Sensor cleaning system

Abstract

The present disclosure provides a "sensor cleaning system". A system includes a processor and a memory. The memory stores instructions that are executable by the processor to detect an object external to a vehicle and actuate a fluid dispenser device based on an opacity of a window and a location of the detected object.

Description

Technical Field

[0001] This invention relates to cleaning sensors, such as lidar sensors, because these sensors are typically subject to environmental conditions, such as dirt, dust, etc., which may damage or prevent the operation of the sensors. Background Technology

[0002] A vehicle may include one or more object detection sensors, such as light detection and ranging (LIDAR) sensors, to detect objects, for example, in areas outside the vehicle. Sensors for detecting objects outside the vehicle can be mounted on the exterior of the vehicle. For example, sensors can be mounted on the vehicle roof, pillars, etc. Sensors such as LiDAR sensors are typically susceptible to environmental conditions, such as dirt, dust, etc., which may impair or prevent the sensor from operating. Summary of the Invention

[0003] A system comprising a processor and a memory storing instructions executable by the processor to detect objects outside a vehicle and to actuate a fluid distributor device based on the opacity of a window and the position of the detected objects.

[0004] The detected object may be a pedestrian.

[0005] The window can be a vehicle sensor window.

[0006] The instructions may include other instructions for actuating the fluid dispenser after determining that the opacity of the window exceeds a first threshold.

[0007] The instructions may include other instructions for ignoring the position of the detected object after determining that the opacity of the window exceeds a second threshold greater than the first threshold.

[0008] The instructions may include additional instructions for: actuating the fluid dispenser after determining that the location of the detected object is outside the splashing area of ​​the fluid dispenser, wherein the splashing area is the region outside the vehicle to which liquid fluid from the dispenser is sprayed after the fluid dispenser is actuated.

[0009] The instructions may include additional instructions for: determining an adjusted splash zone based on wind force and direction, and actuating the fluid dispenser after determining that the detected object is outside the adjusted splash zone.

[0010] The instructions may include other instructions for the following operation: after determining that the location of the detected object is within the sputtering area, actuating the fluid distributor to output only air.

[0011] The instructions may include additional instructions for: determining an adjusted sputtering area of ​​the fluid dispenser based on the location of the detected object, wherein the location of the detected object is outside the adjusted sputtering area, and actuating the fluid dispenser to operate according to the adjusted sputtering area.

[0012] The instructions may include other instructions for the following operations: after determining that the opacity of the window exceeds a first threshold, determining a delay time based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement, and actuating the fluid dispenser after the determined delay time has elapsed.

[0013] The instructions may include additional instructions for actuating the fluid dispenser only after determining that the opacity exceeds a second threshold greater than the first threshold, without waiting for the determined delay time to end.

[0014] The instructions may include additional instructions for: actuating the vehicle to convoy with the second vehicle after determining that the opacity of the window exceeds a threshold and the location of the detected object is within the splashing area of ​​the fluid dispenser, and navigating the vehicle based at least in part on data received from the second vehicle.

[0015] A method includes: detecting an object outside a vehicle and actuating a fluid distributor device based on the opacity of a window and the position of the detected object.

[0016] The detected object may be a pedestrian.

[0017] The method may further include actuating the fluid dispenser after determining that the opacity of the window exceeds a first threshold.

[0018] The method may further include actuating the fluid dispenser after determining that the location of the detected object is outside the splashing area of ​​the fluid dispenser, wherein the splashing area is the region outside the vehicle to which liquid fluid from the dispenser is sprayed after the fluid dispenser is actuated.

[0019] The method may further include determining an adjusted splash zone based on wind force and direction, and actuating the fluid dispenser after determining that the detected object is outside the adjusted splash zone.

[0020] The method may further include determining an adjusted sputtering area of ​​the fluid dispenser based on the location of the detected object, wherein the location of the detected object is outside the adjusted sputtering area, and actuating the fluid dispenser to operate according to the adjusted sputtering area.

[0021] The method may further include: after determining that the opacity of the window exceeds a first threshold, determining a delay time based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement, and actuating the fluid dispenser after the determined delay time has ended.

[0022] The method may further include: actuating the vehicle to convoy with the second vehicle after determining that the opacity of the window exceeds a threshold and the location of the detected object is within the splashing area of ​​the fluid dispenser, and navigating the vehicle based at least in part on data received from the second vehicle. Attached Figure Description

[0023] Figure 1 This is a diagram illustrating an exemplary vehicle with exemplary sensor components.

[0024] Figure 2 This is a side view of an exemplary sensor assembly with a fluid dispenser.

[0025] Figure 3 It is shown Figure 1 A top view of the vehicle and objects outside the vehicle.

[0026] Figures 4A to 4C This is a flowchart of an exemplary process for operating a fluid distributor. Detailed Implementation

[0027] introduce

[0028] This document discloses a system including a processor and a memory. The memory stores instructions that can be executed by the processor to detect objects outside a vehicle and to actuate a fluid distributor device based on the opacity of a window and the position of the detected object.

[0029] The detected object may be a pedestrian.

[0030] The window can be a vehicle sensor window.

[0031] The instructions may include other instructions for actuating the fluid dispenser after determining that the opacity of the window exceeds a first threshold.

