Sensor cleaning control method, apparatus, device, and storage medium

Abstract

The application relates to the technical field of unmanned driving and discloses a sensor cleaning control method, a sensor cleaning control device, a sensor cleaning control equipment and a storage medium, which are used for expanding the application range of a cleaning system, enhancing the coordinated control capability of the cleaning system, reducing the gas consumption and liquid consumption of a cleaning process, avoiding liquid residue after cleaning, improving the cleaning efficiency, obtaining good cleaning effect, reducing the maintenance cost of the sensor and guaranteeing the safety of the operation of an unmanned vehicle. The sensor cleaning control method comprises the following steps: acquiring the running parameters and sensor data of the vehicle; obtaining sensor information to be cleaned and a stain type according to the sensor data; determining a cleaning mode according to the stain type; determining a target cleaning sequence according to the running parameters of the vehicle and the sensor information to be cleaned; generating a cleaning signal according to the target cleaning sequence, preset first cleaning parameters and the target cleaning mode; and cleaning the sensor to be cleaned according to the cleaning signal.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a sensor cleaning control method, device, equipment and storage medium. Background Art

[0002] In the autonomous driving sector, sensors are essential equipment for autonomous vehicle systems. They collect environmental data for the autonomous driving system to assess road conditions and control, playing a vital role in the safe operation of autonomous vehicles. However, during the operation of autonomous vehicles, sensors are susceptible to environmental influences. Dirt such as mud, pollen, sand, frost, snow, dead insects, bird droppings, rain, and oil stains adhere to the sensor surface, causing unstable sensor data and reduced measurement accuracy. This significantly affects sensor reliability and can even mislead the autonomous driving perception system's judgment of the surrounding environment.

[0003] To ensure the cleanliness of the sensor surface, the sensor surface is often cleaned with air or liquid using a cleaning system onboard the sensor. The cleaning system includes a control unit and a cleaning mechanism, which is controlled by the control unit to clean the sensor surface.

[0004] Existing sensor cleaning control methods struggle to ensure effective cleaning when faced with a wide variety of contaminants caused by complex environments. For example, air washing is insufficiently effective against solid contaminants, resulting in poor cleaning results. Furthermore, the cleaning process consumes a large amount of air, leading to high maintenance costs for the cleaning system. Liquid washing, to ensure effective cleaning, often involves using a sufficient amount of chemical solvent to clean the sensor surface. This is time-consuming, consumes a large amount of liquid, and can easily leave liquid residue on the sensor surface, affecting sensor functionality. Furthermore, because the liquid washing process can affect sensor sensing, sensors are often liquid-washed only when the vehicle is stopped to ensure safety during operation. This restricts the application of the cleaning system to specific scenarios and cannot meet the need for timely cleaning and maintaining sensor cleanliness during vehicle operation. Summary of the Invention

[0005] The present invention provides a sensor cleaning control method, device, equipment and storage medium, which are used to expand the application scope of the cleaning system, enhance the coordinated control capability of the cleaning system, improve the cleaning intensity, reduce the gas and liquid consumption during the cleaning process, avoid liquid residue after cleaning, shorten the cleaning time, improve the cleaning efficiency, obtain good cleaning effects, and ensure the safety of unmanned vehicle operation.

[0006] A first aspect of the present invention provides a sensor cleaning control method, comprising: acquiring operating parameters and sensor data of a vehicle; obtaining information of a sensor to be cleaned and a type of stain based on the sensor data; determining a target cleaning mode among candidate cleaning modes based on the type of stain, the candidate cleaning modes including a first cleaning mode and a second cleaning mode, the first cleaning mode being a single air cleaning mode, and the second cleaning mode being a gas-liquid mixed cleaning mode; determining a target cleaning sequence based on the operating parameters of the vehicle and information of the sensor to be cleaned; generating a cleaning signal based on the target cleaning sequence, a preset first cleaning parameter and a target cleaning mode; and cleaning the sensor to be cleaned based on the cleaning signal.

[0007] The second aspect of the present invention provides a sensor cleaning control device, including: a first acquisition module for acquiring the vehicle's operating parameters and sensor data; a first processing module for obtaining the sensor information to be cleaned and the type of stain based on the sensor data; a second processing module for determining the target cleaning mode among the candidate cleaning modes based on the stain type, the candidate cleaning modes including a first cleaning mode and a second cleaning mode, the first cleaning mode being a single air cleaning mode, and the second cleaning mode being a gas-liquid mixed cleaning mode; a sequence determination module for determining the target cleaning sequence based on the vehicle's operating parameters and the sensor information to be cleaned; a signal generation module for generating a cleaning signal based on the target cleaning sequence, a preset first cleaning parameter and a target cleaning mode; a first cleaning module for cleaning the sensor to be cleaned based on the cleaning signal.

[0008] A third aspect of the present invention provides a sensor cleaning control device, comprising: a memory and at least one processor, wherein instructions are stored in the memory; the at least one processor calls the instructions in the memory to enable the sensor cleaning control device to execute the above-mentioned sensor cleaning control method.

[0009] A fourth aspect of the present invention provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer is caused to execute the above-mentioned sensor cleaning control method.

[0010] In an embodiment of the present invention, vehicle operating parameters and sensor data are obtained, and based on the sensor data, sensor information to be cleaned and the type of stain are obtained. A cleaning mode is determined based on the stain type. Based on the vehicle operating parameters and sensor information to be cleaned, first cleaning parameters, and the cleaning mode, a cleaning signal is generated to clean the sensor to be cleaned. In this embodiment of the present invention, an unmanned vehicle can perform targeted cleaning of various sensor stain types under various vehicle operating conditions, enhancing the coordinated control capabilities of the cleaning system, improving cleaning power, reducing gas and liquid consumption during the cleaning process, avoiding liquid residue after cleaning, shortening cleaning time, improving cleaning efficiency, achieving good cleaning results, and increasing the endurance of the cleaning system. This reduces sensor maintenance costs and ensures the safety of unmanned vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the pipeline architecture of the sensor cleaning control system in an embodiment of the present invention;

[0012] Figure 2 A schematic diagram of an embodiment of a sensor cleaning control method according to an embodiment of the present invention;

[0013] Figure 3 A schematic diagram of another embodiment of a sensor cleaning control method according to an embodiment of the present invention;

[0014] Figure 4 This is a timing diagram of sensor cleaning control in an embodiment of the present invention;

[0015] Figure 5 A schematic diagram of an embodiment of a sensor cleaning control device according to an embodiment of the present invention;

[0016] Figure 6 A schematic diagram of another embodiment of a sensor cleaning control device according to an embodiment of the present invention;

[0017] Figure 7 Schematic diagram of an embodiment of a sensor cleaning control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention provides a sensor cleaning control method, device, equipment and storage medium, which are used to expand the application range of the cleaning system, enhance the coordinated control capability of the cleaning system, improve the cleaning intensity, reduce the gas and liquid consumption during the cleaning process, avoid liquid residue after cleaning, improve the cleaning efficiency, obtain good cleaning effects, improve the endurance of the cleaning system, reduce the maintenance cost of the sensor, and ensure the safety of the operation of unmanned vehicles.

[0019] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. The related steps between the embodiments can be recombined where appropriate. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or devices.

