Vehicle self-cleaning control method and device, cleaning system and electronic equipment

Abstract

The application provides a vehicle self-cleaning control method, device, cleaning system and electronic equipment, including the following steps: after receiving a first request, obtaining a first attribute value of a first image, the first request being a request for cleaning a laser radar, the first image being an image of a windshield glass captured by a front camera after receiving the first request, and the first attribute value being a dirty state value of the windshield glass. It is judged whether the first attribute value is greater than a first threshold. If yes, a first control signal is sent to control a windshield wiper motor to wipe the windshield glass. This method only triggers the cleaning control signal of the laser radar to identify the dirty state of the front windshield glass, and then determines whether to clean the windshield glass according to the identification result of the dirty state of the windshield glass, so that the cleaning of the laser radar and the cleaning of the windshield glass are linked to control, effectively reducing the probability of misjudgment of the dirty state of the front windshield glass by the camera.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle automatic cleaning, and in particular to a vehicle self-cleaning control method and device, a cleaning system and electronic equipment. BACKGROUND

[0002] At present, with the gradual popularization of intelligent driving vehicles, the front camera and laser radar thereof play an irreplaceable role in intelligent driving. The front camera is mainly located at the inner top of the front windshield glass of the intelligent driving vehicle, and the laser radar is mainly located at the top of the vehicle head outside the front windshield glass, and is used for radar data collection. When the laser radar collects data, the surface of the radar needs to be kept clean, and if the surface of the laser radar is dirty, the quality of the radar point cloud data will be reduced. Similarly, when the front camera collects data, the front windshield glass in the installation area also needs to be kept clean, and if the surface of the front windshield glass is dirty, the quality of the visual image data will be reduced.

[0003] In order to clean the dirt on the surface of the laser radar, the surface of the laser radar needs to be cleaned, and at present, a washing liquid spraying method is usually used to clean the dirt on the surface of the laser radar. However, due to the installation positions of the front laser radar and the front camera, when the laser radar cleaning is performed, the washing liquid will flow down along the front windshield glass during the spraying process, resulting in dirt on the windshield glass in front of the camera, and thus reducing the image data quality of the front camera. In view of this problem, for the intelligent driving vehicle, especially in the scene of unmanned automatic driving, the self-cleaning method that can be adopted judges whether the front windshield glass is clean by identifying the cleanliness of the front windshield glass through the front camera, and sends a request signal when there is dirt on the front windshield glass, so as to control the water spraying and linkage wiper through the vehicle body controller to clean the front windshield glass, and then feed back the signal of cleaning completion to the front camera, and again identify whether the windshield glass is clean through the image captured by the camera, so as to realize the self-cleaning of the front windshield glass.

[0004] However, the above self-cleaning method uses a pure visual scheme to identify the dirt on the front windshield glass, which is prone to misjudgment of the dirt identification result due to the limitations of image recognition technology, and thus the automatic cleaning of the washing wiper is frequently triggered. SUMMARY

[0005] The present application provides a vehicle self-cleaning control method, device, cleaning system and electronic equipment, which solves the defect that the dirt identification result of the front windshield glass is easily misjudged in the prior art, and realizes the linkage control between the cleaning of the laser radar and the cleaning of the windshield glass.

[0006] The present application provides a vehicle self-cleaning control method, which comprises:

[0007] acquire a first attribute value of a first image after receiving a first request, the first request being a request for cleaning the lidar, the first image being an image of the windshield taken by a front camera after receiving the first request, the first attribute value being a dirty state value of the windshield;

[0008] determine whether the first attribute value is greater than a first threshold value; if yes, then

[0009] issue a first control signal to control the wiper motor to wipe the windshield.

[0010] According to the vehicle self-cleaning control method provided by the application, the first attribute value of the first image is acquired after receiving the first request, and the method further comprises:

[0011] receiving the first request;

[0012] cleaning the lidar based on the first request.

[0013] According to the vehicle self-cleaning control method provided by the application, the cleaning of the lidar based on the first request comprises:

[0014] issuing a second control signal and a third control signal based on the first request, the second control signal being used to control the washing pump to draw washing liquid to a first electromagnetic valve, and the third control signal being used to open a first channel of the first electromagnetic valve to make the washing liquid pass through the first channel to clean the lidar.