[0032] The instructions may include other instructions for ignoring the position of the detected object after determining that the opacity of the window exceeds a second threshold greater than the first threshold.

[0033] The instructions may include additional instructions for: actuating the fluid dispenser after determining that the location of the detected object is outside the splashing area of ​​the fluid dispenser, wherein the splashing area is the region outside the vehicle to which liquid fluid from the dispenser is sprayed after the fluid dispenser is actuated.

[0034] The instructions may include additional instructions for: determining an adjusted splash zone based on wind force and direction, and actuating the fluid dispenser after determining that the detected object is outside the adjusted splash zone.

[0035] The instructions may include other instructions for the following operation: after determining that the location of the detected object is within the sputtering area, actuating the fluid distributor to output only air.

[0036] The instructions may include additional instructions for: determining an adjusted sputtering area of ​​the fluid dispenser based on the location of the detected object, wherein the location of the detected object is outside the adjusted sputtering area, and actuating the fluid dispenser to operate according to the adjusted sputtering area.

[0037] The instructions may include other instructions for the following operations: after determining that the opacity of the window exceeds a first threshold, determining a delay time based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement, and actuating the fluid dispenser after the determined delay time has elapsed.

[0038] The instructions may include additional instructions for actuating the fluid dispenser only after determining that the opacity exceeds a second threshold greater than the first threshold, without waiting for the determined delay time to end.

[0039] The instructions may include additional instructions for: actuating the vehicle to convoy with the second vehicle after determining that the opacity of the window exceeds a threshold and the location of the detected object is within the splashing area of ​​the fluid dispenser, and navigating the vehicle based at least in part on data received from the second vehicle.

[0040] This document further discloses a method comprising: detecting an object outside a vehicle, and actuating a fluid distributor device based on the opacity of a window and the position of the detected object.

[0041] The detected object may be a pedestrian.

[0042] The method may further include actuating the fluid dispenser after determining that the opacity of the window exceeds a first threshold.

[0043] The method may further include actuating the fluid dispenser after determining that the location of the detected object is outside the splashing area of ​​the fluid dispenser, wherein the splashing area is the region outside the vehicle to which liquid fluid from the dispenser is sprayed after the fluid dispenser is actuated.

[0044] The method may further include determining an adjusted splash zone based on wind force and direction, and actuating the fluid dispenser after determining that the detected object is outside the adjusted splash zone.

[0045] The method may further include determining an adjusted sputtering area of ​​the fluid dispenser based on the location of the detected object, wherein the location of the detected object is outside the adjusted sputtering area, and actuating the fluid dispenser to operate according to the adjusted sputtering area.

[0046] The method may further include: after determining that the opacity of the window exceeds a first threshold, determining a delay time based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement, and actuating the fluid dispenser after the determined delay time has ended.

[0047] The method may further include: actuating the vehicle to convoy with the second vehicle after determining that the opacity of the window exceeds a threshold and the location of the detected object is within the splashing area of ​​the fluid dispenser, and navigating the vehicle based at least in part on data received from the second vehicle.

[0048] Further disclosed is a computing device programmed to perform any of the above method steps.

[0049] Further disclosed is a computer program product comprising a computer-readable medium storing instructions that can be executed by a computer processor to perform any of the above method steps.

[0050] Exemplary system components

[0051] Figure 1 Vehicle 100 is described. Power can be supplied to vehicle 100 in various known ways, such as using an electric motor and / or an internal combustion engine. Vehicle 100 can be a land vehicle, such as a car, truck, etc. Vehicle 100 may include a computer 110, actuators 120, sensors 130, and a human-machine interface (HMI) 140. The vehicle may include a reference point 160, for example, the center point of the intersection of the longitudinal and transverse axes of vehicle 100.

[0052] Computer 110 includes, for example, a processor and memory known. The memory includes one or more forms of computer-readable medium and stores instructions that can be executed by computer 110 to perform various operations, including those disclosed herein.

[0053] Computer 110 can operate vehicle 100 in autonomous mode, semi-autonomous mode, or non-autonomous mode. For the purposes of this disclosure, autonomous mode is defined as a mode in which computer 110 controls each of the propulsion, braking, and steering of vehicle 100; in semi-autonomous mode, computer 110 controls one or both of the propulsion, braking, and steering of vehicle 100; and in non-autonomous mode, the operator controls the propulsion, braking, and steering of vehicle 100.

[0054] Computer 110 may include programming for operating one or more of the following operations: braking, propulsion (e.g., controlling acceleration in the vehicle by controlling one or more of an internal combustion engine, electric motor, hybrid engine, etc.), steering, climate control, interior lights and / or exterior lights, etc.; and determining whether and when computer 110 controls such operations in contrast to a human operator. Additionally, computer 110 may be programmed to determine whether and when a human operator controls such operations.

[0055] Computer 110 may include or be communicatively coupled to one or more processors (e.g., via a vehicle 100 communication bus described further below), such processors being controllers included in the vehicle for monitoring and / or controlling various vehicle controllers, such as powertrain controllers, brake controllers, steering controllers, etc. Computer 110 is generally arranged for communication over a vehicle communication network, which may include a bus in the vehicle, such as a Controller Area Network (CAN) and / or other wired and / or wireless mechanisms.