[0020] The sensor cleaning control method of the present invention is applied to the sensor cleaning system, please refer to Figure 1 Schematic diagram of the pipeline architecture of the sensor cleaning control system. The cleaning system referred to in the present invention includes a gas cleaning mechanism, a liquid cleaning mechanism, a mixing mechanism and an injection mechanism and the pipelines between the mechanisms. Among them, the gas cleaning mechanism includes an air pump, a gas tank, and an air circuit solenoid valve group. The liquid cleaning mechanism includes a liquid pump, a liquid tank, and a liquid circuit solenoid valve group. The air circuit solenoid valve group and the liquid circuit solenoid valve group both have multiple valve ports, each valve port is connected to the corresponding one-way valve of the mixing mechanism. By controlling the valve port corresponding to the solenoid valve group to start, it can play the role of selecting the injection mechanism, and then adjust the injection angle. Among them, the mixing mechanism can be a Y-type pipe, and the injection mechanism can include one or more nozzles.

[0021] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 2 , an embodiment of the sensor cleaning control method in an embodiment of the present invention includes:

[0022] 201. Obtain vehicle operating parameters and sensor data.

[0023] It is understandable that the execution subject of the present invention may be a sensor cleaning control device, or a terminal such as an unmanned vehicle, a robot, or an unmanned aerial vehicle, which is not specifically limited here. The embodiment of the present invention is described by taking the terminal as the execution subject as an example.

[0024] The terminal obtains the vehicle's operating parameters and sensor data. The sensor data includes the sensor device identification code and sensor detection data. The vehicle's operating parameters in the present invention include the vehicle's speed, acceleration, travel route, driving time, turn signal signal, brake status, etc. The vehicle's operating parameters can be obtained through on-board sensors, or through uploaded data from the corresponding system of the unmanned vehicle or after fusion processing of the corresponding data.

[0025] The sensor in the present invention refers to a sensor used to detect the operating parameters of the vehicle and the external environment. The types of sensors may include image sensors including cameras, lidar sensors, millimeter-wave radar sensors, ultrasonic radar sensors, and the like. The sensor equipment may be installed on the outside of the vehicle, such as above the roof, the front bumper of the vehicle, on both sides below the headlights, at the rear of the vehicle, and so on. The number of sensors may be multiple. Furthermore, the sensor may have a backup sensor with the same function to ensure the reliability of the sensor during the operation of the vehicle. This embodiment does not limit the number and type of sensors.

[0026] The sensor device identification code in the present invention is used to identify the unique identity of the corresponding sensor, that is, each sensor has a corresponding unique device identification code. The unique sensor can be determined through the sensor device identification code. The sensor device identification code can be used to determine the installation location of the corresponding sensor device and the type of the corresponding sensor in the sensor database pre-set in the terminal.

[0027] The sensor detection data in the present invention is mainly used to determine the cleaning status of the corresponding sensor and calculate the operating parameters of the vehicle. It may include depth image data generated by the camera using optical information collected from the vehicle's external environment, or it may include point cloud image data generated by the laser radar using optical information collected from the vehicle's external environment. That is, the image data in the present invention may be image data directly generated by the camera, or it may be image data generated by converting the point cloud data collected by the laser radar into a depth point cloud image. There is no specific limitation on this.

[0028] It should be further explained that sensors to be cleaned whose detection data are not image data, such as pressure sensors, temperature sensors, acceleration sensors, etc., can also be cleaned according to the method of the present invention to achieve good cleaning effects.

[0029] 202. According to the sensor data, obtain information of the sensor to be cleaned and the type of stain.

[0030] The terminal determines the sensor information to be cleaned and the type of stain based on the sensor detection data and sensor device identification code of the sensor data. The sensor information to be cleaned includes the installation location of the sensor to be cleaned, the number of sensors to be cleaned, the type of sensor to be cleaned and the area to be cleaned. The stain type includes solid stains and liquid stains.

[0031] Specifically, the terminal determines the sensor to be cleaned based on the sensor detection data. For example, the terminal analyzes the image data transmitted back by the image sensor to obtain an imaging effect, which includes: good imaging and blocked imaging. The terminal then determines the first cleaning state of each sensor based on the imaging effect, which includes clean and to be cleaned. Sensors with blocked imaging are determined to be sensors to be cleaned, that is, sensors with a first cleaning state of to be cleaned are determined to be sensors to be cleaned. If the sensor to be cleaned is a pressure sensor, temperature sensor, acceleration sensor, or other sensor, its sensor detection data is a numerical value that changes according to actual conditions, rather than image data. The terminal compares the change value of the sensor detection data with a preset change value of the sensor to determine whether the change value of the sensor detection data is abnormal, determines the first cleaning state of the sensor, and determines sensors with abnormal results as sensors to be cleaned.

[0032] The terminal counts the above-mentioned confirmed sensors to be cleaned, obtains the number of sensors to be cleaned, and further obtains the sensor device identification code of the sensor to be cleaned. By querying the sensor information corresponding to the sensor device identification code in the preset sensor database, the installation position of each sensor to be cleaned and the type of each sensor to be cleaned are determined.

[0033] Based on the detection data from the sensors to be cleaned, the terminal identifies and divides the surface area of ​​each sensor to be cleaned, obtaining the area to be cleaned. In one feasible embodiment, the detection data from the sensors to be cleaned is image data. The image data is input into a pre-trained recognition model, and a random forest edge detection algorithm is used to identify the edges of stains in the image. The identified stain edge image is then superpixelized using a superpixel algorithm to obtain a processed image. The processed image divides the sensor surface into a clean area and an area to be cleaned.

[0034] In a feasible embodiment, the terminal can further divide the area to be cleaned obtained above, for example, according to the position of the stain in the area to be cleaned, the area to be cleaned is divided into a left area and a right area, and the left area and the right area are cleaned separately by controlling the angle of the spray mechanism or selecting multiple spray mechanisms with different spray angles, so as to minimize the impact of the cleaning process of the sensor to be cleaned on the operation of the vehicle.

[0035] The terminal determines the type of contamination on each sensor to be cleaned based on the sensor detection data. Specifically, if the sensor detection data is image data, fuzzy detection is performed on the image data and the grayscale values ​​of the pixels in the image data are analyzed. For example, image methods such as feature extraction and edge detection are used to detect abnormal pixel grayscale values ​​in the image data. Based on the grayscale values ​​in the image data after fuzzy detection, the terminal then distinguishes whether the contamination on the sensor is liquid or solid.

[0036] In one feasible embodiment, image data is input into a pre-trained stain recognition model to obtain stain types, including solid and liquid stains. The stain recognition model is trained using the following method: obtaining a training set comprising multiple training samples, each of which includes sensor image data and annotation information, where the image data contains at least one stain, and the annotation information includes the stain type corresponding to the stain in the image data; determining an initial stain recognition model, wherein the initial stain recognition model includes a target layer, which is used to output the stain type when at least one stain is present in the image data; and using machine learning methods, inputting the training set into the initial stain recognition model for training to obtain the stain recognition model. Furthermore, the stain recognition model can also identify the type of stain.

[0037] 203. Determine a target cleaning mode from candidate cleaning modes according to the stain type. The candidate cleaning modes include a first cleaning mode and a second cleaning mode. The first cleaning mode is an air-only cleaning mode, and the second cleaning mode is an air-liquid mixed cleaning mode.

