockwise), and as a result, sensor 24 and nozzle 30 move from a stowed position (within housing 40) to a deployed position (e.g., such that window 68 of sensor 24 is outside housing 40—e.g., above surface 48 of vehicle 12). Figure 8-9 As best shown, the excess length 274 of the channel L1 can be disposed in a stowed position (eg, embodied as a loop or slack; see Figure 8 ), so that when the sensor 24 and the nozzle 30 are moved to the deployed position ( Fig. 9), a sufficient length of channel L1 is available and no tension is created therein. Similarly, computer 22 can actuate motor 242 in an opposite second direction (e.g., rotating shaft 244 clockwise), and thereby return sensor 24 and nozzle 30 from the deployed position to the stowed position.

[0115] The above components of the drive element 42 are merely one example. Other drive element examples may have different components, different arrangements, and / or operate in different ways to move the sensor 24 and the nozzle 30 between the stowed position and the deployed position. Regardless, as used herein, a driven element includes at least the sensor 24 and the nozzle 30.

[0116] Fig.11 An example of a computer controlled process 1100 for cleaning the sensor 24 is shown. The process begins at block 1110, which includes determining at the computer 22 that the vehicle 12 is operating or activating an autonomous driving mode. In at least one example, the mode is a fully autonomous driving mode that requires imaging data from the sensors 24, 26, and / or 28.

[0117] In subsequent block 1120, the computer 22 may cause the drive element 42 to move the driven element from the stowed position to the deployed position. For example, as described above, the computer 22 may actuate the motor 242, which causes the screw 240 to vertically translate the sensor 24 and the nozzle 30 upward through the opening 228. The computer 22 may execute a control loop to determine when the sensor 24 and the nozzle 30 are in the deployed position (or, for example, the computer 22 may determine that the nut 250 has engaged the stop 270 by sensing a back electromotive force (EMF) in the motor 242, etc.).

[0118] In block 1130, the computer 22 may actuate the pump 54 after (or during) block 1120 to deliver the gaseous fluid to the nozzle 30. Thus, the fluid may be delivered as a blade of air down the outer surface 70 of the window 68. This actuation may occur during each deployment of the sensor 24; or it may occur as a result of the computer 22 detecting debris on the window 68 using image processing techniques known in the art.

[0119] In subsequent block 1140, computer 22 may monitor and / or determine whether window 68 of sensor 24 is clean of debris. In at least some examples, this monitoring or determination is similar to that described in block 1130 (e.g., using known techniques). When it is determined that window 68 is clean, process 1100 may proceed to block 1150. And when window 68 is determined to be dirty, process may proceed to block 1170.

[0120] In block 1150, the computer 22 may determine whether the vehicle 12 is exiting the autonomous driving mode. This may occur, for example, during an ignition-off event or any other time when the driver of the vehicle 12 desires to take control of it. In block 1150, if the vehicle 12 is exiting the autonomous driving mode, the process 1100 proceeds to block 1160. If the vehicle 12 remains in the autonomous driving mode, the process may loop back and repeat block 1140—for example, the cycle may occur repeatedly.

[0121] In block 1160, the computer 22 may actuate the motor 242 to again move the sensor to the stowed position, as described above. Thereafter, the process may end.

[0122] In frame 1170 (which may be after frame 1140 when the window 68 is not clean), the computer 22 may actuate the pump 50 to deliver a different fluid to the sensor 24. For example, the computer 22 may cause a fluid (such as a window washer fluid) to be delivered to the window 68 as a fluid blade. Thereafter, the process 1100 may loop back and repeat frame 1140. The loop may also occur repeatedly. In at least some examples, the computer 22 may use a counter, and when the counter reaches a threshold, the computer 22 may terminate the dispensing of liquid from the reservoir 52 (e.g., saving washer fluid). In such a case, the process 1100 may terminate after frame 1140 - for example, at least with respect to the particular sensor 24. Therefore, although the process 1100 may end, other sensors may continue to operate separately according to the process. In at least some examples, the vehicle 12 may determine to exit the fully autonomous driving mode - for example, when insufficient sensor data is available.