[0015] According to the vehicle self-cleaning control method provided by the application, the first control signal is issued to control the wiper motor to wipe the windshield, and the method further comprises:

[0016] issuing the second control signal to control the washing pump to draw washing liquid to the first electromagnetic valve, so that the washing liquid passes through a second channel of the first electromagnetic valve to clean the windshield, the first electromagnetic valve being a three-way valve, and the second channel being a normally open channel of the first electromagnetic valve.

[0017] According to the vehicle self-cleaning control method provided by the application, the first attribute value of the first image is acquired, and the method further comprises:

[0018] detecting whether a visual auxiliary detection request is received, the visual auxiliary detection request being a request for dirty detection of the windshield set or operated by a user; if yes, then

[0019] acquiring the first image; and

[0020] performing dirty state analysis on the first image to obtain the first attribute value; otherwise,

[0021] issuing the first control signal.

[0022] The application also provides a vehicle self-cleaning control device, which comprises:

[0023] The first obtaining module is configured to obtain a first attribute value of a first image after receiving a first request, the first request being a request for cleaning a laser radar, the first image being an image of a windshield captured by a forward camera after receiving the first request, and the first attribute value being a dirty state value of the windshield.

[0024] The first judging module is configured to judge whether the first attribute value is greater than a first threshold value; if yes, then

[0025] The first control module is configured to issue a first control signal to control a windshield wiper motor to wipe the windshield.

[0026] The application also provides a cleaning system, which comprises a vehicle body control assembly, a first electromagnetic valve and a second electromagnetic valve, the vehicle body control assembly being connected to a windshield wiper motor and a washing pump of a vehicle, the first electromagnetic valve and the second electromagnetic valve being connected to the vehicle body control assembly respectively, the first electromagnetic valve being a three-way valve, having a first channel and a second channel, the washing pump being connected to an inlet of the first electromagnetic valve and connected to a water inlet of the second electromagnetic valve through the first channel, a water outlet of the second channel being connected to a first nozzle facing the windshield, and a water outlet of the second electromagnetic valve being connected to a second nozzle facing the laser radar, the vehicle body control assembly being used to execute the steps in the method according to any one of the above.

[0027] According to the cleaning system provided by the application, the vehicle body control assembly comprises a vehicle body electronic controller, a forward camera image processing module and a laser radar cleaning control module, the vehicle body electronic controller being connected to the forward camera image processing module and the laser radar cleaning control module respectively, and the forward camera image processing module being connected to a forward camera.

[0028] The application also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the vehicle self-cleaning control method according to any one of the above.

[0029] The application also provides a computer storage medium, which stores a computer program, and the computer program is executable on a processor to realize the vehicle self-cleaning control method according to any one of the above.

[0030] The vehicle self-cleaning control method, device, system and electronic equipment provided by the application obtain the dirty state of the windshield glass after obtaining the laser radar cleaning instruction, and send a control instruction to realize the cleaning work of the windshield glass when the windshield glass is dirty. Therefore, the method only identifies the dirty state of the front windshield glass when the cleaning control signal of the laser radar is triggered, and then determines whether to clean the windshield glass according to the identification result of the dirty state of the windshield glass, so that the cleaning of the laser radar and the cleaning of the windshield glass are linked to avoid frequent triggering of the windshield cleaning, and effectively reduce the probability of false judgment of the dirty state of the front windshield glass by the camera. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0032] Figure 1 is one of the flowcharts of the vehicle self-cleaning control method provided by the application;

[0033] Figure 2 is the second flowchart of the vehicle self-cleaning control method provided by the application;

[0034] Figure 3 is the third flowchart of the vehicle self-cleaning control method provided by the application;

[0035] Figure 4 is the fourth flowchart of the vehicle self-cleaning control method provided by the application;

[0036] Figure 5 is the cleaning system structure schematic diagram of the vehicle self-cleaning control method in the specific embodiment provided by the application;

[0037] Figure 6 is the laser radar cleaning and wiper linkage control flowchart of the vehicle self-cleaning control method in the specific embodiment provided by the application;

[0038] Figure 7 is the structure schematic diagram of the vehicle self-cleaning control device provided by the application;

[0039] Figure 8 is the structure schematic diagram of the electronic equipment provided by the application.