[0056] Computer 110 can transmit messages to and / or receive messages from various devices in the vehicle, such as actuator 120, HMI 140, etc., via the vehicle 100 network. Alternatively or additionally, where computer 110 actually comprises multiple devices, the vehicle 100 communication network can be used for communication between the devices represented herein as computer 110. As further discussed below, various electronic controllers and / or sensors 130 can provide data to computer 110 via the vehicle communication network.

[0057] The actuator 120 of vehicle 100 is implemented via circuits, chips, or other electronic and / or mechanical components. It is well known that the actuator can actuate various vehicle subsystems according to appropriate control signals. The actuator 120 can be used to control vehicle 100 systems, such as braking, acceleration, and / or steering of vehicle 100.

[0058] The vehicle 100 sensor 130 may include a variety of devices known to provide data via a vehicle communication bus. For example, the sensor 130 may include one or more cameras, radars, infrared sensors, and / or lidar sensors 130 disposed within and / or on the vehicle 100, thereby providing data covering at least some external area of ​​the vehicle 100. The computer 110 may receive said data via, for example, a suitable known interface. Lidar sensors 130 disposed on the top, pillars, etc., of the vehicle 100 may provide object data, including the relative position, size, and shape of objects, such as other vehicles surrounding the vehicle 100. The vehicle 100's computer 110 may receive said object data and operate the vehicle in autonomous and / or semi-autonomous modes, at least in part, based on the received object data.

[0059] HMI 140 can be configured to receive user input, for example, during operation of vehicle 100. For instance, a user can select an operating mode, such as autonomous mode, by inputting a requested operating mode via HMI 140. Additionally, HMI 140 can be configured to present information to the user. Therefore, HMI 140 can be located in the passenger compartment of vehicle 100. In an example, computer 110 can output information indicating that the operating mode of vehicle 100 (e.g., autonomous mode) is disabled due to an event, such as a clogging of lidar sensor 130, which impairs the object detection operation of the sensor.

[0060] Additionally, computer 110 can be configured to communicate via vehicle-to-vehicle (VV) communication interfaces and / or remote computers of other vehicles 100. A network represents one or more mechanisms by which computer 110 and the remote computer can communicate with each other, and can be one or more of a variety of wired or wireless communication mechanisms, including wired communication mechanisms (e.g., cable and fiber optic) and / or wireless communication mechanisms (e.g., cellular, wireless, satellite, microwave, and radio frequency) and any desired network topology (or any desired combination of multiple topologies when utilizing multiple communication mechanisms). Exemplary communication networks include wireless communication networks providing data communication services (e.g., using one or more of cellular, Bluetooth, IEEE 802.11, etc.), Dedicated Short Range Communication (DSRC), Local Area Networks (LANs), and / or Wide Area Networks (WANs), including the Internet.

[0061] Figure 2 An exemplary lidar sensor 130 is shown, comprising a substrate 220, an excitation source 230, and a cover 210 having a window 215. The excitation source 230 can transmit an electromagnetic beam, such as a laser beam, through the window 215 to an area surrounding the lidar sensor 130. The lidar sensor 130 may include a receiver that receives reflections of the transmitted electromagnetic beam. The cover 210 may be formed of plastic, metal, etc. The cover 210 can protect the excitation source and / or other electronic components from environmental influences such as dirt, dust, rain, wind, etc. The window 215 may have a flat shape, a circular shape, etc. The window 215 may be formed of glass, plastic, etc. The window 215 may include a lens for, for example, focusing the electromagnetic beam. The substrate 220 may have a bottom 295, a top 296, side surfaces, and edge surfaces (not numbered). The cover 210 may be mounted to the top 296 of the substrate 220. The lidar sensor 130 may include a rotary actuator 225, such as an electric motor, to move, for example, rotate the excitation source 230 relative to the substrate 220. In an example, the rotary actuator 225 may rotate the excitation source 230 about an axis A1 perpendicular to the top 296 of the substrate 220 and may provide a 360-degree horizontal field of view around the area surrounding the lidar sensor 130. In one example, the excitation source 230, the cover 210, and the window 215 may rotate about axis A1. Alternatively, the lidar sensor 130 may not have a movable cover 210 and / or excitation source 230; that is, the excitation source 230 may be fixed relative to the substrate 220. Additionally or alternatively, the vehicle 100 may include one or more sensors 130, such as camera sensors 130 mounted internally (e.g., behind the windshield of the vehicle 100) and / or externally (e.g., a reversing camera sensor 130 mounted to the rear bumper).

[0062] To provide data, the window 215 of the lidar sensor 130 allows transmitted radiation, transmitted electromagnetic beams, and received reflections to pass through it. Various conditions can cause the window 215 to become clogged, such as the transmission of radiation and / or its reflections being attenuated (weakened) as they pass through the window 215. For example, clogged window 215 of the lidar sensor 130 can impair its object detection operation. In one example, dirt, dust, etc., on the outer surface of the window 215 of the lidar sensor 130 can cause it to become clogged. As another example, dirt, dust, etc., can cause the camera sensor 130 to become clogged. The computer 110 can be programmed to initiate a non-autonomous mode of the vehicle 100 after determining that the lidar sensor 130, camera sensor 130, etc., are unable to provide object data, for example, due to clogged lidar sensor 130.