[0038] The terminal determines a target cleaning mode from the candidate cleaning modes based on the type of stain. When the stain type is liquid, the terminal determines the first cleaning mode as the target cleaning mode; when the stain type is solid, the terminal determines the second cleaning mode as the target cleaning mode; when the stain type of the same sensor to be cleaned includes both solid and liquid stains, the terminal determines the third cleaning mode as the target cleaning mode. The third cleaning mode includes executing the first cleaning mode first and then executing the second cleaning mode. The first cleaning mode referred to in the present invention is a single air washing mode, and the second cleaning mode is a gas-liquid mixed cleaning mode. The gas-liquid mixed cleaning mode specifically first performs mixed washing on the surface of the sensor to be cleaned, then performs air washing, and finally performs intermittent air washing. Therefore, the third cleaning mode specifically performs single air washing, mixed washing, air washing, and intermittent air washing on the surface of the sensor to be cleaned.

[0039] 204. Determine a target cleaning sequence based on the vehicle's operating parameters and information about the sensors to be cleaned.

[0040] To ensure that the sensors to be cleaned can be cleaned in all operating states of the unmanned vehicle, the terminal first determines the specific operating state of the vehicle based on the vehicle's operating parameters, such as normal driving (acceleration, deceleration), reversing, turning, lane changing, overtaking, obstacle crossing, parking, and other states. Secondly, based on the vehicle's operating state and the information of the sensors to be cleaned, the terminal determines the cleaning process of the sensors to be cleaned, the degree of impact on the vehicle's operating state, and determines the target cleaning sequence.

[0041] Furthermore, the terminal can also predict the vehicle's upcoming actions based on the vehicle's operating parameters and determine the vehicle's operating status in the future time period. Based on the vehicle's operating status in the future time period and the information about the sensors to be cleaned, the cleaning order of the corresponding sensors to be cleaned can be adjusted, with a priority for cleaning a specified sensor or a delay in the cleaning order for a specified sensor. The cleaning order and preset cleaning parameters are then determined as a cleaning signal. Specifically, the terminal predicts the future vehicle's operating status based on the distance and speed information in the vehicle's operating parameters. For example, when the unmanned vehicle approaches its destination and its speed decreases to a preset value, the terminal predicts that the vehicle's future operating status will be reverse parking. The terminal determines whether cleaning is required based on the first cleaning status of the sensor installed on the rear side of the vehicle. If the sensor is a sensor to be cleaned, the sensor to be cleaned installed on the rear side of the vehicle is determined to be the first in the target cleaning order, and is determined as a cleaning signal together with the target cleaning mode and cleaning parameters. The sensor to be cleaned installed on the rear side of the vehicle is prioritized for cleaning so that the sensor surface is well cleaned when the unmanned vehicle subsequently reverses parking.

[0042] In the present invention, the cleaning sequence is an important parameter of the cleaning signal, including the first cleaning sequence, the second cleaning sequence, or the third cleaning sequence. The first cleaning sequence is the cleaning sequence of the left and right areas of the area to be cleaned when the cleaning of the sensor to be cleaned affects the running state of the vehicle and the number of the sensor to be cleaned is one; secondly, the second cleaning sequence is the cleaning sequence of the sensor to be cleaned when the cleaning of the sensor to be cleaned affects the running state of the vehicle and the number of the sensor to be cleaned is greater than one; finally, the third cleaning sequence is the cleaning sequence of the sensor to be cleaned when the cleaning of the sensor to be cleaned does not affect the running state of the vehicle, which are described below respectively:

[0043] In a feasible implementation, after the terminal determines the vehicle operating state and the degree of influence of the sensors to be cleaned on the vehicle operating state, the number of sensors to be cleaned is first determined. The number of sensors to be cleaned has a significant impact on the strategic arrangement of the cleaning signal. The following describes the case where the number of sensors to be cleaned is one and the case where the number of sensors to be cleaned is greater than one:

[0044] (1) The cleaning process of the sensor to be cleaned affects the vehicle's operating state, and the number of sensors to be cleaned is one.

[0045] According to the degree of contamination of stains in the left area and the right area, the areas with less contamination are cleaned first, and the first cleaning order of the left area and the right area is determined. By controlling the angle of the spray mechanism, or selecting multiple spray mechanisms with different spray angles, the left area and the right area are cleaned separately, so as to minimize the impact of the cleaning process of the sensor to be cleaned on the operation of the vehicle and the gas and liquid consumption of the cleaning process.

[0046] In order to ensure the reliability of sensors in unmanned vehicles, backup sensors are often set up in adjacent locations or other corresponding locations. If the sensor to be cleaned has a backup sensor, the terminal starts the backup sensor to take over the work of the sensor to be cleaned, and then cleans the sensor to be cleaned. There is no need to determine the first cleaning order.

[0047] (2) The cleaning process of the sensors to be cleaned affects the operating state of the vehicle, and the number of sensors to be cleaned is greater than one.

[0048] The terminal prioritizes the cleaning order of the sensors to be cleaned according to the vehicle operating state and the information of the sensors to be cleaned, and obtains a second cleaning order.

[0049] In a feasible embodiment, the sensor to be cleaned part has a spare sensor, and the terminal determines the first cleaning state of the spare sensor corresponding to each sensor to be cleaned. If the first cleaning state of the corresponding spare sensor is clean, the clean spare sensor is started to take over the work of the sensor to be cleaned, and the sensor to be cleaned that has a spare sensor and has a greater impact on the vehicle operation state is determined as the first priority of the second cleaning sequence. If the first cleaning state of the corresponding spare sensor is to be cleaned, the pollution degree of the sensor to be cleaned and the corresponding spare sensor is determined. If the pollution degree of the sensor to be cleaned is less than that of the corresponding spare sensor, the spare sensor is determined as the second priority of the second cleaning sequence. After the spare sensor is cleaned, the sensor to be cleaned is cleaned, and the cleaning order of other sensors to be cleaned is determined according to the vehicle operation state, the type of the sensor to be cleaned, and the installation position of the sensor to be cleaned to obtain the second cleaning order.

[0050] For example, the current operating state of the unmanned vehicle is accelerating to change lanes to the left. The vehicle sensors in operation at this time are A1, B1, C1, D1, and E1. A, B, C, D, and E are sensors of the same type. It should be further explained that A, B, C, D, and E can also be sensors of different types. Sensor A1 is installed on the front bumper of the vehicle, sensor B1 is installed on the left side of the vehicle, sensor C1 is installed on the right side of the vehicle, sensor D1 is installed on the roof, and sensor E1 is installed on the rear of the vehicle. Sensors A1, B1, and C1 have corresponding backup sensors A2, B2, and C2, while sensors D1 and E1 do not have backup sensors. The first cleaning state of sensors A1, B1, C1, D1, E1, and B2 is all "to be cleaned." The first cleaning state of backup sensors A2 and C2 is "clean." The contamination level of sensor B1 is lower than that of backup sensor B2. The contamination level can be determined based on the size of the area to be cleaned or the difficulty of cleaning the stain.

