Top module forming the roof of a vehicle comprising a cleaning device and associated cleaning method

Abstract

The invention relates to a roof module for forming a vehicle roof (100) of a motor vehicle, the roof module comprising a panel member (12) at least partially forming a roof skin (14) of the vehicle roof (100) and serving as an outer sealing surface of the roof module (10), at least one sensor module (15) comprising at least one environmental sensor (16) configured to be able to send and / or receive electromagnetic signals through a see-through area (20) for detecting a vehicle environment, a controller (27), and at least one cleaning device (23) comprising at least one cleaning nozzle (24) configured to clean the see-through area. The at least one environmental sensor (16) is configured to be able to detect at least one object (28) moving towards the see-through area in the form of image data, the controller (27) is configured to be able to generate at least one object information from the image data and to cause the at least one cleaning nozzle (24) to emit a cleaning fluid based on the information.

Description

Technical Field

[0001] This invention relates to a top module for forming the roof of a motor vehicle. Furthermore, the invention also relates to a method for cleaning the viewing area of ​​an environmental sensor included in the top module forming the roof of a motor vehicle. Background Technology

[0002] Universal roof modules are widely used in automobile manufacturing because they can be prefabricated as independent functional modules and transported to the assembly line during vehicle assembly. The roof module at least partially forms a top skin on its outer surface, preventing moisture and airflow from entering the vehicle's interior. The top skin consists of one or more panel members, which can be made of stable materials such as painted metal or painted or molded plastic. The roof module can be part of a fixed vehicle roof or part of an openable roof subassembly.

[0003] Furthermore, the automotive manufacturing industry is increasingly focusing on autonomous and semi-autonomous driving vehicles. To enable vehicle controllers to automatically or semi-autonomously control vehicles, multiple environmental sensors (such as lidar sensors, radar sensors, (multi) cameras, and sensors including other (electrical) components) are employed. These sensors are integrated, for example, into a top module. These sensors detect the environment surrounding the vehicle and determine, for example, the current traffic conditions based on the detected environmental data. A top module equipped with multiple environmental sensors is also known as a Top Sensor Module (RSM). For this purpose, known environmental sensors send and / or receive appropriate electromagnetic signals, such as laser beams or radar beams, allowing the generation of a data model of the vehicle's environment through appropriate signal evaluation and use for vehicle control.

[0004] Environmental sensors used to monitor and detect the vehicle's environment are typically mounted on the roof of the vehicle, as the roof is usually the highest point and the surrounding environment is easily observable from there. Environmental sensors are usually arranged as accessories on the panel members of the top module that form the top skin; alternatively, they may also be arranged at openings in the top module and adjustable between retracted and extended positions. For optimal operation, safety, and usability in autonomous or semi-autonomous driving modes, it is crucial that environmental sensors be available as continuously as possible.

[0005] However, during the use of environmental sensors, a risk posed by environmental conditions (such as weather or collisions with insects) is that dirt can accumulate in the partially transparent area through which the environmental sensor detects the vehicle's environment, meaning it is at least partially opaque to the sensor. To clean this transparent area, cleaning nozzles are known to be used, and these nozzles generally clean the transparent area. Similar to the nozzles in a rear window or windshield wiper system, known cleaning nozzles are typically arranged statically or in a retractable and deployable manner in an area of ​​the top module or panel component. The cleaning nozzles are generally positioned relative to the transparent area so that they are in front of the environmental sensor relative to its optical axis, preferably outside its field of view, so that the environmental sensor does not perceive them as interference as much as possible.

[0006] However, existing cleaning devices do not enable such environmental sensors to function fully and consistently because they cannot effectively clean such viewing areas under all circumstances, depending on the type and amount of dirt. In particular, known cleaning devices are also ineffective at cleaning or removing insects, dirt, mud, and / or snow (mud) from viewing areas, as cleaning typically waits until dirt accumulation reaches a certain point—that is, dirt particles and / or insects have already adhered to the viewing area—beyond which point they can no longer be removed by the cleaning nozzle. This is particularly disadvantageous because dirt particles adhering to such viewing areas cause optical interference to a portion of the environmental sensor's field of view. Therefore, the environmental sensor can no longer detect the vehicle environment without interference, thus limiting its functionality and usability. This compromised state can usually only be remedied manually or by cleaning the relevant viewing area in a car wash. However, this requires time and effort. Insects, in particular, are a challenge because contact with insects can cause rapid drying or coagulation, as well as protein adhesion, leading to a rapid buildup of dirt in the viewing area. This problem is known for, for example, windshields. However, similar problems also occur with mud and rapidly adhering dirt and / or leaves, which are difficult to remove or clean with known cleaning devices. Summary of the Invention

[0007] Therefore, one object of the present invention is to provide a top module and / or panel component for a motor vehicle that avoids the disadvantages of the aforementioned known art, and in particular, is able to effectively clean the transparent areas of environmental sensors and / or the transparent areas of the panel component.