[0063] refer to Figure 2 Computer 110 can be programmed to actuate fluid distributor 240 to remove blockages from sensor 130. Computer 110 can be programmed to actuate fluid distributor 240 in a "normal mode," i.e., to distribute air, for example, via air distributor 240 and to distribute detergent, for example, via detergent dispenser 240, thereby cleaning window 215 of sensor 130. In another example, as described below... Figure 3 As discussed, the computer 110 can be programmed to actuate the fluid distributor in an "air-only" mode, that is, actuate the air distributor 240 and simultaneously deactivate the detergent distributor 240.

[0064] In one example, air distributor 240 may be directed toward window 215 and mounted to a cleaning arm. Air distributor 240 may be fluidly connected, for example, via air hose 270 to an air pressure source, such as a fan, air compressor, compressed air bag, etc. Computer 110 may be programmed to actuate actuator 265, such as an electric solenoid valve, to open the airflow to air distributor 240 via air hose 270. Therefore, the airflow from air distributor 240 can remove dust, dirt, etc., from the surface of window 215.

[0065] In another example, fluid dispenser 240 may be directed towards window 215. Fluid dispenser 240 may spray wash fluid onto the surface of window 215. Fluid dispenser 240 may be fluidly connected via fluid hose 275 to a fluid reservoir, such as a wash fluid container, which supplies wash fluid to the front and / or rear windows of vehicle 100. Alternatively, vehicle 100 may include a fluid container disposed on the roof of vehicle 100. Computer 110 may be programmed to actuate washer actuator 280, such as a washer pump, to spray wash fluid onto the surface of window 215. Alternatively, computer 110 may be programmed to adjust airflow and / or fluid flow by actuating actuators 265, 280 to partially open and / or close airflow and / or wash fluid.

[0066] refer to Figure 3 Actuating the washer fluid dispenser 240 may splash washer fluid into a splash area 180 around the vehicle 100. The splash area 180 is the area outside the vehicle 100 that is sprayed with washer fluid after actuation of the fluid dispenser 240. The shape and / or size of the splash area 180 may be based on the nozzle shape of the fluid dispenser 240, fluid pressure, the speed of the vehicle 100, wind speed, and / or wind direction. In one example, the shape and / or size of the splash area 180 may be determined using fluid dynamics and / or aerodynamic calculation techniques. In another example, experimental techniques, such as using a wind tunnel, may be used to determine the shape and / or size of the splash area 180. The vehicle 100 may be placed in a wind tunnel, the fluid dispenser 240 may be activated, and the shape and / or size of the splash area 180 may be determined based on the shape and / or size of the area on the ground surface wetted by the washer fluid. Furthermore, by applying various wind speeds in the wind tunnel, variations in the shape and / or size of the splash area 180 based on wind speed can be determined. Splashing detergent into the splash area 180 may cause fluid to splash onto objects such as pedestrians 170a that are present in the splash area 180. Objects 170a and 170b may include pedestrians, motorcycles, bicycles, convertible second vehicles, etc.

[0067] Computer 110 can be programmed to detect objects 170a, 170b outside vehicle 100 and actuate fluid distributor device 240 (or fluid distributor 240) based on the opacity of a window (e.g., sensor 130 window 215) and the position of the detected objects 170a, 170b.

[0068] Opacity is a measure of the degree to which electromagnetic radiation, such as radiation emitted by sensor 130, penetrates window 215. Opacity can have values ​​between 0% (zero) and 100%. Zero percent opacity can be associated with transparent materials, while 100% opacity can be associated with a blocked window 215, for example, preventing radiation from passing through a given medium. Increased opacity of window 215 due to dust, dirt, etc., for example, may impair the operation of sensor 130 (e.g., LiDAR sensor 130, camera sensor 130, etc.). For example, a dirty window 215 may lack the ability to detect objects in the field of view of sensor 130. In one example, computer 110 may be programmed to determine the opacity of window 215 based on radiation received via the electromagnetic receiver of LiDAR sensor 130. For example, computer 110 may determine that window 215 is blocked, for example, when the opacity of window 215 exceeds a predetermined threshold (e.g., 30%). In another example, computer 110 may be programmed to determine that window 215 is blocked after determining that the opacity of window 215 has been greater than the predetermined threshold for at least a predetermined minimum duration (e.g., 5 seconds).

[0069] In this disclosure, the “position” of objects 170a and 170b is specified by the position coordinates of objects 170a and 170b on the ground surface. These position coordinates can be specified in a two-dimensional Cartesian coordinate system, which includes ordinates and abscissas X and Y with an origin, for example at reference point 160 of vehicle 100. Computer 110 can be programmed to determine the position of objects 170a and 170b based on data received from sensors 130 of vehicle 100. Alternatively, computer 110 can be programmed to determine the position of objects 170a and 170b based on Global Positioning System (GPS) data received from, for example, the mobile device of pedestrian objects 170a and 170b. Computer 110 can be programmed to identify objects 170a and 170b based on data received from, for example, camera sensors 130 and a predetermined list of types of objects 170a and 170b, such as a list including “pedestrian,” “bicycle,” etc. In other words, computer 110 can be programmed to identify objects 170a and 170b based on data including object data from sensor 130 and a predetermined list of types including objects 170a and 170b. For example, based on an exemplary list of object types 170a and 170b that only includes "pedestrians" and "bicycles," computer 110 might ignore a motorcycle because it does not identify the motorcycle as an object 170a or 170b.