[0040] Reference signs:

[0041] 710: First acquisition module; 720: First judgment module; 730: First control module; 810: Processor; 820: Communication interface; 830: Memory; 840: Communication bus. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] The following is combined with Figures 1-8 The present invention describes a vehicle self-cleaning control method, apparatus, cleaning system, and electronic equipment.

[0044] like Figure 1 As shown, in one embodiment, a vehicle self-cleaning control method includes the following steps:

[0045] Step S110: After receiving the first request, obtain the first attribute value of the first image. The first request is a request to clean the lidar. The first image is an image of the windshield taken by the forward-facing camera after receiving the first request. The first attribute value is the dirt status value of the windshield.

[0046] Specifically, after receiving a cleaning request to clean the lidar, the vehicle's electronic controller acquires image data of the windshield through the vehicle's front camera and assigns an attribute value, namely the first attribute value, to the image data regarding the state of dirt on the windshield.

[0047] Step S120: Determine whether the value of the first attribute is greater than the first threshold.

[0048] Specifically, the vehicle body electronic controller determines whether the first attribute value obtained in step S110 exceeds the first threshold.

[0049] The first threshold is the critical value at which the vehicle electronic controller determines whether there is dirt on the windshield based on the first attribute value of the windshield image data. If the first attribute value exceeds the first threshold, it is determined that there is dirt on the windshield.

[0050] Step S130: If yes, then issue a first control signal to control the wiper motor to wipe water off the windshield.

[0051] Specifically, the vehicle electronic controller, based on the judgment result of the first attribute value in step S120, issues a first control signal when the first attribute value exceeds the first threshold, so as to control the wiper motor to drive the wipers to wipe the windshield.

[0052] If the first attribute value exceeds the first threshold value, it indicates that there is dirt on the windshield glass, and the vehicle body electronic controller sends a control signal for cleaning the windshield glass.

[0053] The vehicle self-cleaning control method obtains the dirt state of the windshield glass after obtaining the laser radar cleaning instruction, and sends a control instruction to clean the windshield glass when there is dirt on the windshield glass. Therefore, the method only identifies the dirt state of the front windshield glass when the cleaning control signal of the laser radar is triggered, and then determines whether to clean the windshield glass according to the identification result of the windshield glass dirt state, so that the cleaning of the laser radar and the cleaning of the windshield glass are linked to avoid frequent triggering of windshield cleaning, and effectively reduce the probability of camera misjudgment of the front windshield glass dirt state.

[0054] As shown in Figure 2 The vehicle self-cleaning control method provided by the application comprises the following steps of:

[0055] Step S210 receives a first request.

[0056] The first request is used to control the laser radar to perform cleaning work.

[0057] Step S220 cleans the laser radar based on the first request.

[0058] Specifically, the vehicle body electronic controller controls the laser radar to perform cleaning work according to the first request obtained in step S210.

[0059] As shown in Figure 3 The vehicle self-cleaning control method provided by the application further comprises the following steps:

[0060] Step 310 sends a second control signal and a third control signal based on the first request, the second control signal being used to control the washing pump to draw washing liquid to the first electromagnetic valve, and the third control signal being used to open the first channel of the first electromagnetic valve to make the washing liquid clean the laser radar through the first channel.

[0061] The first electromagnetic valve is a three-way electromagnetic valve, which has one input channel and two output channels, the first channel being one of the output channels and being used to deliver washing liquid to the laser radar, and the other output channel being used to deliver washing liquid to the front windshield glass of the vehicle, and the input channel being used to receive washing liquid from the washing pump.

[0062] Specifically, the vehicle body electronic controller sends out a second control signal and a third control signal based on the first request, controls the washing pump to draw washing liquid to the three-way electromagnetic valve through the second control signal, and opens the first channel of the three-way electromagnetic valve through the third control signal, so that the washing liquid cleans the laser radar through the channel.

[0063] Step S320, a second control signal is sent out to control the washing pump to draw washing liquid to the first electromagnetic valve, so that the washing liquid cleans the windshield through the second channel of the first electromagnetic valve. The first electromagnetic valve is a three-way valve, and the second channel is a normally open channel of the first electromagnetic valve.