[0008] Another object of the present invention is to provide a method for effectively cleaning transparent areas.

[0009] The top module according to the invention and the method according to the invention provide a solution.

[0010] Advantageous embodiments of the present invention are the subject of the technical solution of the present invention.

[0011] A top module for forming a vehicle roof on a motor vehicle according to the invention includes a panel member that at least partially forms the top skin of the vehicle roof and serves as the outer sealing surface of the top module. The top module includes at least one sensor module comprising at least one environmental sensor configured to transmit and / or receive electromagnetic signals through a transparent area to detect the vehicle environment. Furthermore, the top module includes a controller and at least one cleaning device comprising at least one cleaning nozzle configured to clean the transparent area. The top module according to the invention is characterized in that the at least one environmental sensor is further configured to detect at least one object moving toward the transparent area in the form of image data. The controller is configured to obtain or generate at least one object information from the acquired image data and cause the at least one cleaning nozzle to discharge cleaning fluid (e.g., in the form of a fluid cone or fluid jet) based on this information.

[0012] According to the present invention, a method for cleaning the viewing area of ​​an environmental sensor (particularly actively and / or preventively) includes at least the following steps: sending and / or receiving electromagnetic signals for detecting the vehicle environment; detecting at least one object moving toward the viewing area in the form of image data; generating at least one object information from the acquired image data; and actuating at least one cleaning nozzle to discharge cleaning fluid (e.g., in the form of a fluid cone or fluid jet) based on the generated at least one object information.

[0013] Furthermore, the objective according to the invention is achieved by a cleaning system comprising a panel component of a motor vehicle, at least one environmental sensor, a controller, and at least one cleaning device. The panel component is preferably an external sealing surface of the motor vehicle. The panel component can be any body part of the motor vehicle, a headlight cladding, and / or window glass (e.g., windshield, side windows, and / or rear window). The panel component has a (preferably at least partially transparent) transparent area through which the environmental sensor can transmit and / or receive electromagnetic signals to detect the vehicle environment. The at least one cleaning device includes at least one cleaning nozzle configured to clean the transparent area. The cleaning system according to the invention is characterized in that at least one environmental sensor is further configured to detect at least one object moving toward the transparent area in the form of image data. The controller is configured to obtain or generate at least one object information from the acquired image data and cause at least one cleaning nozzle to discharge cleaning fluid (e.g., in the form of a fluid cone or fluid jet) based on this information.

[0014] Of course, the technical solutions of the present invention and / or exemplary embodiments of the top module are equivalent to the method and cleaning system according to the present invention, without needing to be mentioned separately in the context.

[0015] The top module, method, and cleaning system according to the invention are particularly advantageous because at least one environmental sensor is also used for early detection of approaching potential contaminants. For this purpose, the environmental sensor preferably detects the vehicle environment at high resolution, enabling it to detect even particles as small as a few millimeters in diameter. At least one environmental sensor detects the vehicle environment in the form of electromagnetic signals, which are preferably transmitted to the controller in the form of (pixel-related) image data. The controller is preferably configured to detect at least one approaching object by performing image evaluation (e.g., grayscale-based edge detection) on the acquired image data and to identify at least one object information on said object. For this purpose, the controller can, for example, compare multiple sets of sensor image data detected consecutively to extract the corresponding relative changes in object size between the detected sets of image data, from which the relative velocity of the object toward at least one environmental sensor can be determined, taking into account the image acquisition sequence. In response to an approaching object (potential contaminant), the controller instructs at least one cleaning nozzle to discharge cleaning fluid, thereby preventing the object from colliding with and / or adhering to the transparent area. Therefore, the transparent area can be cleaned more quickly and / or even remain free of contaminants, such as at least one object. This improves the efficiency and effectiveness of cleaning according to the invention. Furthermore, the cleaning method according to the invention makes it possible to prevent severe accumulation of dirt in the viewing area, or at least to reduce the time dirt remains in the viewing area to the point where it can no longer adhere to the viewing area. Since there is no longer a large accumulation of dirt, targeted cleaning of specific objects also reduces the consumption of cleaning fluid, meaning that a cleaner viewing area can be maintained with less cleaning fluid. According to the invention, interference caused by dirt in the field of view of the environmental sensor can be prevented. Therefore, according to the invention, the environmental sensor has a free and low-interference field of view of the vehicle environment at all times, ensuring continuous sensor availability and improving detection accuracy.