[0070] Computer 110 can be programmed to actuate fluid dispenser 240 after determining that the opacity of window 215 exceeds a predetermined threshold. For example, computer 110 can be programmed to periodically determine the opacity of sensor 130 window 215 and determine that cleaning of window 215 is appropriate when the opacity of window 215 exceeds a predetermined threshold (e.g., 30%).

[0071] Computer 110 can be programmed to actuate fluid dispenser 240 in air-only mode after determining that the detected object 170a is located within the sputtering area 180. In other words, computer 110 can be programmed to operate fluid dispenser 240 in air-only mode, for example, by activating air dispenser 240 and deactivating detergent dispenser 240. Computer 110 can be programmed to determine whether object 170a is located within sputtering area 180 based on the determined positions of objects 170a, 170b, the position of vehicle 100, and the determined size and / or shape of sputtering area 180.

[0072] Additionally, computer 110 can be programmed to determine whether an object (e.g., object 170b) is expected to enter the splash zone 180 based on the distance d1 of object 170b to reference point 160 of vehicle 100, the speed and / or direction of movement 195 of vehicle 100, and the expected duration (e.g., 5 seconds) of fluid dispenser 240 actuation. Therefore, computer 110 can be programmed to determine whether object 170b is expected to enter the splash zone 180 (i.e., be splashed) when vehicle 100 moves in direction 195 and fluid dispenser 240 is actuated. Computer 110 can be programmed to determine the expected duration of dispenser 240 actuation, for example, based on a predetermined time, the determined opacity of window 215, etc. Alternatively or additionally, computer 110 can be programmed to determine whether object 170b enters the splash zone 180 based on the speed and / or direction of movement 196 of object 170b, the position of object 170b, and the speed and position of vehicle 100.

[0073] After determining that the detected object 170b is located outside the sputtering area 180, the computer 110 can be programmed to actuate the fluid dispenser 240 in normal mode. In another example, the computer 110 can be programmed to actuate the fluid dispenser 240 after determining that the object 170b is outside the sputtering area 180 and is not expected to enter the sputtering area 180 during the actuation of the fluid dispenser 240.

[0074] In some cases, splashing onto object 170a (e.g., a pedestrian) may cause inconvenience, but it may be necessary to prevent damage to the operation of sensor 130 due to excessive opacity of window 215. For example, computer 110 may be programmed to ignore the location of detected object 170a after determining that the opacity of window 215 exceeds a second threshold (e.g., 50%) greater than a first threshold (e.g., 30%).

[0075] As discussed above, the size, area, and / or shape of the splash region 180 can be based at least in part on the pressure of the washing liquid dispensed from the fluid dispenser 240. Therefore, the size and / or shape of the splash region 180 can be modified to prevent splashing onto the object 170a. For example, the computer 110 can be programmed to determine an adjusted splash region 190 of the fluid dispenser 240 based on the position of the detected object 170a, such that the position of the detected object 170a is outside the adjusted splash region 190, and actuate the fluid dispenser 240 to operate according to the adjusted splash region 190. For example, the computer 110 can be programmed to determine that the detected object 170a is within the splash region 180; determine the adjusted splash region 190 based on, for example, the distance d2 of the object 170a relative to a reference point 160 of the vehicle 100; and actuate the fluid dispenser 240 based on the determined adjusted splash region 190. In one example, computer 110 can be programmed to determine a circular, adjusted sputtering region 190 such that a distance d2 is greater than the radius of the adjusted sputtering region 190, i.e., object 170a is positioned outside the adjusted sputtering region 190.

[0076] The shape and / or size of the splash zone 180 can vary based on wind force and / or wind direction. As discussed above, as an example, the vehicle 100 can be placed in a wind tunnel and by performing wind tests, i.e., applying various wind speeds and / or forces, changes in the shape, area, and / or size of the splash zone 180 can be determined. In one example, the computer 110 can be programmed to store the wind test results in the computer 110 memory, for example, in a table that includes the applied wind speed and / or force and the associated test results, such as changes in the shape, area, and / or size of the splash zone 180. In one example, when operating the vehicle 100 in the field, for example in a... Figure 3When driving on the ground surface shown, computer 110 can be programmed to determine changes in the shape, area, and size of the splash zone 180 caused by wind based on stored results of wind tests. Therefore, computer 110 can be programmed to determine an adjusted splash zone 190 based on wind force and direction, and actuate fluid distributor 240 after determining that a detected object 170a is outside the adjusted splash zone 190.

[0077] In some scenarios, delayed actuation of the fluid dispenser 240 can prevent splashing onto objects 170a, 170b, such as when vehicle 100 passes pedestrian object 170a. Computer 110 can be programmed to determine a delay time (e.g., 3 seconds) based on the detected position of object 170a, vehicle 100 speed, and / or vehicle 100 direction of movement 195 after determining that the opacity of window 215 exceeds a first threshold (e.g., 30%), and actuate fluid dispenser 240 after the determined delay time has elapsed. In another example, for instance, when a delay in actuation of fluid dispenser 240 might impair sensor 130 operation, computer 110 can be programmed to actuate fluid dispenser 240 after determining that the opacity exceeds a second threshold (e.g., 50%) (greater than the first threshold (e.g., 30%)), without waiting for the determined delay time to elapse.