[0051] According to the current running state of the unmanned vehicle, which is accelerating to change lanes to the left, the terminal determines that the degree of influence of the sensors running at this time on the current running state of the vehicle is ranked as follows: A1>B1>D1>E1>C1. The terminal starts A2 and C2 to work instead of A1 and C1. The terminal determines the second cleaning order according to whether there is a spare sensor, the first cleaning state of the sensor, and the installation position of the sensor. The sorting method can be: the sensor to be cleaned that meets the first sorting condition is determined as the first priority in the second cleaning order, and the first sorting condition is that the sensor cleaning stage has the greatest impact on the vehicle running state, and the spare sensor has a clean first cleaning state; the sensor to be cleaned that meets the second sorting condition is determined as the second priority in the second cleaning order, and the second sorting condition is that the sensor cleaning stage has a great impact on the vehicle running state, and the spare sensor has a clean first cleaning state. Cleaning; the sensors to be cleaned that meet the third sorting condition are determined as the third priority in the second cleaning sequence, and the third sorting condition is that the sensor cleaning stage has a great impact on the vehicle's operating state, and there is no spare sensor; the sensors to be cleaned that meet the fourth sorting condition are determined as the fourth priority in the second cleaning sequence, and the fourth sorting condition is that the sensor cleaning stage has a small impact on the vehicle's operating state, and there is no spare sensor; the sensors to be cleaned that meet the fifth sorting condition are determined as the fifth priority in the second cleaning sequence, and the fifth sorting condition is that the sensor cleaning stage has a small impact on the vehicle's operating state, and the first cleaning state of the spare sensor is to be cleaned; the sensors to be cleaned that meet the sixth sorting condition are determined as the sixth priority in the second cleaning sequence, and the sixth sorting condition is that the sensor cleaning stage has a small impact on the vehicle's operating state, and there is a spare sensor with a clean first cleaning state.

[0052] According to the above settings, first, since sensor A1 is installed on the front bumper of the vehicle, no matter the current vehicle operation state is accelerating to change lanes to the left or driving normally after changing lanes, it has an important impact on the normal operation and safe operation of the unmanned vehicle, and sensor A1 has a clean backup sensor A2, so A2 is started to work instead of A1 and A1 is immediately cleaned to ensure the normal operation of the unmanned vehicle; secondly, the sensor B1 installed on the left side of the vehicle, when the vehicle operation state is accelerating to change lanes to the left, the data collected by it has a great impact on the vehicle operation. The first cleaning state of B1 and B2 is to be cleaned, and the pollution degree of B1 is less than that of B2. In order to further reduce the reliability of the sensor when switching sensors, B1 continues to work, B2 is cleaned immediately, and after B2 is cleaned, B2 is switched to work, and then B1 is cleaned; thirdly, sensor D1 installed on the roof has a great impact on the operation of the vehicle. The state is also greatly affected. Because it does not have a backup sensor, D1 works normally. The terminal divides the area to be cleaned on the surface of D1 into the left area and the right area. According to the degree of contamination of the stains in the left and right areas, the area with a heavier degree of contamination is cleaned first, while the clean area and the area with a lighter degree of contamination continue to collect data. Secondly, E1 is installed at the rear of the vehicle. It plays an important role in preventing the rear vehicle from colliding after the current unmanned vehicle changes lanes. E1 does not have a backup sensor, so the area to be cleaned on the surface of E1 is divided into the left area and the right area. According to the degree of contamination of the stains in the left and right areas, the area with a heavier degree of contamination is cleaned first, while the clean area and the area with a lighter degree of contamination continue to collect data. Finally, sensor C1 is installed on the right side of the vehicle. Under the current vehicle operation state, its impact is small, so the backup sensor C2 is enabled to work and C1 is cleaned. The terminal determines the second cleaning order as: A1, B2, D1, E1, C1, B1, wherein, except for B1, which must be cleaned after B2 is cleaned, the remaining sensors can be cleaned at the same time, or they can be cleaned in sequence according to the second cleaning order. In a feasible embodiment, the cleaning system also includes a residual monitoring mechanism, which is used to monitor the gas residual and liquid residual in storage devices such as gas tanks and liquid tanks. When the residual is sufficient, except for B1, which must be cleaned after B2 is cleaned, the remaining sensors can perform the cleaning process at the same time. When the residual is insufficient, they are cleaned in sequence according to the second cleaning order, and an insufficient residual reminder and / or recommended product information are generated and sent to the terminal.

[0053] (3) The cleaning process of the sensor to be cleaned does not affect the vehicle's operating status

[0054] When the cleaning process of the sensors to be cleaned does not affect the operating state of the vehicle, for example, the operating state of the vehicle is parked, the cleaning of the sensors to be cleaned at this time will not affect driving safety. The terminal can directly clean all the sensors to be cleaned, or determine the third cleaning order according to the type of the sensors to be cleaned and the installation position of the sensors to be cleaned; further, the sensors to be cleaned are cleaned according to the gas residue, liquid residue and the third cleaning order in the storage device of the cleaning system (such as the gas tank and the liquid tank). When the residue is sufficient, the cleaning process can be executed simultaneously to reduce the waiting time of the sensor cleaning control. When the residue is insufficient, the cleaning is performed in sequence according to the third cleaning order.

[0055] 205. Generate a cleaning signal according to the target cleaning sequence, the preset first cleaning parameter and the target cleaning mode.

[0056] The terminal generates a cleaning signal according to the target cleaning sequence, the preset first cleaning parameter and the target cleaning mode, so that the cleaning system cleans the sensor according to the cleaning signal.

[0057] The terminal is pre-set with first cleaning parameters corresponding to different sensor types, different stain types, and different stain categories. The first cleaning parameters include, but are not limited to, the type of spray fluid, spray pressure, number of sprays, spray duration, spray time interval, spray mechanism parameters, and cleaning liquid parameters. Among them, the cleaning liquid parameters include, but are not limited to, the type and amount of cleaning liquid, or the corresponding proportion of cleaning liquid configured for different types. The type of cleaning liquid can be water and / or detergent or any suitable mixture thereof. The spray mechanism parameters are used to control the spray angle of the spray mechanism. When the spray mechanism has only one nozzle, it can be the adjustment angle parameter of the nozzle. When the spray mechanism has multiple nozzles with fixed angles, it can be used to indicate the corresponding open nozzle. Through machine learning, the terminal can select the optimal solution and determine the first cleaning parameters based on at least one of the type of sensor to be cleaned, the type of stain, and the type of stain, so as to avoid damage to the surface of the sensor and achieve a better cleaning effect.

[0058] 205. Clean the sensor to be cleaned according to the cleaning signal.

[0059] The terminal analyzes the cleaning signal to obtain a target cleaning sequence, a first cleaning parameter, and a target cleaning mode, and cleans the sensor to be cleaned according to the target cleaning sequence, the first cleaning parameter, and the target cleaning mode.

[0060] In one feasible embodiment, the target cleaning mode is the first cleaning mode, the jet fluid type is gas, and the terminal analyzes the first cleaning parameters to obtain jet pressure, number of jets, jet duration, and jet mechanism parameters. Based on the first cleaning parameters and the target cleaning sequence, the terminal activates the gas cleaning mechanism corresponding to the sensor to be cleaned and opens the mixing mechanism. When the jet pressure in the mixing mechanism reaches the required level, the corresponding jet mechanism is opened according to the jet mechanism parameters to clean the sensor surface. This air cleaning removes water droplets or other lightly adhered stains from the sensor surface, while minimizing gas consumption.