[0064] The second channel is another output channel of the three-way electromagnetic valve different from the first channel, and is used to deliver washing liquid to the front windshield of the vehicle.

[0065] Specifically, the vehicle body electronic controller receives a second control signal before sending out the first control signal to control the windshield wiper motor to wipe the windshield, to control the washing pump to draw washing liquid to the three-way electromagnetic valve, so that the washing liquid flows through the second channel of the three-way electromagnetic valve to clean the windshield, and the second channel is a normally open channel.

[0066] As shown in Figure 4 The present application provides a vehicle self-cleaning control method, which obtains a first attribute value of a first image, and further includes the following steps:

[0067] Step S410, detecting whether a visual auxiliary detection request is received, the visual auxiliary detection request being a request for dirt detection of the windshield set or operated by a user.

[0068] Specifically, the vehicle body electronic controller detects whether it receives a visual auxiliary detection request set or operated by a user, and performs dirt detection on the windshield when the visual auxiliary detection request is received.

[0069] Step S420, if yes, a first image is obtained.

[0070] Specifically, if the vehicle body electronic controller receives a visual auxiliary detection request set or operated by a user, the vehicle body electronic controller will obtain the image of the front windshield taken by the front camera, i.e. the first image.

[0071] Step S430, performing dirt state analysis on the first image to obtain a first attribute value.

[0072] Specifically, after receiving the image of the front windshield taken by the front camera, the vehicle body electronic controller performs dirt state analysis on the received image to obtain the dirt state value of the image.

[0073] Step S440, otherwise, a first control signal is sent out.

[0074] Specifically, if the vehicle's electronic controller does not receive a visual assistance detection request set or operated by the user, the vehicle's electronic server will send a first control signal to control the wiper motor to drive the wipers to wipe water off the vehicle's windshield.

[0075] like Figure 5 As shown in the specific embodiment, the present invention provides a vehicle self-cleaning control method, which is developed based on the existing mature wiper washing system of the vehicle to meet the needs of lidar cleaning and windshield cleaning. For the scenario of forward lidar cleaning, the method uses a front camera to perform image recognition to assist in judging the dirt status of the windshield.

[0076] In this embodiment, the lidar cleaning system mainly includes: a forward-facing camera, a forward-facing camera data processing module, a lidar cleaning control module, a vehicle body controller, a wiper motor, a washer motor, a first solenoid valve, a second solenoid valve, a first nozzle, a second nozzle, a washer reservoir, and cleaning pipes. The forward-facing camera is used to collect image data of the road ahead of the vehicle. The forward-facing camera image processing module then identifies the collected image data to determine whether there is dirt on the windshield. When dirt is present on the windshield, a dirt status signal (DirtyStatus) is transmitted to the vehicle body electronic control module. The forward-facing camera can be a separate controller or integrated within the autonomous driving controller.

[0077] The LiDAR cleaning control module is used to control the working state of the first solenoid valve and the second solenoid valve. The LiDAR cleaning control module receives the external LiDAR cleaning request signal (LidarWashRequest) and controls the working state of the first solenoid valve through the first solenoid valve control signal (Valve1_Control) and the second solenoid valve through the second solenoid valve control signal (Valve2_Control). The LiDAR cleaning control module can also be integrated into the vehicle body controller.

[0078] It should be noted that the first solenoid valve is a three-way solenoid valve, used to control the flow of washing liquid only to the first nozzle or only to the second solenoid valve. The second solenoid valve is a one-way solenoid valve, its output end connected to the second nozzle, used to control the opening and closing of the second nozzle via the second solenoid valve control signal (Valve2_Control). The first nozzle is used to spray washing liquid onto the windshield, and the second nozzle is used to spray washing liquid onto the lidar. The input end of the first solenoid valve is connected to a washing jug, one of its output ends is connected to the input end of the second solenoid valve, and the other output end is connected to the first nozzle. The flow direction of the washing liquid in the first solenoid valve is controlled by the first solenoid valve control signal (Valve1_Control) to achieve cleaning of the lidar or the windshield.