[0016] Especially when at least one object is an insect, the invention has the advantage that the insect can be deflected by the cleaning fluid upon, after, or before collision with the transparent area. Therefore, the insect does not die from the collision; instead, it is simply diverted along its trajectory. Thus, the invention is also advantageous from a conservation perspective.

[0017] Therefore, in other words, according to the invention, the time required to clean or maintain the viewing area of ​​an environmental sensor (e.g., a camera sensor, a lidar sensor, and / or a radar sensor) can be shortened because, through the object-specific control of the cleaning device, approaching objects are detected early, i.e., during, after, or before their approach phase when they collide with the viewing area. At least one cleaning nozzle is preferably controllable for specific objects, thus allowing for coordinated use. This enables cleaning (liquid, liquid jet nozzle, air jet nozzle) to be activated early, or even before, the impact of contaminants. Consequently, contaminant adhesion is prevented or reduced, or contaminants are removed or reduced at least within a very short time.

[0018] The controller is preferably configured to extract or evaluate information about a specific object, i.e., at least one object, from the image data to ensure object-specific control of at least one cleaning nozzle. Essentially any type of object information can be extracted (by the controller) from the image data, as long as the information is suitable for causing at least one cleaning nozzle to discharge cleaning fluid, preferably for a specific object. In the simplest case, at least one object information may simply include the information that the detected object is a potential contaminant particle with a predetermined probability, without needing a more detailed definition of the object's type and mass. In abstract image processing, the role of object recognition methods is to distinguish some objects or patterns from others. For this purpose, it is preferable to first mathematically describe the object to be detected. Commonly used image processing methods include edge detection, transformation, and size and color detection. The more accurate the description of the object, the more information can be evaluated, and the more reliable the object recognition. Of course, the controller can essentially be mounted anywhere on the top module according to the invention or anywhere in the cleaning system according to the invention. For example, the controller can be part of a sensor module. However, in principle, the controller can also be located anywhere in a motor vehicle.

[0019] "At least one sensor module" means that the top module may include one or more sensor modules. "At least one environmental sensor" means that the top module may include one or more environmental sensors. "At least one cleaning device" means that the top module may include one or more cleaning devices. "At least one cleaning nozzle" means that the top module may include one or more cleaning nozzles.

[0020] The field of view of at least one environmental sensor preferably extends symmetrically around the optical axis of the environmental sensor, and its shape is a cone with a sensor-specific cone opening angle. At least one environmental sensor is preferably configured to detect the vehicle environment in the form of image data; according to the invention, the environmental sensor also detects at least one object as part of this image data. Therefore, the environmental sensor does not generate image data specifically for that object; instead, it detects at least one object as part of the vehicle environment to be detected.

[0021] The roof module or cleaning system preferably includes at least two cleaning nozzles movably arranged within the panel member and spaced apart from each other. For cleaning purposes, the roof module may also have one or more hose lines and / or a tank for cleaning fluid. Alternatively, a tank for cleaning fluid already present in the front and / or rear windows of the vehicle can be used as a reservoir for the cleaning fluid used by the cleaning device.

[0022] The top module according to the invention can form a structural unit integrating features of automated or semi-automatic driving assisted by a driver assistance system, and can be placed on the vehicle body shell as a structural unit by the vehicle manufacturer. Furthermore, the top module according to the invention can be a purely fixed roof or a roof including a top opening system. Additionally, the top module can be configured for use with passenger cars or multi-purpose vehicles. The top module can preferably be provided in the form of a top sensor module (RSM), incorporating environmental sensors for insertion into the top frame of the vehicle body as a supportable structural unit.

[0023] The environmental sensor according to the invention can be configured in a variety of ways, particularly including lidar sensors, radar sensors, optical sensors such as (multi-directional) cameras, and / or similar sensors. For example, the lidar sensor operates in a wavelength range of 905 nm or about 1550 nm. The material of the panel components of the top skin and the transparent area should be permeable to the wavelength range used by the environmental sensor; therefore, the environmental sensor should be selected according to the wavelength range used.