[0123] Fig.11 The process shown and described above is merely an example. Any suitable fluid may be applied to the sensor 24 - including, for example, applying two fluids simultaneously. Moreover, the computer 22 may control the pump 50 and / or the pump 54 (or its ports) in any suitable manner to selectively control the delivery of the fluid to the nozzles 30, 32, 34.

[0124] In at least one example, the sensor (eg, 24) can be cleaned when the sensor 24 and / or the nozzle 30 are in the stowed position. For example, according to one non-limiting example, block 1130 can occur before block 1110 and / or block 1120.

[0125] Other examples exist. For example, the nozzles (20-23) may be incorporated into the bottom 64 of the respective sensor - for example to direct fluid upwardly along its sides 66. In this manner, each sensor may or may not have a blind zone.

[0126] According to another example, the circumferential wall 152 may protrude from the upper element 80 and abut against the lower element 82 (eg, the inner side of the flange 156). Still other examples exist.

[0127] Thus, a sensor cleaning system for a vehicle has been described. The system may include a sensor assembly including a sensor, a fluid delivery nozzle, a housing, and a drive element coupled to the sensor—e.g., to move the sensor (and / or the nozzle) between a stowed position and a deployed position. The system may also include one or more pumps and channels to deliver fluid to the nozzle, which may be used to clean the sensor.

[0128] Generally, the computing systems and / or devices described may be configured to use any of a number of computer operating systems, including but not limited to versions and / or variations of the following operating systems: Ford Operating system, AppLink / Smart Device Link middleware, Operating system, Microsoft Operating systems, Unix operating systems (for example, those released by Oracle Corporation of Redwood Shores, California) operating system), AIX UNIX operating system released by International Business Machines Corporation of Armonk, New York, USA, Linux operating system, Mac OSX and iOS operating systems released by Apple Inc. of Cupertino, California, BlackBerry OS released by Blackberry Ltd. of Waterloo, Canada, Android operating system developed by Google Inc. and the Open Handset Alliance, or QNX software system provided by Infotainment Automotive Platform. Examples of computing devices include, but are not limited to, an onboard vehicle computer, a computer workstation, a server, a desktop, notebook, laptop or handheld computer, or some other computing system and / or device.

[0129] Computing devices typically include computer-executable instructions, where the instructions can be executed by one or more computing devices such as those listed above. The computer-executable instructions can be compiled or interpreted from a computer program created using a variety of programming languages ​​and / or technologies, including but not limited to Java, alone or in combination. TM, C, C++, Visual Basic, Java Script, Perl, etc. Some of these applications may be compiled and executed on a virtual machine (such as a Java virtual machine, a Dalvik virtual machine, etc.). Typically, a processor (e.g., a microprocessor) receives instructions from a memory, a computer-readable medium, etc. and executes these instructions to perform one or more processes including one or more processes described herein. Various computer-readable media can be used to store and transmit such instructions and other data.

[0130] Computer-readable media (also referred to as processor-readable media) include any non-temporary (e.g., tangible) media that participate in providing data (e.g., instructions) that can be read by a computer (e.g., by a processor of a computer). Such media can take many forms, including but not limited to non-volatile media and volatile media. Non-volatile media can include, for example, optical or magnetic disks and other persistent storage. Volatile media can include, for example, dynamic random access memory (DRAM), which typically constitutes main memory. Such instructions can be transmitted by one or more transmission media, including coaxial cables, copper wires, and optical fibers that are connected to the wires of a system bus of a processor of a computer. Common forms of computer readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, compact disk-read only memory drives (CD-ROMs), digital versatile disks (DVDs), any other optical media, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), electrically programmable read-only memory (EPROM), flash electrically erasable programmable read-only memory (FLASH-EEPROM), any other memory chip or cartridge, or any other medium from which a computer can read.