[0079] In the embodiment, the body electronic controller is used to control the working state of the wiper motor and the washing motor, the body electronic controller receives the external wiper request signal (WiperRequest) and washing request signal (WashRequest), and controls the working state of the wiper motor through the driving wiper control signal (WiperControl) and controls the working state of the washing motor through the driving washing control signal (WashControl). Wherein, the wiper motor is used to drive the wiper to wipe the front windshield, the control part of the wiper motor can also be integrated in the body electronic controller, and the working state of the wiper motor is fed back to the body electronic controller through the wiper status signal (WiperStatus). The washing motor is used to pump the washing liquid from the washing pot, and the working state of the washing motor is fed back to the body electronic controller through the washing status signal (WashStatus). The signal name, signal value and physical meaning of the signal value of the control signal involved in the method are shown in Table 1:

[0080] Table 1

[0081]

[0082]

[0083] In combination Figure 6 As shown in the embodiment, first, the cleaning system needs to be initialized, so that the program enters the initialization state, and then enters the standby state (Standby). The initialization assignment of the main control signal of the cleaning system is shown in Table 2:

[0084] Table 2

[0085] Serial number Signal name Initialization assignment 1 Laser radar washing request signal ( LidarWashRequest ) 0x0: no request 2 Wash request signal ( WashRequest ) 0x0: no request 3 Wiper request signal ( WiperRequest ) 0x0: no request 4 Dirty state signal ( DirtyStatus ) 0x0: clean 5 Wiper control signal ( WiperControl ) 0x0: off 6 Wash control signal ( WashControl ) 0x0: off 7 First electromagnetic valve control signal ( Valve1_Control ) 0x1: open 8 Second electromagnetic valve control signal ( Valve2_Control ) 0x0: close

[0086] In the initialization process, configuration parameters need to be written, and the written configuration parameters are shown in Table 3:

[0087] Table 3

[0088]

[0089] In the standby state, the washing system continuously monitors the washing request signals, including the lidar washing request signal (LidarWashRequest), the wiper request signal (WiperRequest), and the wash request signal (WashRequest). When the lidar request signal (LidarWashRequest) = 0x1 or the wiper request signal (WiperRequest) = 0x1 or the wash request signal (WashRequest) = 0x1, the washing system will control the first electromagnetic valve and the second electromagnetic valve. When the lidar request signal (LidarWashRequest) = 0x0 and the wiper request signal (WiperRequest) = 0x0 and the wash request signal (WashRequest) = 0x0, the washing system will remain in the standby state. Among them, the standby state is a state of resetting the wiper motor operation count, that is, the wiper washing count (WiperCounter) = 0.

[0090] In the electromagnetic valve control process, the washing system controls the first electromagnetic valve and the second electromagnetic valve according to the lidar washing request signal (LidarWashRequest) or the wiper request signal (WiperRequest) or the wash request signal (WashRequest). When the wiper request signal (WiperRequest) = 0x1 or the wash request signal (WashRequest) = 0x1, the first electromagnetic valve is opened and the second electromagnetic valve is closed, and the washing liquid is transmitted to the first nozzle. The control logic of the first electromagnetic valve and the second electromagnetic valve is shown in Table 4:

[0091] Table 4

[0092]

[0093] In addition, when the first electromagnetic valve is opened and the second electromagnetic valve is closed, the washing liquid is guided to the first nozzle, and the control logic of the electromagnetic valve is shown in Table 5:

[0094] Table 5

[0095] Electromagnetic valve signal Output signal value First electromagnetic valve control signal ( Valve1_Control ) 0x1: open Second electromagnetic valve control signal ( Valve2_Control ) 0x0: close

[0096] In the process of washing motor control, the cleaning system controls the washing motor according to the lidar washing request signal (LidarWashRequest) or the wiper request signal (WiperRequest) or the washing request signal (WashRequest). When the lidar washing request signal (LidarWashRequest) or the washing request signal (WashRequest) = 0x1, the washing motor works, and when the wiper request signal (WiperRequest) = 0x1, the washing motor remains in the closed state. The control logic of the washing motor is shown in Table 6:

[0097] Table 6

[0098]