[0024] In a preferred embodiment, at least one object includes dirt particles and / or insects and / or slush particles and / or dust and / or leaves and / or sprayed water or water droplets and / or snowflakes and / or similar environmentally related or environmentally caused dirt particles. Thus, at least one object can be dirt, mud, grime, dust, and / or oil particles or droplets. The controller is preferably configured to identify only objects in the image data, or only extract objects moving toward the perspective area of ​​the environmental sensor from the image data, since only these objects would cause potential accumulation of dirt in the perspective area. Other objects located within the field of view of the environmental sensor, which are also recorded in the acquired image data in principle, but not moving toward the perspective area, are preferably not listed as relevant objects by the controller. Of course, the controller can also identify multiple objects moving toward the perspective area.

[0025] In a preferred embodiment, the controller causes at least one cleaning nozzle to discharge cleaning fluid directly in the direction in which at least one object moves toward the viewing area, so as to deflect at least one object from the viewing area before, during, or after its collision with the viewing area. Therefore, the cleaning fluid is preferably discharged toward at least one object moving toward the viewing area to deflect at least one object from the viewing area before, during, or after its collision with the viewing area. This constitutes preventative cleaning because the cleaning fluid deflects the object before, during, or after its collision with the viewing area. The controller preferably takes into account information about at least one object when activating at least one cleaning nozzle in such a way that even if the cleaning fluid hits the object, causing it to deviate from its trajectory. This makes the control of at least one cleaning nozzle suitable for the object and the situation. The controller is preferably able to activate and deflect the cleaning nozzle before the object moves into the fluid cone generated by the cleaning nozzle. This avoids or at least reduces the possibility of the object colliding with and / or adhering to the viewing area, because potential dirt particles from the particular object are immediately or directly carried away by the cleaning fluid.

[0026] In a preferred embodiment, the controller causes at least one cleaning nozzle to discharge cleaning fluid in a direction toward the viewing area so as to remove an object from the viewing area upon or preferably immediately after a collision with the viewing area. Particularly preferred is that the controller causes at least one cleaning nozzle to spray cleaning fluid only onto a portion of the viewing area, which is expected to be affected by the object based on an object assessment using image data. Thus, cleaning fluid is sprayed or discharged onto the viewing area to clean it directly, i.e., immediately. The cleaning fluid preferably impacts the entire viewing area so that the entire viewing area is wetted and thus can be cleaned. When an object impacts the viewing area, it can be washed away directly after the impact because the cleaning fluid sprayed onto the viewing area prevents it from adhering. Therefore, for example, it can also effectively prevent the accumulation of dirt caused by insects (collisions with insects) because there is no time for proteins in the insect's body to coagulate after the collision, thus forming clumps on the viewing area. For example, one cleaning nozzle can also be actively aimed at the viewing area to spray cleaning fluid directly onto it, while another cleaning nozzle is aimed to attempt to deflect the object before the cleaning fluid impacts the viewing area. If the cleaning fluid misses the object itself or fails to deflect it, it can be washed away by the cleaning fluid directly on the transparent area.

[0027] In a preferred embodiment, the controller causes at least one cleaning nozzle to discharge cleaning fluid toward the viewing area before at least one object collides with it, thereby preventing the object from colliding with the viewing area. The cleaning nozzle, activated before the object (potential contaminant) collides, sprays cleaning fluid onto at least a portion of the viewing area, effectively preventing collision and / or adhesion of the object, as the object can be directly flushed away. Furthermore, the activated cleaning jet or liquid cone toward at least a portion of the viewing area can deflect an approaching object in advance before impact, thus preventing it from striking the viewing area. The object is essentially blown away and / or sprayed away, thus deviating from its trajectory.

[0028] In a preferred embodiment, the controller is configured to cause at least one cleaning nozzle to discharge cleaning fluid from at least one cleaning nozzle in a pulsed and / or timed manner and / or in the form of pressure surges and / or at least temporarily in the form of a continuous fluid flow. This conserves the amount of cleaning fluid required. The pulsed and / or timed discharge and / or pressure surge discharge of the cleaning fluid can be controlled such that the cleaning fluid is discharged from at least one cleaning nozzle at continuous intervals. The cleaning fluid will acquire an impact force sufficient to deflect at least one object. In the case of multiple objects, individual pulsed cleaning nozzles can, for example, strike and deflect one object separately.