[0078] Computer 110 can be programmed to determine whether cleaning can be delayed based on factors such as the speed of vehicle 100, the distance of vehicle 100 to other vehicles, and data received via the VV communication interface. For example, computer 110 can be programmed to determine whether cleaning can be delayed after determining that the speed of vehicle 100 is less than a speed threshold (e.g., 30 km / h (kph)).

[0079] Alternatively, computer 110 may be programmed to determine that cleaning can be delayed after determining that the distance from vehicle 100 to the nearest second vehicle is greater than a distance threshold (e.g., 200 meters). In other words, a distance from vehicle 100 to the nearest second vehicle greater than the threshold may indicate a low probability of affecting other vehicles due to temporary damage to vehicle 100's sensors 130 that may result from delayed cleaning.

[0080] Alternatively, computer 110 may be programmed to determine that cleaning may be delayed after receiving information such as the speed and direction of other vehicles via the VV communication interface. Therefore, computer 110 may be programmed to navigate vehicle 100 based on data received via the VV communication interface, at least during periods of temporary damage to vehicle 100's sensors 130 (caused by delayed cleaning).

[0081] In another example, computer 110 may be programmed to determine whether vehicle 100 can form a convoy with the second vehicle based on data received via a VV communication interface, including the position, speed, direction of movement, etc., of the second vehicle, and / or whether the second vehicle's computer approves the provision of sensor data and / or instructions to vehicle 100. Therefore, computer 110 may be programmed to actuate vehicle 100 to form a convoy with the second vehicle after determining that the opacity of window 215 exceeds a threshold (e.g., 50%) and the detected object 170a is located within the splash area 180 of the fluid dispenser, and to navigate vehicle 100 based on data received from the second vehicle. "Forming a convoy" may include actuating one or more of the actuators 120 of vehicle 100, such as accelerator actuators, steering actuators, and / or brake actuators 120, based on data received from the second vehicle (e.g., object 170a, 170b data and second vehicle position data).

[0082] deal with

[0083] Figures 4A to 4C A flowchart illustrating an exemplary process 400 for operating a fluid distributor is provided. The vehicle 100 and computer 110 may be programmed to execute the blocks of process 400.

[0084] like Figure 4A As shown, process 400 begins at decision box 405, where computer 110 determines, for example, whether the opacity of window 215 exceeds a predetermined first threshold, such as 30%. If computer 110 determines that the opacity exceeds the first threshold, then process 400 proceeds to decision box 410; otherwise, process 400 proceeds to box 415.

[0085] In decision box 410, computer 110 determines whether objects 170a and 170b are detected outside vehicle 100. Computer 110 may be programmed to detect (e.g.,) pedestrian objects 170a and 170b outside vehicle 100 based on data received from sensor 130 of vehicle 100. Alternatively, computer 110 may be programmed to detect objects 170a and 170b based on a predetermined list of objects 170a and 170b, such as "pedestrian" or "bicycle". If computer 110 detects objects 170a and 170b outside vehicle 100, process 400 proceeds to decision box 420; otherwise, process 400 proceeds to box 425.

[0086] In box 415, computer 110 operates vehicle 100 based on data received from sensor 130. Computer 110 may be programmed to actuate vehicle 100 propulsion, steering, and / or braking based on object data received, for example, from lidar sensor 130. After box 415, process 400 ends, or alternatively returns to decision box 405.

[0087] In decision box 420, computer 110 determines whether the determined opacity exceeds a second threshold, such as 50%. If computer 110 determines that the opacity exceeds the second threshold, then process 400 proceeds to decision box 435 (see [link to decision box]). Figure 4B Otherwise, proceed from process 400 to box 430.

[0088] In box 425, computer 110 actuates fluid distributor 240 in normal mode. For example, computer 110 may be programmed to operate air distributor 240 and detergent distributor 240 within sputtering zone 180. After box 425, process 400 ends, or alternatively returns to decision box 405.

[0089] In box 430, computer 110 is operated, for example, by actuating air distributor 240 and deactivating detergent distributor 240 while actuating fluid distributor 240 to operate in air-only mode.

[0090] After box 430, process 400 ends, or alternatively returns to decision box 405.

[0091] refer to Figure 4B In decision box 435, computer 110 determines whether detected objects 170a and 170b are located within sputtering area 180. Computer 110 may be programmed to determine whether detected objects 170a and 170b are located within sputtering area 180 based on, for example, known techniques (e.g., ultrasonic waves, lidar, etc.), the position of vehicle 100, the position of objects 170a and 170b, and / or the size and shape of sputtering area 180. Alternatively, computer 110 may be programmed to determine whether detected objects 170a and 170b are expected to enter sputtering area 180 based on the shape and size of sputtering area 180, the position and / or direction of movement of vehicle 100, the position and / or direction of movement of detected objects 170a and 170b, wind direction and / or wind speed, and / or the expected duration of actuation of fluid distributor 240. If the computer 110 determines that the detected objects 170a and 170b are located within the sputtering region 180 (or are expected to enter the sputtering region 180), then process 400 proceeds to decision box 445; otherwise, process 400 proceeds to box 440.