[0061] In a feasible embodiment, the target cleaning mode is the second cleaning mode, the injection fluid type is gas and cleaning liquid, and the first cleaning parameters analyzed by the terminal include injection pressure, number of injections, injection duration, injection time interval, injection mechanism parameters, and cleaning liquid parameters; the terminal controls the corresponding liquid cleaning mechanism to start first and the gas cleaning mechanism to start later according to the first cleaning parameters. By controlling the start time of liquid and gas, the terminal can reduce liquid consumption and gas consumption. For example, the liquid cleaning mechanism is set to start first so that the liquid fills the pipeline, and then the gas cleaning mechanism is started for gas-liquid mixing to avoid insufficient gas-liquid mixing caused by the liquid not reaching the mixing mechanism in time. The terminal opens the mixing mechanism and the injection mechanism, and performs gas-liquid mixing cleaning on the sensor to be cleaned within the first injection time; when the first preset time point is reached, the liquid cleaning mechanism is controlled to be closed first and the gas cleaning mechanism is closed later according to the injection time interval; when the second preset time point is reached, the terminal controls the gas cleaning mechanism to start intermittently according to the first cleaning parameters, and performs intermittent cleaning on the sensor to be cleaned.

[0062] It should be further explained that if the same sensor surface to be cleaned has both solid stains and liquid stains, the target cleaning mode is the third cleaning mode, that is, the first cleaning mode is executed first, and then the second cleaning mode, and the specific method is the same as above.

[0063] In the embodiment of the present invention, the unmanned vehicle can clean various types of stains on the sensor under various vehicle operating conditions, thereby enhancing the coordinated control capability of the cleaning system, improving the cleaning intensity, reducing the gas and liquid consumption during the cleaning process, avoiding liquid residue after cleaning, improving the cleaning efficiency, achieving good cleaning effects, improving the endurance of the cleaning system, reducing the maintenance cost of the sensor, and ensuring the safety of the operation of the unmanned vehicle.

[0064] See also Figure 3 Another embodiment of the sensor cleaning control method in the embodiment of the present invention includes:

[0065] 301. Obtain vehicle operating parameters and sensor data.

[0066] Step 301 is similar to the above-mentioned step 201 and will not be described again here.

[0067] 302. Obtain information of the sensor to be cleaned and the type of stain according to the sensor data.

[0068] The terminal parses the sensor data to obtain a sensor device identification code and sensor detection data; based on the sensor detection data, the first cleaning state of each sensor is determined to obtain a sensor to be cleaned, and there is at least one sensor to be cleaned; based on the sensor device identification code of each sensor to be cleaned, the installation position of each sensor to be cleaned and the type of each sensor to be cleaned are determined; based on the sensor detection data of each sensor to be cleaned, the surface area of ​​the sensor is identified and divided to obtain a to-be-cleaned area of ​​each sensor to be cleaned; based on the sensor detection data of each sensor to be cleaned, the type of stain on each sensor to be cleaned is determined.

[0069] 303. Determine a target cleaning mode from candidate cleaning modes according to the stain type. The candidate cleaning modes include a first cleaning mode and a second cleaning mode. The first cleaning mode is an air-only cleaning mode, and the second cleaning mode is an air-liquid mixed cleaning mode.

[0070] 304. Determine a target cleaning sequence based on the vehicle's operating parameters and information about the sensors to be cleaned.

[0071] Steps 303-304 are similar to the above steps 203-204 and will not be repeated here.

[0072] 305. Generate a cleaning signal according to the target cleaning sequence, the preset first cleaning parameter, and the target cleaning mode.

[0073] The terminal generates a cleaning signal according to the target cleaning sequence, the preset first cleaning parameter and the target cleaning mode.

[0074] In a feasible embodiment, a first cleaning sequence, a preset first cleaning parameter, and a target cleaning mode are determined as a first cleaning signal; a second cleaning sequence, a preset first cleaning parameter, and a target cleaning mode are determined as a second cleaning signal; and a third cleaning sequence, a preset first cleaning parameter, and a target cleaning mode are determined as a third cleaning signal.

[0075] 306. Clean the sensor to be cleaned according to the cleaning signal.

[0076] The terminal analyzes the cleaning signal to obtain a target cleaning sequence, a first cleaning parameter, and a target cleaning mode, and cleans the sensor to be cleaned according to the target cleaning sequence, the first cleaning parameter, and the target cleaning mode.

[0077] When the target cleaning mode is the first cleaning mode and the injection fluid type is gas, the terminal controls the gas cleaning mechanism corresponding to the sensor to be cleaned to start according to the first cleaning parameter and the target cleaning sequence, and opens the mixing mechanism; when the jet pressure is reached in the mixing mechanism, the corresponding injection mechanism is opened to clean the sensor surface; when the first end condition is met in the first cleaning stage, the gas cleaning mechanism, the mixing mechanism and the injection mechanism are closed.

[0078] When the target cleaning mode is the second cleaning mode, and the injection fluid type is gas and cleaning liquid, the terminal controls the liquid cleaning mechanism corresponding to the sensor to be cleaned to start first and the gas cleaning mechanism to start later according to the first cleaning parameter and the target cleaning sequence, and opens the mixing mechanism and the injection mechanism to clean the sensor to be cleaned; when the preset first time point is reached, the liquid cleaning mechanism is controlled to be closed first, and a separate gas washing is performed to remove the residual liquid in the gas-liquid mixed cleaning process, and then the gas cleaning mechanism is controlled to be closed later to prepare for the impact effect formed by opening the gas path during the intermittent gas washing process; when the preset second time point is reached, the gas cleaning mechanism is controlled to start intermittently to perform intermittent cleaning on the sensor to be cleaned; when the second end condition is met in the second cleaning stage, the gas cleaning mechanism, the mixing mechanism and the injection mechanism are closed.

[0079] refer to Figure 4 The timing control diagram of the first cleaning mode and the second clear mode are given as examples below:

[0080] The first cleaning mode is gas washing: at 0s, the gas circuit is opened separately, namely the gas washing mechanism (which may include a gas tank, air pump, and gas circuit solenoid valve group), the mixing mechanism (which may include a Y-type connector, etc.), and the spray mechanism (which may include a nozzle, etc.). Specifically, the gas tank, air pump, and the corresponding gas circuit solenoid valve group valve ports are opened. After high-speed gas flows through the corresponding valve ports, it passes through the Y-type connector and is finally ejected from the corresponding nozzle. Then, at Tn, the gas circuit solenoid valve group valve ports are closed to complete the cleaning. Tn can be obtained from the first cleaning parameter.

[0081] The second cleaning mode involves mixed gas-liquid cleaning, air purge, and intermittent air purge. From 0s to T1, the pipeline is filled with water. From T1 to T3, a mixed gas and liquid purge is performed. From T3 to T4, most residual water stains are initially removed and the cleaning effect is enhanced. Three air purges are then activated from T5 to T6, T7 to T8, and T9 to T10 to remove any remaining water stains from the pipeline. The air circuit is closed during the time periods T4 to T5, T6 to T7, and T8 to T9 to prepare for the next surge when the air circuit is opened. Specifically, at 0s, the liquid cleaning mechanism's liquid tank, water pump, corresponding valve port of the liquid circuit solenoid valve assembly, and the mixing mechanism's check valve are opened. This allows some liquid to fill the pipeline and reach the nozzle of the spray mechanism first. At T1, the air circuit is opened, and high-pressure, high-speed gas mixes with the liquid, forming a mist that is then ejected from the nozzle at high speed, effectively cleaning the sensor. At T3, the liquid circuit is closed, and the air circuit solenoid valve remains open for Tx seconds before closing at T4. The gas line is opened again at T5 and lasts for Ty seconds. The gas line solenoid valve is closed at T6. The gas line is opened again at T7 and lasts for Ty seconds. The gas line solenoid valve is closed at T8. The gas line is opened again at T9 and lasts for Ty seconds. The gas line solenoid valve is closed at T10. The cleaning is completed. Tx and Ty can be obtained through the first cleaning parameters.