[0029] In a preferred embodiment, the controller is configured to control the amount of cleaning fluid to be discharged, particularly based on information about at least one object and directed to that specific object. For example, more cleaning fluid can be discharged when a large object approaches the viewing area than when a very small object approaches, because the deflection of a larger object requires a greater (mass-related) force. This volume-related control of the cleaning fluid has the advantage of conserving cleaning fluid. Because the volume-related control is preferably object-specific, i.e., taking information about at least one object into account in the control, highly accurate and effective cleaning can still be ensured.

[0030] In a preferred embodiment, at least one cleaning nozzle is arranged on the panel member in front of and preferably outside the field of view of at least one environmental sensor, relative to the line of sight of at least one environmental sensor. While a position outside the field of view of at least one cleaning nozzle is ideal and advantageous, it is not absolutely necessary. In principle, at least one cleaning nozzle can also be arranged within the field of view of the environmental sensor. For example, at least one cleaning nozzle can be arranged to the right and / or left of at least one environmental sensor, relative to the line of sight of at least one environmental sensor.

[0031] In a preferred embodiment, at least one cleaning nozzle is arranged on the panel member in a rotatable and / or translational manner and / or with multiple settable spray directions (i.e., the main direction of the spray cone), and the controller is preferably configured to move at least one cleaning nozzle and / or set a predetermined or selected spray direction, or activate them based on at least one object information, i.e., to activate them in a preferred object-specific manner. This movable configuration of the cleaning nozzle preferably allows it to be activated in an object-specific manner, directing the cleaning fluid toward the object or transparent area in an object-specific manner. For example, such a movable cleaning nozzle makes it possible to spray only a portion of the transparent area with cleaning fluid, since in this case, the cleaning nozzle is directed toward said portion. Basically any type of movement can be used for this purpose. However, it is advantageous that the controller is able to individually set the individual degrees of freedom of movement of the cleaning nozzle, thereby ensuring the most comprehensive controllability possible.

[0032] In a preferred embodiment, at least one object information includes information about the object's velocity and / or position and / or size and / or the object's properties and / or the time of collision between at least one object and the perspective area and / or information about whether active and / or preventative and / or follow-up actions are needed. In principle, other types of object information are also possible, provided the controller can determine this information from the image data through object recognition based on the image data. For this purpose, multiple evaluation algorithms can be employed, which can extract different object parameters from the image data. For example, the controller can evaluate various sets of time-based image data or image sequences (over time) to determine different object information. For example, reference objects can be stored online or offline in a database, which the controller can access to perform comparative evaluations. Thus, the controller, together with at least one environmental sensor, is used to detect incoming, i.e., approaching insects, mud, snow, and / or other types of dirt and / or particles, and outputs information about at least one specific object, including, for example, information about the nature of the approach (whether the object is approaching), velocity, position, size and / or type of dirt or type of particle, estimated collision time, or a preference for active and / or preventative and / or timely initiation of cleaning based on the object.

[0033] In a preferred embodiment, algorithms capable of or implementing machine learning and / or similar object recognition, particularly simulating neural networks, are implemented on the storage and execution unit of the controller. The storage and execution unit is preferably configured to determine at least one object information from acquired image data and / or sensor data (e.g., point clouds and / or probe images) using machine learning (i.e., artificial intelligence-based) and / or similar evaluation and / or decision-making methods. In principle, analytical models can also be used to evaluate or determine at least one object information from the acquired image data. For example, to identify a single object, it can be evaluated or determined by determining the degree of obstacles and / or transparency and / or at least partial occlusion and / or shadows. Therefore, the image data-based object recognition of the controller is preferably performed on the basis of artificial intelligence or machine learning. In this case, software-based object recognition methods can be employed, such as those based on machine learning or deep learning. For machine learning methods, it is preferable to first define features and then use techniques such as support vector machines (SVM) to classify objects. Known machine learning methods include the Viola Jones method based on Haar wavelets, the Scale Invariant Feature Transform (SIFT) method, the Accelerated Robust Feature Transform (SURF) method, and the Histogram of Directed Gradients (HOG) method. Deep learning methods are mostly based on Convolutional Neural Networks (CNNs). Such artificial neural networks are preferably pre-trained. This requires a large amount of image data (>100). This image data used for training is preferably previously classified in some form, so that the training image data already contains information about what is depicted in the images.

[0034] In one preferred embodiment, the present invention relates to a motor vehicle including a top module according to the invention. In another preferred embodiment, the present invention relates to a motor vehicle including a cleaning system according to the invention.