[0092] In box 440, computer 110 actuates fluid distributor 240 in normal operating mode. After box 440, process 400 ends, or alternatively returns to decision box 405.

[0093] In decision box 445, computer 110 determines whether cleaning of window 215 can be delayed. For example, computer 110 can be programmed to determine whether cleaning can be delayed based on vehicle 100's speed, vehicle 100's distance from other vehicles, data received via the VV communication interface, etc. If computer 110 determines that cleaning can be delayed, for example, by delaying the waiting time by 3 seconds, then process 400 proceeds to decision box 450; otherwise, process 400 proceeds to decision box 460 (see [link to decision box]). Figure 4C ).

[0094] In decision box 450, computer 110 determines whether the waiting time (e.g., 3 seconds) has elapsed since the transition from decision box 445 to decision box 450. If computer 110 determines that the waiting time has elapsed, then process 400 proceeds to box 455; otherwise, process 400 returns to decision box 450.

[0095] In box 455, computer 110 actuates fluid distributor 240 in normal operating mode. After box 455, process 400 ends, or alternatively returns to decision box 405.

[0096] refer to Figure 4C In decision box 460, computer 110 determines whether vehicle 100 can form a convoy with the second vehicle. If computer 110 determines that it can form a convoy with the second vehicle, then process 400 proceeds to box 470; otherwise, process 400 proceeds to box 465.

[0097] In box 465, computer 110 actuates fluid distributor 240 in normal operating mode. After box 465, process 400 ends, or alternatively returns to decision box 405.

[0098] In box 470, computer 110 forms a convoy with the second vehicle and operates vehicle 100 based at least in part on data received from the second vehicle. Computer 110 may be programmed to actuate vehicle 100 for propulsion, steering, and / or braking based, for example, object data received from lidar sensor 130 of the second vehicle. After box 470, process 400 ends, or alternatively returns to decision box 405.

[0099] The article "one" modifying a noun should be understood as referring to one or more, unless otherwise specified or required by the context. The phrase "based on" includes being partially or entirely based on.

[0100] Computing devices discussed herein (e.g., computing devices discussed herein) generally each include instructions that can be executed by one or more computing devices (e.g., computing devices identified above) and used to perform the processes described above. Computer-executable instructions can be compiled or interpreted from computer programs created using various programming languages ​​and / or technologies, including (not limited to, and individually or in combination) Java™, C, C++, Visual Basic, JavaScript, Perl, HTML, etc. Generally, a processor (e.g., a microprocessor) receives instructions, for example, from memory, a computer-readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Various computer-readable media can be used to store and transmit such instructions and other data. A file in a computing device is generally a collection of data stored on a computer-readable medium such as a storage medium, random access memory, etc.

[0101] Computer-readable media include any medium that can be read by a computer and is involved in providing data (e.g., instructions). Such media can take many forms, including (but not limited to) non-volatile media, volatile media, etc. Non-volatile media include, for example, optical discs or magnetic disks and other persistent storage. 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 tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROM, EPROM, FLASH EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

[0102] Regarding the media, processes, systems, methods, etc., described herein, it should be understood that although the steps of the processes have been described as occurring in a specific sequence, the processes can be practiced using the described steps performed in an order other than that described herein. It should be further understood that some steps may be performed simultaneously, other steps may be added, or some steps described herein may be omitted. In other words, the description of the systems and / or processes provided herein is intended to illustrate certain embodiments and should in no way be construed as limiting the subject matter disclosed.

[0103] Therefore, it will be understood that this disclosure, including the foregoing description, figures, and appended claims, is intended to be illustrative rather than restrictive. Those skilled in the art will recognize, upon reading the foregoing description, numerous embodiments and applications beyond the examples provided. The scope of the invention should not be determined by reference to the foregoing description, but rather by reference to the appended claims, and / or the scope of the invention, together with the entire scope of the equivalents of such claims, is included in the non-provisional patent application based thereon. Future developments are anticipated and expected in the field discussed herein, and the disclosed systems and methods will be incorporated into such future embodiments. In summary, it should be understood that the disclosed subject matter is subject to modification and variation.

[0104] According to the present invention, a system is provided having a processor and a memory storing instructions that can be executed by the processor to detect objects outside a vehicle and to actuate a fluid distributor device based on the opacity of a window and the position of the detected objects.

[0105] According to the implementation plan, the detected object is a pedestrian.

[0106] According to the implementation plan, the window is a vehicle sensor window.

[0107] According to the implementation scheme, the instructions include additional instructions for actuating the fluid dispenser after determining that the opacity of the window exceeds a first threshold.

[0108] According to the implementation scheme, the instructions include additional instructions for ignoring the position of the detected object after determining that the opacity of the window exceeds a second threshold greater than the first threshold.

[0109] According to the implementation scheme, the instructions include additional instructions for operating the fluid dispenser after determining that the location of the detected object is outside the splashing area of ​​the fluid dispenser, wherein the splashing area is the region outside the vehicle to which liquid fluid from the dispenser is sprayed after the fluid dispenser is actuated.