[0082] In the present invention, the termination condition includes a first termination condition or a second termination condition, which can be whether a preset spraying time has been reached or whether a preset cleaning threshold has been reached. If the determination result is yes, the termination condition is satisfied, and the cleaning mechanism, the mixing mechanism, and the spraying mechanism are shut down. If the determination result is no, the termination condition is not satisfied, and the cleaning signal continues to be executed. The preset cleaning threshold can be determined by a sensor whose first cleaning state is clean, or by a standard detection value of a sensor of the same type, or by historical detection data of the sensor to be cleaned, or by the difference in detection data before and after cleaning of the sensor to be cleaned. The method for determining whether the first cleaning stage reaches the preset cleaning threshold can be to compare the clean sensor detection data with the detection data of the sensor to be cleaned, and determine that the end condition is met if the difference is within the preset cleaning threshold; or to compare the standard detection value of the sensor of the same type with the detection data of the sensor to be cleaned after cleaning, and to compare the clean sensor detection data with the detection data of the sensor to be cleaned, and determine that the end condition is met if the difference is within the preset cleaning threshold; or to compare the historical detection data of the sensor to be cleaned with the detection data after cleaning, and determine that the end condition is met if the difference is within the preset cleaning threshold; or to compare the detection data of the sensor to be cleaned before and after cleaning, and determine that the end condition is met if the difference is within the preset cleaning threshold, and there is no specific limitation.

[0083] 307 : Obtain sensor data of the sensor to be cleaned after cleaning, and obtain a second cleaning state of each sensor.

[0084] The terminal obtains the detection data of the sensor after cleaning, and obtains the second cleaning state of each sensor based on the detection data of the sensor after cleaning, or compares the detection data of the sensor after cleaning with the detection data of the corresponding clean sensor under the same detection conditions to obtain the second cleaning state of the sensor. The corresponding clean sensor is the same type of sensor whose first cleaning state is clean.

[0085] 308. If the second cleaning state is to be cleaned, generate an adjusted cleaning signal, and perform cleaning according to the adjusted cleaning signal.

[0086] If the terminal determines that the second cleaning state is to be cleaned, the terminal analyzes the sensor data of the sensor to be cleaned, the sensor data of the sensor to be cleaned after cleaning, and the preset sensor data to obtain a cleaning effect evaluation score. Based on the cleaning effect evaluation score and the preset score range, the terminal adjusts the first cleaning parameter of the cleaning signal to obtain a second cleaning parameter, where at least one of the second cleaning parameters is greater than the first cleaning parameter. The terminal then determines the second cleaning parameter, the adjusted cleaning sequence, and the target cleaning mode as the adjusted cleaning signal. If the second cleaning state is clean, the cleaning signal and the corresponding vehicle operating parameters are determined as a stored signal.

[0087] In the present invention, the preset sensor detection data refers to the detection data of the same type of clean sensor under the same conditions. The cleaning effect evaluation score is used to indicate the cleaning effect. It can be the difference between the sensor detection data before and after cleaning, or the degree of similarity between the sensor detection data after cleaning and the preset sensor detection data, or other indicators for evaluating the cleaning effect for comprehensive scoring.

[0088] The terminal analyzes the adjusted cleaning signal, and calls the cleaning mechanism to clean the sensor to be cleaned according to the new cleaning sequence, the second cleaning parameters and the cleaning mode of continued cleaning, so as to achieve a better cleaning effect.

[0089] 309. If the second cleaning state is clean, the cleaning signal and the vehicle's operating parameters are saved to the cloud.

[0090] If the terminal determines that the second cleaning state is clean, it will save the cleaning signal and the vehicle's operating parameters to the cloud for machine learning, thereby improving the vehicle's efficiency in generating cleaning signals corresponding to different types of stains under different operating states.

[0091] In an embodiment of the present invention, the unmanned vehicle can perform targeted cleaning of various types of stains on the sensor under various vehicle operating conditions, evaluate the cleaning effect, and further optimize the cleaning parameters, thereby enhancing the coordinated control capability of the cleaning system, reducing gas and liquid consumption, avoiding liquid residue after cleaning, improving cleaning efficiency, achieving better cleaning effects, reducing the maintenance cost of the sensor, and ensuring the safety of the operation of the unmanned vehicle.

[0092] The sensor cleaning control method according to the embodiment of the present invention is described above. The sensor cleaning control device according to the embodiment of the present invention is described below. Figure 5 In one embodiment of the present invention, a sensor cleaning control device includes:

[0093] The first acquisition module 501 is used to acquire vehicle operating parameters and sensor data.

[0094] The first processing module 502 is used to obtain information about the sensor to be cleaned and the type of stain according to the sensor data.

[0095] The second processing module 503 is used to determine a target cleaning mode from candidate cleaning modes according to the stain type. The candidate cleaning modes include a first cleaning mode and a second cleaning mode. The first cleaning mode is a single air cleaning mode, and the second cleaning mode is a gas-liquid mixed cleaning mode.

[0096] The sequence determination module 504 is used to determine a target cleaning sequence according to the vehicle's operating parameters and information about the sensors to be cleaned.

[0097] The signal generating module 505 is configured to generate a cleaning signal according to a target cleaning sequence, a preset first cleaning parameter, and a target cleaning mode.

[0098] The first cleaning module 506 is configured to clean the sensor to be cleaned according to the cleaning signal.

[0099] In an embodiment of the present invention, the unmanned vehicle performs targeted cleaning of various types of stains on the sensor under various vehicle operating conditions, thereby enhancing the coordinated control capability of the cleaning system, reducing gas and liquid consumption, avoiding liquid residue after cleaning, improving cleaning efficiency, achieving good cleaning effects, reducing the maintenance cost of the sensor, and ensuring the safety of the operation of the unmanned vehicle.

[0100] See also Figure 6 Another embodiment of the sensor cleaning control device in the embodiment of the present invention includes:

[0101] The first acquisition module 501 is used to acquire vehicle operating parameters and sensor data.

[0102] The first processing module 502 is used to obtain information about the sensor to be cleaned and the type of stain according to the sensor data.

[0103] The second processing module 503 is used to determine a target cleaning mode from candidate cleaning modes according to the stain type. The candidate cleaning modes include a first cleaning mode and a second cleaning mode. The first cleaning mode is a single air cleaning mode, and the second cleaning mode is a gas-liquid mixed cleaning mode.

[0104] The sequence determination module 504 is used to determine a target cleaning sequence according to the vehicle's operating parameters and information about the sensors to be cleaned.

[0105] The signal generating module 505 is configured to generate a cleaning signal according to a target cleaning sequence, a preset first cleaning parameter, and a target cleaning mode.

[0106] The first cleaning module 506 is configured to clean the sensor to be cleaned according to the cleaning signal.

[0107] Optionally, the first processing module 502 is specifically used to: parse sensor data to obtain a sensor device identification code and sensor detection data; determine the first cleaning state of each sensor based on the sensor detection data to obtain a sensor to be cleaned, with at least one sensor to be cleaned; determine the installation position of each sensor to be cleaned and the type of each sensor to be cleaned based on the sensor device identification code of each sensor to be cleaned; identify and divide the sensor surface area based on the sensor detection data of each sensor to be cleaned to obtain the area to be cleaned of each sensor to be cleaned; determine the type of stain on each sensor to be cleaned based on the sensor detection data of each sensor to be cleaned.