[0131] Database described herein, data repository or other data storage can comprise various mechanisms for various data for storage, access and retrieval, and this mechanism comprises a group of files in hierarchical database, file system, application program database in special format, relational database management system (RDBMS) etc.Each such data storage is usually included in the computing device that adopts the computer operating system such as one of above-mentioned, and is accessed in any one or more in various ways via network.Can access file system from computer operating system, and this file system can comprise the file stored in various formats.Except for the language that is used to create, store, edit and execute stored program, RDBMS also adopts structured query language (SQL) usually, such as above-mentioned procedural SQL (PL / SQL) language.

[0132] In some examples, system elements may be implemented as computer-readable instructions (e.g., software) stored on one or more computing devices (e.g., servers, personal computers, etc.) on a computer-readable medium (e.g., disk, memory, etc.) associated therewith. A computer program product may include instructions stored on a computer-readable medium for performing the functions described herein.

[0133] The processor is implemented via a circuit, chip or other electronic component and may include one or more microcontrollers, one or more field programmable gate arrays (FPGAs), one or more application specific circuits (ASICs), one or more digital signal processors (DSPs), one or more customer integrated circuits, etc. The processor may be programmed to receive imaging data, control a vehicle pump, control a vehicle heater, etc. Processing data may include processing video feedback or other data streams captured by sensors to determine the lane of the host vehicle and the presence of any target vehicles. As described below, the processor instructs vehicle components to actuate based on the sensor data. The processor may be incorporated into a controller, such as an autonomous mode controller.

[0134] The memory (or data storage device) is implemented via a circuit, a chip or other electronic component, and may include one or more of a read-only memory (ROM), a random access memory (RAM), a flash memory, an electrically programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an embedded multimedia card (eMMC), a hard drive, or any volatile or non-volatile medium, etc. The memory may store data collected from the sensor.

[0135] The present invention has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present invention are possible in light of the above teachings, and the present invention may be practiced otherwise than as specifically described.

[0136] The terms upwardly, upwardly, downwardly, downwardly, etc. are relative terms provided for purposes of explanation only and should not be construed as limiting.

Claims

1. A vehicle sensor assembly, comprising: a housing having a cavity sized to fit the sensor, the housing including an opening at a first end and a housing base having a drain port at an opposite end; Sensor mounting parts; as well as a drive element coupled to the mount to move the mount between a stowed position and a deployed position through the opening; Also included is an annular nozzle for the sensor, the annular nozzle being positioned above the base such that fluid dispensed by the annular nozzle exits the cavity via a discharge port.

2. The assembly of claim 1, wherein the drive element comprises a screw driver and a motor.

3. The assembly of claim 2, wherein the driver includes an outer sleeve and an inner sleeve coupled to the mount, and the inner sleeve moves relative to the outer sleeve when the mount moves between the stowed and deployed positions.

4. The assembly of claim 1 wherein said housing base is sloped toward said drain port.

5. The assembly of claim 1, wherein the annular nozzle comprises: a first member including an annular first flange extending radially inwardly from a first nozzle base; as well as A second member having an annular second flange extending radially outwardly from the second nozzle base, the first and second flanges forming a circumferential passage and an at least partially circumferential outlet.

6. A vehicle sensor cleaning system, comprising: A sensor assembly, the sensor assembly comprising: sensor; an annular nozzle, the annular nozzle being carried by the sensor; a housing located in the body of the vehicle, the housing having a cavity sized to fit the sensor, the housing including an opening at a first end and a housing base having a drain at an opposite end; and an actuation element that moves the sensor and nozzle between a stowed position and a deployed position within the housing; The annular nozzle is positioned above the housing base such that fluid dispensed by the annular nozzle exits the cavity via the discharge port.

7. The system according to claim 6, further comprising: A first pump and at least one passage for delivering fluid from the pump to the nozzle.

8. The system of claim 7, further comprising a second pump, wherein the first pump delivers a first fluid via a first passage and the second pump delivers a second fluid via a second passage, wherein the first and second fluids are different.

9. The system according to claim 7, further comprising: A computer is programmed to control the first pump and receive data from the first sensor.

10. The system according to claim 6, further comprising: computer; and a plurality of sensors, each of the sensors having an annular nozzle, wherein the computer is programmed to receive data from each of the plurality of sensors.

11. The system of claim 6, wherein the sensor is a light detection and ranging device.

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