[0110] According to the implementation scheme, the instructions include additional instructions for: determining an adjusted sputtering area based on wind force and direction; and actuating the fluid dispenser after determining that the detected object is outside the adjusted sputtering area.

[0111] According to the implementation scheme, the instructions include additional instructions for operating such that, after determining that the location of the detected object is within the sputtering area, the fluid distributor is actuated to output only air.

[0112] According to the implementation scheme, the instructions include additional instructions for: determining an adjusted sputtering area of ​​the fluid dispenser based on the location of the detected object, wherein the location of the detected object is outside the adjusted sputtering area, and actuating the fluid dispenser to operate according to the adjusted sputtering area.

[0113] According to the implementation scheme, the instructions include additional instructions for: determining a delay time based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement after determining that the opacity of the window exceeds a first threshold; and actuating the fluid dispenser after the determined delay time has elapsed.

[0114] According to the implementation scheme, the instructions include additional instructions for operating such that the fluid dispenser is activated only after it is determined that the opacity exceeds a second threshold greater than the first threshold, without waiting for the determined delay time to end.

[0115] According to the implementation scheme, the instructions include additional instructions for: actuating the vehicle to convoy with the second vehicle after determining that the opacity of the window exceeds a threshold and the location of the detected object is within the splashing area of ​​the fluid dispenser; and navigating the vehicle based at least in part on data received from the second vehicle.

[0116] According to the present invention, a method is provided, the method comprising: detecting an object outside a vehicle, and actuating a fluid distributor device based on the opacity of a window and the position of the detected object.

[0117] According to the implementation plan, the detected object is a pedestrian.

[0118] According to the implementation scheme, the invention is further characterized in that the fluid dispenser is actuated after determining that the opacity of the window exceeds a first threshold.

[0119] According to an embodiment, the invention is further characterized in that: the fluid distributor is actuated after determining that the location of the detected object is outside the splashing area of ​​the fluid distributor, wherein the splashing area is the area in the exterior of the vehicle to which the liquid fluid of the distributor is sprayed after the fluid distributor is actuated.

[0120] According to the implementation scheme, the invention is further characterized by: determining an adjusted sputtering area based on wind force and wind direction; and actuating the fluid distributor after determining that the detected object is outside the adjusted sputtering area.

[0121] According to an embodiment, the invention is further characterized in that: an adjusted sputtering area of ​​the fluid dispenser is determined based on the position of the detected object, wherein the position of the detected object is outside the adjusted sputtering area, and the fluid dispenser is actuated to operate according to the adjusted sputtering area.

[0122] According to the implementation scheme, the invention is further characterized in that: after determining that the opacity of the window exceeds a first threshold, a delay time is determined based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement; and the fluid dispenser is actuated after the determined delay time has ended.

[0123] According to the implementation scheme, the invention is further characterized in that: after determining that the opacity of the window exceeds a threshold and the position of the detected object is within the splashing area of ​​the fluid dispenser, the vehicle is actuated to form a convoy with the second vehicle; and the vehicle is navigated based at least in part on data received from the second vehicle.

Claims

1. A method, the method comprising: Detect objects outside the vehicle; as well as The fluid dispenser device is actuated based on the window opacity and the position of the detected object. The method further includes actuating the fluid dispenser after determining that the location of the detected object is outside the splashing area of ​​the fluid dispenser, wherein the splashing area is the area in the exterior of the vehicle to which liquid fluid from the dispenser is sprayed after the fluid dispenser is actuated; After determining that the detected object is located within the sputtering area, the fluid distributor is actuated to output only air.

2. The method of claim 1, wherein the detected object is a pedestrian.

3. The method of claim 1, further comprising actuating the fluid dispenser after determining that the opacity of the window exceeds a first threshold.

4. The method of claim 1, further comprising: The adjusted splash zone is determined based on wind force and direction; as well as The fluid dispenser is actuated after the detected object is determined to be outside the adjusted sputtering area.

5. The method of claim 1, further comprising: An adjusted sputtering area of ​​the fluid dispenser is determined based on the location of the detected object, wherein the location of the detected object is outside the adjusted sputtering area. The fluid distributor is actuated to operate according to the adjusted sputtering area.

6. The method of claim 1, further comprising: After determining that the opacity of the window exceeds a first threshold, a delay time is determined based on at least one of the detected object's position, vehicle speed, and vehicle direction of movement. as well as The fluid dispenser is actuated after the determined delay time has elapsed.

7. The method of claim 6, further comprising actuating the fluid dispenser only after determining that the opacity exceeds a second threshold greater than the first threshold, without waiting for the determined delay time to end.

8. The method of claim 1, further comprising: After determining that the opacity of the window exceeds a threshold and the location of the detected object is within the splashing area of ​​the fluid dispenser, the vehicle is actuated to form a convoy with the second vehicle. as well as Navigation for the vehicle is based at least in part on data received from the second vehicle.

9. The method of claim 1, wherein the window is a vehicle sensor window.

10. A computing device programmed to perform the method as described in any one of claims 1-8.

11. A computer program product comprising a computer-readable medium storing instructions executable by a computer processor to perform the method as described in any one of claims 1-8.

12. A ground vehicle comprising a computing device programmed to perform the method as described in any one of claims 1-8.

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