[0099] In this embodiment, the signal values of the lidar washing request signal (LidarWashRequest) and the washing request signal (WashRequest) are collected in real time in the process of washing motor control, and whether to trigger the washing motor to stop working is judged according to the collected signal values, that is, the working duration of the washing motor is determined, and the signal duration of the lidar washing request signal (LidarWashRequest) and the washing request signal (WashRequest) is realized. The driving control logic of the washing motor is shown in Table 7:

[0100] Table 7

[0101]

[0102]

[0103] In this embodiment, the washing system analyzes the Lidar Wash Request, Wiper Request and Wash Request signals when a washing request is analyzed. When the Wiper Request signal is not equal to 0x0 or the Wash Request signal is equal to 0x1, the wiper motor is controlled. When the Lidar Wash Request signal is equal to 0x1, it is determined whether to increase the visual auxiliary judgment of the dirt on the windshield. In the wiper motor control, the wiper motor is controlled according to the Wiper Control signal equal to 0x1: active, and the Wiper Counter is incremented by 1 for each cycle of the wiper motor. After the wiper motor is operated, the washing system enters the standby state again. The driving control logic of the wiper motor is shown in Table 8:

[0104] Table 8

[0105]

[0106]

[0107] In the judgment of whether to increase the visual aid, the configuration parameter of CameraAssistedEnable is judged. When CameraAssistedEnable=0x0, the wiper is controlled to wipe. When CameraAssistedEnable=0x1, the image perception is analyzed and processed. In the image perception analysis process, the front camera processing module obtains image data from the front camera, judges whether there is dirt on the windshield through the identification of the image data, and transmits the dirty state signal (DirtyStatus) to the vehicle body electronic controller to judge whether there is dirt on the windshield. When DirtyStatus=0x0: clean, the cleaning system returns to standby state. When DirtyStatus=0x1: dirty, the cleaning system judges whether the wiper cleaning times (WiperCounter) reach the maximum cleaning times (WiperCounter_MaxTimes). When WiperCounter≤WiperCounter_MaxTimes, the cleaning system controls the wiper motor to drive the wiper to wipe. When WiperCounter>WiperCounter_MaxTimes, the cleaning system diagnoses the wiper motor and returns to standby state. Wherein, the wiper cleaning times are increased by 1 each time the wiper motor is operated, and the dirty state is judged again. The diagnosis process is used to record the unexpected situation that the wiper cleaning is completed but the windshield is still dirty, and returns to standby state to judge and clean the residual dirt again.

[0108] The vehicle self-cleaning control device provided by the present application is described below. The vehicle self-cleaning control device described below can be referred to in conjunction with the vehicle self-cleaning control method described above.

[0109] As shown in Figure 7 In one embodiment, the present application provides a vehicle self-cleaning linkage control device, comprising a first acquisition module 710, a first judgment module 720 and a first control module 730.

[0110] The first acquisition module 710 is used to acquire the first attribute value of the first image after receiving the first request, the first request is a request to clean the laser radar, the first image is an image of the windshield taken by the front camera after receiving the first request, and the first attribute value is a dirty state value of the windshield.

[0111] The first determining module 720 is configured to determine whether the first attribute value is greater than a first threshold value.

[0112] The first control module 730 is configured to send a first control signal to control the wiper motor to clean the windshield glass.

[0113] In the embodiment, the vehicle self-cleaning control device provided by the application further comprises a first receiving module and a first cleaning module.

[0114] The first receiving module is configured to receive a first request.

[0115] The first cleaning module is configured to clean the laser radar based on the first request.

[0116] In the embodiment, the vehicle self-cleaning linkage control device provided by the application further comprises a second control module and a third control module.

[0117] The second control module is configured to send a second control signal and a third control signal based on the first request, the second control signal being configured to control the washing pump to draw washing liquid to the first electromagnetic valve, and the third control signal being configured to open a first channel of the first electromagnetic valve to make the washing liquid clean the laser radar through the first channel.

[0118] The third control module is configured to send the second control signal to control the washing pump to draw the washing liquid to the first electromagnetic valve, so that the washing liquid cleans the windshield glass through a second channel of the first electromagnetic valve, the first electromagnetic valve being a three-way valve, and the second channel being a normally open channel of the first electromagnetic valve.