[0035] Basically, any type of environmental sensor can be installed in the top module or used in the cleaning system. The use of lidar sensors and / or radar sensors and / or camera sensors and / or multi-camera sensors and / or ultrasonic sensors is particularly advantageous.

[0036] Of course, the embodiments and illustrative examples mentioned above and discussed below can be implemented individually and can be combined with each other arbitrarily without departing from the scope of the invention. Furthermore, any and all embodiments and illustrative examples of the top module are also suitable for motor vehicles having such a top module and for motor vehicles having such a top module and for the method according to the invention. Furthermore, any and all embodiments and illustrative examples of the cleaning system are also suitable for motor vehicles having such a cleaning system. Attached Figure Description

[0037] The figure schematically illustrates one embodiment of the invention, which will be discussed in more detail below.

[0038] Figure 1 It is a perspective view of the vehicle roof including the top module according to the invention;

[0039] Figure 2 This is a schematic diagram of a first exemplary embodiment of the top module according to the present invention; and

[0040] Figure 3 This is a schematic diagram of a second exemplary embodiment of the top module according to the present invention. Detailed Implementation

[0041] Figure 1 The roof 100 of a motor vehicle is shown (not shown in its entirety). The vehicle includes a roof module 10. The roof module 10 is inserted into the vehicle's roof frame 104, i.e., placed as a structural unit on top of two crossbeams 102 and two longitudinal beams 106 (only one beam is visible). The two crossbeams 102 and two longitudinal beams 106 (only one beam is visible) constitute the roof frame 104. In the illustrative example shown, the roof module 10 has a panoramic roof 108.

[0042] The top module 10 includes a panel member 12 for forming the top skin 14 of the vehicle top 100. In principle, this panel member could also be any other body panel, headlight cladding, and / or window of the motor vehicle. A sensor module 15, including an ambient sensor 16, is arranged symmetrically with respect to the longitudinal axis of the vehicle in the front region of the vehicle top 100 or the top module 10 (relative to the longitudinal direction x). The ambient sensor 16 is arranged directly behind the front crossbeam 102 defining the front head of the vehicle. The ambient sensor 16 is arranged in a sensor housing 18, through which it is positioned in an opening (not shown) in the top skin 14 of the top module 10 and is retractably and deployably mounted on the frame structure (or rotatably mounted thereon). Alternatively, the ambient sensor 16 and the sensor housing 18 may be rigidly mounted on the outer surface of the top skin 14 or on the panel member 12. The ambient sensor 16 is arranged inside the sensor housing 18. The sensor housing 18 forms a dry area in which the ambient sensor 16 is arranged in a moisture-proof manner. In this application, the environmental sensor 16 is a lidar sensor. However, other types of sensors for (semi-)autonomous driving can also be used.

[0043] The environmental sensor 16, or its sensor housing 18, includes a transparent area 20, which may be made of a preferred shatterproof plastic or, for example, other (semi-)transparent material. The environmental sensor 16 is configured to detect the field of view 21 in the form of an electromagnetic signal (see...). Figure 2 The vehicle environment within the ) and oriented along the optical axis 22, in Figure 1 In this case, the optical axis is parallel to the vehicle's longitudinal direction x.

[0044] The top module 10 according to the invention also includes at least one cleaning device 23, which includes at least one cleaning nozzle 24 configured to clean the transparent area 20. In this application, the top module 10 is provided with two cleaning nozzles 24 (see...). Figure 1 Each nozzle is supplied with a cleaning fluid (e.g., a liquid, such as water, or a gas) through a supply channel 25. The cleaning fluid may be, for example, soapy water. Alternatively, pressurized air or other pressurized gases may be used for cleaning. As the cleaning fluid exits from the cleaning nozzle 24, a corresponding fluid cone 26 or cleaning jet is generated. The cleaning nozzle 24 is oriented such that the fluid cone 26 impacts and cleans the viewing area 20 (see...). Figure 2 ).

[0045] According to the present invention, the sensor module 15 includes a controller 27. Figure 2 In this case, controller 27 is schematically arranged within sensor housing 18. However, alternatively, controller 27 may be arranged in a different area outside the sensor housing of top module 10. Controller 27 may be, for example, a controller for at least one environmental sensor, which also evaluates image data of the vehicle's surroundings, i.e., the vehicle environment, to enable (semi-)autonomous driving. Controller 27 may include memory, processor, cache, and other components of a computer. In its simplest case, controller 27 may be a single-chip computer (system-on-a-chip). Controller 27 may also include storage and evaluation units.