[0108] Optionally, the sequence determination module 504 includes:

[0109] The calculation unit 5041 is used to determine the operating state of the vehicle based on the operating parameters of the vehicle;

[0110] The parsing unit 5042 is used to parse the information of the sensors to be cleaned to obtain the sensors to be cleaned, the number of sensors to be cleaned, the installation location of each sensor to be cleaned, the type of each sensor to be cleaned, and the area to be cleaned of each sensor to be cleaned;

[0111] The judgment unit 5043 is used to judge whether cleaning the sensor to be cleaned affects the operating state of the vehicle and obtain a judgment result;

[0112] An analysis unit 5044 is used to analyze the judgment result, the operating status of the vehicle and the information of the sensors to be cleaned to obtain a target cleaning sequence;

[0113] Optionally, the analysis unit 5044 is specifically used to: when the judgment result is yes and the number of sensors to be cleaned is one, divide the area to be cleaned into a left area and a right area, and determine a first cleaning order according to the operating status of the vehicle, the left area, the right area and the installation position of the sensors to be cleaned; when the judgment result is yes and the number of sensors to be cleaned is greater than one, determine a second cleaning order according to the operating status of the vehicle, the installation position of the sensors to be cleaned and the type of each sensor to be cleaned; when the judgment result is no, determine a third cleaning order according to the information of the sensors to be cleaned.

[0114] Optionally, when the target cleaning mode is the second cleaning mode, the first cleaning module 506 is specifically used to: according to the second cleaning mode of the cleaning signal, control the liquid cleaning mechanism to start first and the gas cleaning mechanism to start later, and open the mixing mechanism and the injection mechanism to clean the sensor to be cleaned; when reaching the preset first time point, control the liquid cleaning mechanism to close first and the gas cleaning mechanism to close later; when reaching the preset second time point, control the gas cleaning mechanism to start intermittently to intermittently clean the sensor to be cleaned.

[0115] Optionally, the sensor cleaning control device further includes:

[0116] The second acquisition module 507 is used to acquire sensor data of the sensor to be cleaned after cleaning, and obtain a second cleaning state of each sensor.

[0117] The second cleaning module 508 is configured to generate an adjusted cleaning signal if the second cleaning state is to be cleaned, and perform cleaning according to the adjusted cleaning signal.

[0118] The storage module 509 is configured to store the cleaning signal and the vehicle's operating parameters in the cloud if the second cleaning state is clean.

[0119] Optionally, the second cleaning module 508 is specifically used for: if the second cleaning state is to be cleaned, analyzing the sensor data of the sensor to be cleaned and the sensor data after cleaning the sensor to be cleaned to obtain a cleaning effect evaluation score; adjusting the first cleaning parameter of the cleaning signal according to the cleaning effect evaluation score and a preset score range to obtain a second cleaning parameter; adjusting the target cleaning sequence of the cleaning signal according to the sensor data after cleaning the sensor to be cleaned and the operating parameters of the vehicle to obtain an adjusted cleaning sequence; determining the second cleaning parameter, the adjusted cleaning sequence and the target cleaning mode as an adjusted cleaning signal; and performing cleaning according to the adjusted cleaning signal.

[0120] In an embodiment of the present invention, the unmanned vehicle can perform targeted cleaning of various types of stains on the sensor under various vehicle operating conditions, evaluate the cleaning effect, and further optimize the cleaning parameters, thereby enhancing the coordinated control capability of the cleaning system, reducing gas and liquid consumption, avoiding liquid residue after cleaning, improving cleaning efficiency, achieving better cleaning effects, reducing the maintenance cost of the sensor, and ensuring the safety of the operation of the unmanned vehicle.

[0121] above Figure 5 and Figure 6 The sensor cleaning control device in the embodiment of the present invention is described in detail from the perspective of modular functional entities. The sensor cleaning control device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0122] Figure 7 Schematic diagram of the structure of a sensor cleaning control device provided by an embodiment of the present invention. The sensor cleaning control device 700 may vary significantly due to different configurations or performance, and may include one or more processors (central processing units, CPUs) 710 (for example, one or more processors) and a memory 720, and one or more storage media 730 (for example, one or more mass storage devices) storing application programs 733 or data 732. The memory 720 and storage medium 730 may be either short-term storage or persistent storage. The program stored in the storage medium 730 may include one or more modules (not shown), each of which may include a series of instruction operations in the sensor cleaning control device 700. Furthermore, the processor 710 may be configured to communicate with the storage medium 730 to execute the series of instruction operations in the storage medium 730 on the sensor cleaning control device 700.

[0123] The sensor cleaning control device 700 may further include one or more power supplies 740, one or more wired or wireless network interfaces 750, one or more input and output interfaces 760, and / or one or more operating systems 731, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 7 The structure of the sensor cleaning control device shown does not constitute a limitation on the sensor cleaning control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0124] The present invention also provides a sensor cleaning control device, the computer device includes a memory and a processor, the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the sensor cleaning control method in the above embodiments.

[0125] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions, which, when executed on a computer, cause the computer to execute the steps of the sensor cleaning control method.

[0126] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0127] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0128] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sensor cleaning control method, characterized in that: include: Obtain vehicle operating parameters and sensor data; Obtaining sensor information to be cleaned and the type of stain according to the sensor data; Determining a target cleaning mode from candidate cleaning modes according to the stain type, the candidate cleaning modes including a first cleaning mode and a second cleaning mode, the first cleaning mode being a single air cleaning mode, and the second cleaning mode being a gas-liquid mixed cleaning mode, wherein the gas-liquid mixed cleaning mode first performs mixed cleaning, then air cleaning, and finally performs intermittent air cleaning; determining a target cleaning sequence based on the operating parameters of the vehicle and the information of the sensors to be cleaned, and according to the degree of impact of cleaning each sensor to be cleaned on the current operating state of the vehicle and / or the operating state of the vehicle in a future period, wherein the target cleaning sequence is any one of a first cleaning sequence, a second cleaning sequence, and a third cleaning sequence, so as to minimize the impact of the cleaning process of the sensors to be cleaned on the operation of the vehicle; The first cleaning sequence is the cleaning sequence of the left and right areas of the area to be cleaned when cleaning the sensor to be cleaned affects the running state of the vehicle and when there is only one sensor to be cleaned; The second cleaning sequence is the cleaning sequence of the sensors to be cleaned when cleaning the sensors affects the running state of the vehicle and the number of the sensors to be cleaned is greater than one; The third cleaning sequence is a cleaning sequence for the sensors to be cleaned when cleaning the sensors does not affect the operating state of the vehicle; generating a cleaning signal according to the target cleaning sequence, the preset first cleaning parameter, and the target cleaning mode; Cleaning the sensor to be cleaned according to the cleaning signal; Acquire sensor data of the sensor to be cleaned after cleaning, and obtain a second cleaning state of each sensor; If the second cleaning state is to be cleaned, generating an adjusted cleaning signal, and performing cleaning according to the adjusted cleaning signal; If the second cleaning state is to be cleaned, generating an adjusted cleaning signal, and performing cleaning according to the adjusted cleaning signal, comprising: If the second cleaning state is judged to be to be cleaned, the sensor data of the sensor to be cleaned, the sensor data after cleaning of the sensor to be cleaned and the preset sensor data are analyzed to obtain a cleaning effect evaluation score. According to the cleaning effect evaluation score and the preset score range, the first cleaning parameter of the cleaning signal is adjusted to obtain a second cleaning parameter. At least one parameter of the second cleaning parameter is greater than the first cleaning parameter. The second cleaning parameter, the adjusted cleaning sequence and the target cleaning mode are determined as the adjusted cleaning signal; cleaning is performed according to the adjusted cleaning signal.