[0119] In the embodiment, the vehicle self-cleaning linkage control device provided by the application further comprises a visual auxiliary module, an image acquisition module, a dirt analysis module and a signal sending module.

[0120] The visual auxiliary module is configured to detect whether a visual auxiliary detection request is received, the visual auxiliary detection request being a request for dirt detection of the windshield glass set or operated by a user.

[0121] The image acquisition module is configured to acquire a first image.

[0122] The dirt analysis module is configured to analyze a dirt state of the first image to obtain a first attribute value.

[0123] The signal sending module is configured to send the first control signal.

[0124] In one embodiment, the present application provides a cleaning system, comprising a vehicle body control assembly, a first electromagnetic valve and a second electromagnetic valve, the vehicle body control assembly being connected to a wiper motor and a washing pump of a vehicle, the first electromagnetic valve and the second electromagnetic valve being connected to the vehicle body control assembly respectively, the first electromagnetic valve being a three-way valve having a first channel and a second channel, the washing pump being connected to an inlet of the first electromagnetic valve and connected to a water inlet of the second electromagnetic valve through the first channel, the second channel sharing the inlet of the first electromagnetic valve with the first channel, and a water outlet of the second channel being connected to a first nozzle facing a windshield, and a water outlet of the second electromagnetic valve being connected to a second nozzle facing a laser radar, the vehicle body control assembly being used to execute a vehicle self-cleaning control method, the method comprising: after receiving a first request, obtaining a first attribute value of a first image, the first request being a request to clean the laser radar, the first image being an image of the windshield taken by a forward camera after receiving the first request, and the first attribute value being a dirtiness state value of the windshield;

[0125] determining whether the first attribute value is greater than a first threshold value; if yes,

[0126] sending a first control signal to control the wiper motor to wipe the windshield.

[0127] Figure 8 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 8 The electronic device can include a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communications bus 840. The processor 810 can invoke a logical instruction in the memory 830 to execute a vehicle self-cleaning control method, the method comprising: after receiving a first request, obtaining a first attribute value of a first image, the first request being a request to clean the laser radar, the first image being an image of the windshield taken by a forward camera after receiving the first request, and the first attribute value being a dirtiness state value of the windshield;

[0128] determining whether the first attribute value is greater than a first threshold value; if yes,

[0129] sending a first control signal to control the wiper motor to wipe the windshield.

[0130] Further, the logic instructions in the memory 830 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0131] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the vehicle self-cleaning control method provided by the above-mentioned methods. The method comprises: after receiving a first request, obtaining a first attribute value of a first image, the first request is a request to clean a laser radar, the first image is an image of a windshield glass captured by a front camera after receiving the first request, and the first attribute value is a dirty state value of the windshield glass;

[0132] determining whether the first attribute value is greater than a first threshold value; if yes, then

[0133] sending a first control signal to control a wiper motor to wipe the windshield glass.

[0134] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, the computer program is executed by a processor to implement the vehicle self-cleaning control method provided by the above-mentioned methods. The method comprises: after receiving a first request, obtaining a first attribute value of a first image, the first request is a request to clean a laser radar, the first image is an image of a windshield glass captured by a front camera after receiving the first request, and the first attribute value is a dirty state value of the windshield glass;

[0135] determining whether the first attribute value is greater than a first threshold value; if yes, then

[0136] sending a first control signal to control a wiper motor to wipe the windshield glass.

[0137] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0138] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0139] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle self-cleaning control method characterized by, The method comprises: after receiving a first request, obtaining a first attribute value of a first image, the first request being a request for cleaning a laser radar, the first image being an image of a windshield taken by a forward camera after receiving the first request, and the first attribute value being a dirty state value of the windshield; determining whether the first attribute value is greater than a first threshold value; if yes, then issuing a first control signal to control a wiper motor to wipe the windshield; based on the first request, cleaning the laser radar, comprising: issuing a second control signal and a third control signal based on the first request, the second control signal being used to control a washing pump to draw washing liquid to a first electromagnetic valve, and the third control signal being used to open a first channel of the first electromagnetic valve to make the washing liquid pass through the first channel to clean the laser radar; wherein the first electromagnetic valve is a three-way electromagnetic valve having one input channel and two output channels, the first channel being one of the output channels for delivering the washing liquid to the laser radar, and the other output channel being used to deliver the washing liquid to the front windshield of the vehicle, and the input channel being used to receive the washing liquid from the washing pump; before the first control signal is issued to control the wiper motor to wipe the windshield, further comprising: issuing the second control signal to control the washing pump to draw the washing liquid to the first electromagnetic valve, so that the washing liquid passes through a second channel of the first electromagnetic valve to clean the windshield, the first electromagnetic valve being a three-way valve, and the second channel being a normally open channel of the first electromagnetic valve; wherein the second channel is the other output channel of the three-way electromagnetic valve different from the first channel, and is used to deliver the washing liquid to the front windshield of the vehicle.