[0046] According to the invention, at least one environmental sensor 16 is configured to detect at least one object 28 moving toward the perspective area 20 in the form of image data. For example, the object 28 may be dirt particles and / or insects and / or slush particles or other types of dirt particles moving toward the perspective area 20 along a main object trajectory 29.

[0047] The controller 27 is configured to determine or generate at least one object information (e.g., the relative speed of object 28 relative to a vehicle or the transparent area 20) from image data. Based on this at least one object information, the controller 27 will cause at least one cleaning nozzle 24 to discharge cleaning fluid in the form of a fluid cone 26 or a fluid jet. Thus, the controller 27 controls the cleaning nozzle 24 to discharge cleaning fluid toward a specific object, thereby preventing the object from adhering to the transparent area. When the controller 27 activates at least one cleaning nozzle 24, the cleaning nozzle is caused to discharge cleaning fluid. This discharge may also be in the form of pulses and / or timing and / or in a volume-controlled manner. Therefore, the controller 27 is preferably configured to receive and evaluate signals (in the form of image data) from at least one environmental sensor and, given circumstances, actuate the cleaning device 23, in particular at least one cleaning nozzle 24, in an optimal manner.

[0048] For example, controller 27 causes at least one cleaning nozzle 24 to discharge cleaning fluid in a direction toward the viewing area 20 so as to remove the object 28 from the viewing area 20 as immediately as possible upon, or even before or after, its collision with the viewing area 20 (see...). Figure 2 The object 28 removed in this way is deflected from the perspective area 20 in the deflection direction 30, and therefore cannot adhere to the perspective area 20. The object 28, thus deflected by the fluid cone 26 or the fluid jet, ... Figure 2 The center is again shown with a dashed line. This prevents dirt from accumulating on the transparent area 20.

[0049] For example, controller 27 causes at least one cleaning nozzle 24 to discharge cleaning fluid onto at least one object 28 moving toward the perspective area 20, so that at least one object 28 deflects from the perspective area 20 in a deflection direction 30 before colliding with the perspective area 20 (see...). Figure 3 Thus, the object 28, after being deflected by the fluid cone 26 or the fluid jet, is... Figure 3 The image is again shown in dashed lines. Therefore, the accumulation of dirt on the viewing area 20 can be prevented in advance. In other words, at least one environmental sensor 16 detects one or more dirt and / or one or more particles (such as insects, dirt, grime, and / or snow) approaching the field of view 21 and moving towards the viewing area 20 along the object's main trajectory 29. Early detection of the object 28 enables the controller 27 to activate the cleaning nozzle 24 earlier, for which at least one cleaning nozzle 24 is supplied with cleaning fluid through the supply channel 25. Thus, fluid jetting is activated, cleaning the viewing area 20 early, i.e., before the object 28 collides with the viewing area 20. The result is rapid and effective cleaning or avoidance or reduction of dirt accumulation on the viewing area 20. This improves sensor performance by avoiding interference related to dirt.

[0050] List of reference numerals

[0051] 10 Top Module

[0052] 12 Panel Components

[0053] 14 Top Skin

[0054] 15 Sensor Modules

[0055] 16 Environmental Sensors

[0056] 18 Sensor Housing

[0057] 20 Perspective Areas

[0058] 21 Vision

[0059] 22 optical axes

[0060] 23 Cleaning equipment

[0061] 24 Clean the nozzle

[0062] 25 Supply Channels

[0063] 26 Fluid Cone

[0064] 27 Controller

[0065] 28 objects

[0066] 29. Principal Trajectory of an Object

[0067] 30 Deflection direction

[0068] 100 vehicle roof

[0069] 102 Crossbeam

[0070] 104 Top Frame

[0071] 106 Longitudinal Beams

[0072] 108 Panoramic Top

Claims

1. A top module for forming a vehicle roof (100) of a motor vehicle, the top module comprising: A panel component (12) that at least partially forms the top skin (14) of the vehicle roof (100) and serves as the outer sealing surface of the top module (10); at least one sensor module (15) including at least one environmental sensor (16) configured to transmit and / or receive electromagnetic signals through the transparent area (20) to detect the vehicle environment; a controller (27); and at least one cleaning device (23) including at least one cleaning nozzle (24) configured to clean the transparent area (20), characterized in that the at least one environmental sensor (16) is configured to detect at least one object (28) moving toward the transparent area (20) in the form of image data, the controller (27) is configured to generate at least one object information from the image data and cause the at least one cleaning nozzle (24) to discharge cleaning fluid based on the at least one object information, wherein in response to an approaching object, the controller instructs at least one cleaning nozzle to discharge cleaning fluid to prevent the object from colliding with and / or adhering to the transparent area, wherein the controller causes the nozzle to discharge cleaning fluid toward the direction of the transparent area and / or toward the approaching object.