2. The sensor cleaning control method according to claim 1, characterized in that: The step of obtaining sensor information to be cleaned and the type of stain according to the sensor data includes: Parsing the sensor data to obtain a sensor device identification code and sensor detection data; Determining a first cleaning state of each sensor according to the sensor detection data to obtain a sensor to be cleaned, wherein the number of the sensor to be cleaned is at least one; Determining the installation location of each sensor to be cleaned and the type of each sensor to be cleaned according to the sensor device identification code of each sensor to be cleaned; Identifying and dividing the sensor surface area according to the sensor detection data of each sensor to be cleaned to obtain the to-be-cleaned area of ​​each sensor to be cleaned; The type of dirt on each sensor to be cleaned is determined based on the sensor detection data of each sensor to be cleaned.

3. The sensor cleaning control method according to claim 1, characterized in that: Determining a target cleaning sequence based on the operating parameters of the vehicle and the information of the sensors to be cleaned, and according to the degree of impact of cleaning each sensor to be cleaned on the current operating state of the vehicle, includes: determining an operating state of the vehicle according to the operating parameters of the vehicle; Parsing the information of the sensors to be cleaned to obtain the sensors to be cleaned, the number of the sensors to be cleaned, the installation location of each sensor to be cleaned, the type of each sensor to be cleaned, and the area to be cleaned of each sensor to be cleaned; determining whether cleaning the sensor to be cleaned affects the operating state of the vehicle, and obtaining a determination result; The judgment result, the operating state of the vehicle and the information of the sensors to be cleaned are analyzed to obtain a target cleaning sequence.

4. The sensor cleaning control method according to claim 3, characterized in that: The step of analyzing the judgment result, the operating state of the vehicle, and the information of the sensor to be cleaned to obtain a target cleaning sequence includes: When the judgment result is yes and the number of the sensor to be cleaned is one, the area to be cleaned is divided into a left area and a right area, and a first cleaning order is determined according to the operating state of the vehicle, the left area, the right area, and the installation position of the sensor to be cleaned; When the judgment result is yes, and the number of the sensors to be cleaned is greater than one, determining a second cleaning order according to the operating state of the vehicle, the installation position of the sensors to be cleaned, and the type of each sensor to be cleaned; When the judgment result is no, a third cleaning sequence is determined according to the information of the sensor to be cleaned.

5. The sensor cleaning control method according to claim 1, characterized in that: When the target cleaning mode is the second cleaning mode, cleaning the sensor to be cleaned according to the cleaning signal includes: According to the second cleaning mode of the cleaning signal, the liquid cleaning mechanism is controlled to start first and the gas cleaning mechanism is controlled to start later, and the mixing mechanism and the spraying mechanism are turned on to clean the sensor to be cleaned; When a preset first time point is reached, controlling the liquid cleaning mechanism to be closed first and the gas cleaning mechanism to be closed later; When a preset second time point is reached, the gas cleaning mechanism is controlled to start intermittently to perform intermittent cleaning on the sensor to be cleaned.

6. The sensor cleaning control method according to any one of claims 1 to 5, characterized in that: After the sensor to be cleaned is cleaned according to the cleaning signal, the method further includes: If the second cleaning state is clean, the cleaning signal and the operating parameters of the vehicle are saved to the cloud.

7. The sensor cleaning control method according to claim 6, characterized in that: If the second cleaning state is to be cleaned, generating an adjusted cleaning signal includes: If the second cleaning state is to be cleaned, analyzing the sensor data of the sensor to be cleaned and the sensor data of the sensor to be cleaned after cleaning to obtain a cleaning effect evaluation score; adjusting the first cleaning parameter of the cleaning signal according to the cleaning effect evaluation score and a preset score range to obtain a second cleaning parameter; adjusting the target cleaning sequence of the cleaning signal according to the sensor data of the sensor to be cleaned after cleaning and the operating parameters of the vehicle to obtain an adjusted cleaning sequence; The second cleaning parameter, the adjusted cleaning sequence and the target cleaning mode are determined as an adjusted cleaning signal.

8. A sensor cleaning control device, characterized in that: The sensor cleaning control device comprises: A first acquisition module is used to acquire operating parameters and sensor data of the vehicle; A first processing module is used to obtain information of the sensor to be cleaned and the type of stain according to the sensor data; a second processing module, configured to determine a target cleaning mode from candidate cleaning modes according to the stain type, the candidate cleaning modes including a first cleaning mode and a second cleaning mode, the first cleaning mode being a single air cleaning mode, the second cleaning mode being a gas-liquid mixed cleaning mode, the gas-liquid mixed cleaning mode first performing mixed cleaning, then performing air cleaning, and finally performing intermittent air cleaning; a sequence determination module, configured to determine a target cleaning sequence based on the vehicle's operating parameters, the information about the sensors to be cleaned, and the degree of impact of cleaning each sensor to be cleaned on the current vehicle operating state and / or the vehicle's operating state in a future time period, wherein the target cleaning sequence is any one of a first cleaning sequence, a second cleaning sequence, and a third cleaning sequence, so as to minimize the impact of the cleaning process of the sensors to be cleaned on vehicle operation; The first cleaning sequence is the cleaning sequence of the left and right areas of the area to be cleaned when cleaning the sensor to be cleaned affects the running state of the vehicle and when there is only one sensor to be cleaned; The second cleaning sequence is the cleaning sequence of the sensors to be cleaned when cleaning the sensors affects the running state of the vehicle and the number of the sensors to be cleaned is greater than one; The third cleaning sequence is a cleaning sequence for the sensors to be cleaned when cleaning the sensors does not affect the operating state of the vehicle; a signal generating module, configured to generate a cleaning signal according to the target cleaning sequence, a preset first cleaning parameter, and the target cleaning mode; a first cleaning module, configured to clean the sensor to be cleaned according to the cleaning signal; A second acquisition module is used to acquire sensor data of the sensor to be cleaned after cleaning, and obtain a second cleaning state of each sensor; a second cleaning module, configured to generate an adjusted cleaning signal if the second cleaning state is to be cleaned, and perform cleaning according to the adjusted cleaning signal; The second cleaning module is specifically used to analyze the sensor data of the sensor to be cleaned, the sensor data after cleaning the sensor to be cleaned, and the preset sensor data to obtain a cleaning effect evaluation score if the second cleaning state is determined to be to be cleaned. According to the cleaning effect evaluation score and the preset score range, the first cleaning parameter of the cleaning signal is adjusted to obtain a second cleaning parameter. At least one parameter of the second cleaning parameter is greater than the first cleaning parameter. The second cleaning parameter, the adjusted cleaning sequence, and the target cleaning mode are determined as the adjusted cleaning signal; and cleaning is performed according to the adjusted cleaning signal.

9. A sensor cleaning control device, characterized in that: The sensor cleaning control device includes: a memory and at least one processor, wherein the memory stores instructions; The at least one processor calls the instructions in the memory to enable the sensor cleaning control device to execute the sensor cleaning control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instruction is read and executed, the sensor cleaning control method according to any one of claims 1 to 7 is executed.

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