2. The vehicle self-cleaning control method according to claim 1, characterized by, before the first attribute value of the first image is obtained after receiving the first request, further comprising: receiving the first request; based on the first request, cleaning the laser radar.

3. The vehicle self-cleaning control method according to claim 1, characterized by, before the first attribute value of the first image is obtained, further comprising: detecting whether a visual auxiliary detection request is received, the visual auxiliary detection request being a request for dirty detection of the windshield set or operated by a user; if yes, then obtaining the first image; and performing dirty state analysis on the first image to obtain the first attribute value; otherwise, issuing the first control signal.

4. A vehicle self-cleaning control device characterized by comprising: The device comprises: a first obtaining module configured to obtain a first attribute value of a first image after receiving a first request, the first request being a request for cleaning a laser radar, the first image being an image of a windshield taken by a forward camera after receiving the first request, and the first attribute value being a dirty state value of the windshield; a first determining module configured to determine whether the first attribute value is greater than a first threshold value; if yes, then a first control module configured to issue a first control signal to control a wiper motor to wipe the windshield; based on the first request, cleaning the laser radar, comprising: issuing a second control signal and a third control signal based on the first request, the second control signal being used to control the washing pump to draw washing liquid to the first electromagnetic valve, and the third control signal being used to open a first channel of the first electromagnetic valve to make the washing liquid clean the laser radar via the first channel; wherein the first electromagnetic valve is a three-way electromagnetic valve having one input channel and two output channels, the first channel being one of the output channels for delivering the washing liquid to the laser radar, and the other output channel being used to deliver the washing liquid to the front windshield of the vehicle, and the input channel being used to receive the washing liquid from the washing pump; The first control signal is issued to control the wiper motor to wipe the windshield, and before the issuing, the method further comprises: The second control signal is issued to control the washing pump to draw washing liquid to the first electromagnetic valve, so that the washing liquid cleans the windshield via a second channel of the first electromagnetic valve, the first electromagnetic valve being a three-way valve, and the second channel being a normally open channel of the first electromagnetic valve; wherein the second channel is the other output channel of the three-way electromagnetic valve different from the first channel, and is used to deliver the washing liquid to the front windshield of the vehicle.

5. A cleaning system characterized by, The vehicle body control assembly, the first electromagnetic valve and the second electromagnetic valve are included, the vehicle body control assembly is connected with the wiper motor and the washing pump of the vehicle, the first electromagnetic valve and the second electromagnetic valve are connected with the vehicle body control assembly respectively, the first electromagnetic valve is a three-way valve having a first channel and a second channel, the washing pump is connected with an inlet of the first electromagnetic valve and connected with a water inlet of the second electromagnetic valve via the first channel, the second channel shares the inlet of the first electromagnetic valve with the first channel, a water outlet of the second channel is connected to a first nozzle facing the windshield, and a water outlet of the second electromagnetic valve is connected to a second nozzle facing the laser radar, and the vehicle body control assembly is used to execute the steps in the method of any one of claims 1 to 3.

6. The cleaning system of claim 5, wherein, The vehicle body control assembly includes a vehicle body electronic controller, a front camera image processing module and a laser radar cleaning control module, the vehicle body electronic controller is connected with the front camera image processing module and the laser radar cleaning control module respectively, and the front camera image processing module is connected with the front camera.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the vehicle self-cleaning control method of any one of claims 1 to 3.

8. A computer storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the vehicle self-cleaning control method of any one of claims 1 to 3.

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