2. The top module according to claim 1, characterized in that, The at least one object (28) includes dirt particles that are related to or generated by the environment.

3. The top module according to claim 1, characterized in that, The at least one object (28) includes insects and / or slush particles and / or dust and / or leaves and / or sprayed water and / or snowflakes.

4. The top module according to claim 1, characterized in that, The at least one object (28) includes a water droplet.

5. The top module according to any one of claims 1-4, characterized in that, The controller (27) causes the at least one cleaning nozzle (24) to discharge cleaning fluid onto at least one object (28) moving toward the perspective area (20) so as to deflect the at least one object (28) away from the perspective area (20) when, before or after the at least one object collides with the perspective area (20).

6. The top module according to any one of claims 1 to 4, characterized in that, The controller (27) causes the at least one cleaning nozzle (24) to discharge cleaning fluid in a direction toward the transparent area (20) so as to remove the at least one object (28) from the transparent area when, before or after the at least one object collides with the transparent area (20).

7. The top module according to any one of claims 1 to 4, characterized in that, The controller (27) causes the at least one cleaning nozzle (24) to discharge cleaning fluid in the direction toward the transparent area (20) before the at least one object (28) collides with the transparent area (20), so as to prevent the at least one object (28) from colliding with the transparent area (20).

8. The top module according to any one of claims 1-4, characterized in that, The controller (27) is configured to cause the at least one cleaning nozzle (24) to discharge cleaning fluid from the at least one cleaning nozzle (24) in a pulsed manner and / or in the form of a pressure surge and / or at least temporarily in the form of a continuous fluid flow.

9. The top module according to any one of claims 1-4, characterized in that, The controller (27) is configured to control the amount of clean fluid to be discharged based on the information of the at least one object.

10. The top module according to any one of claims 1-4, characterized in that, The at least one cleaning nozzle (24) is positioned on the panel member in front of and outside the field of view of the environmental sensor (16) relative to the line of sight of the environmental sensor (16).

11. The top module according to any one of claims 1-4, characterized in that, At least one cleaning nozzle (24) has multiple settable spray directions, and the controller (27) is configured to set a predetermined spray direction of the multiple settable spray directions based on the at least one object information.

12. The top module according to any one of claims 1-4, characterized in that, At least one cleaning nozzle (24) is arranged on the panel member (12) in a manner that allows rotation and / or translation, and the controller (27) is configured to move the at least one cleaning nozzle (24) according to the at least one object information.

13. The top module according to any one of claims 1-4, characterized in that, The information about at least one object includes information about the velocity and / or position and / or size of the object (28) and / or the properties of the object (28) and / or the time of collision between the at least one object (28) and the perspective area (20) and / or whether active and / or preventive and / or follow-up actions are required.

14. The top module according to any one of claims 1-4, characterized in that, An algorithm capable of machine learning is implemented on the storage and execution unit of the controller (27), which is configured to determine information about the at least one object from the acquired image data through machine learning.

15. The top module according to any one of claims 1 to 4, characterized in that, The at least one environmental sensor (16) includes a radar sensor and / or a camera sensor and / or an ultrasonic sensor.

16. The top module according to any one of claims 1 to 4, characterized in that, The at least one environmental sensor (16) includes a lidar sensor.

17. The top module according to any one of claims 1 to 4, characterized in that, The at least one environmental sensor (16) includes a multi-camera sensor.

18. A motor vehicle comprising a top module (10) according to any one of claims 1 to 17.

19. A method for cleaning a viewing area (20) of an environmental sensor (16), said environmental sensor (16) being included in a top module (10) for forming a vehicle roof (100) of a motor vehicle, said method comprising: Sending and / or receiving electromagnetic signals to detect the vehicle environment; Detect at least one object (28) moving toward the perspective region (20) in the form of image data; Generate at least one object information from the acquired image data; And actuates at least one cleaning nozzle (24) based on at least one object information generated to discharge cleaning fluid, wherein in response to an approaching object, the controller instructs at least one cleaning nozzle to discharge cleaning fluid to prevent the object from colliding with and / or adhering to the transparent area, wherein the controller causes the nozzle to discharge cleaning fluid toward the direction of the transparent area and / or toward the approaching object.

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