Vehicle cleaning system and vehicle cleaner control device

Abstract

A vehicle cleaning system includes a plurality of cleaners (103-106, 109a, 109b) that can clean a plurality of sensors that differ from each other in at least one of a detection method, a detection object, a detection direction, and a detection timing, and a cleaner control unit (116) that causes the plurality of cleaners (103-106, 109) to operate in correspondence with an input signal, the cleaner control unit (116) being controlled so that all of the cleaners (103-106, 109) do not operate simultaneously.

Description

[0001] This application is a divisional application of Chinese national application No. 201880049291.X (PCT / JP2018 / 027597) filed on January 22, 2020 (Vehicle cleaning system and vehicle cleaner control device), the contents of which are incorporated herein. TECHNICAL FIELD

[0002] The present application relates to a vehicle cleaning system, a vehicle cleaner control device. BACKGROUND

[0003] A headlamp cleaner for a vehicle is known from Patent Literature 1 and the like.

[0004] In recent years, a camera is gradually mounted in a vehicle. Information obtained by the camera is output to a vehicle ECU or the like that controls the vehicle. A vehicle cleaner that can clean the camera, the sensor, and the like by washing liquid is known from Patent Literature 1 and Patent Literature 2 and the like.

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2016-187990

[0006] Patent Literature 2: Japanese Patent Application Publication No. 2001-171491 SUMMARY

[0007] In addition, development of a vehicle that can be automatically driven is being attempted in recent years. For the realization of automatic driving, it is required to maintain the sensitivity of a sensor such as a LiDAR or a camera well. It is required to clean the cleaner of the sensor in addition to the headlamp.

[0008] In addition, a plurality of sensors are mounted in a vehicle. The present inventor has noted that if the plurality of sensors are cleaned at the same time, it becomes difficult to control the vehicle based on information output from the sensors.

[0009] Therefore, an object of the present application is to provide a vehicle cleaning system that can maintain a plurality of sensors in a clean state and always control a vehicle based on information with high reliability.

[0010] In addition, since washing liquid is sprayed to the lens and the housing of the camera in cleaning, information obtained by the camera temporarily becomes unclear. The reliability of the unclear information is low.

[0011] Therefore, the present application provides a vehicle cleaning system that can suppress the vehicle control portion from executing processing based on a sensor signal in sensor cleaning of a sensor with low reliability.

[0012] In addition, if the cleaner automatically operates, the user's operation burden is reduced, and the user's convenience is good. On the other hand, in a case where the cleaner operates regardless of the user's intention, the cleaner sometimes operates even in a case where it is not intended to operate. For example, since the cleaning liquid is sprayed to the lens and the housing of the camera in the cleaning, the information acquired by the camera temporarily becomes unclear.

[0013] Therefore, the present application provides a vehicle cleaner control device capable of reducing the user's operation burden and maintaining the sensor in a cleaned state when necessary.

[0014] In addition, in a case where the vehicle cleaner is caused to operate in correspondence with a prescribed condition without being based on the user's intention, an undesirable situation sometimes occurs. For example, even in a case where there is a person around the host vehicle, the vehicle cleaner sprays the cleaning liquid if the prescribed condition is satisfied. Then, the cleaning liquid can be sprayed to the person around the host vehicle. In order to prevent the situation as described above, the user also considers a structure in which a switch capable of turning off the power of the vehicle cleaner is provided, but the user's convenience is impaired.

[0015] Therefore, the present application provides a cleaner control device of a vehicle cleaner capable of achieving good user's convenience.

[0016] One aspect of the present application relates to a vehicle cleaning system including:

[0017] a plurality of cleaners capable of cleaning a plurality of sensors different from each other in at least one of a detection method, a detection object, a detection direction, and a detection timing, respectively; and

[0018] a cleaner control section that causes the plurality of cleaners to operate in correspondence with an input signal,

[0019] the cleaner control section is controlled so as not to cause all of the cleaners to operate simultaneously. In addition, one aspect of the present application relates to a vehicle cleaning system including:

[0020] a sensor mounted on a vehicle, acquiring information around the vehicle, and outputting a sensor signal;

[0021] a cleaner capable of spraying a cleaning liquid to the sensor;

[0022] a vehicle control section that uses the sensor signal output from the sensor, identifies information around the host vehicle, or performs control of the host vehicle; and

[0023] a cleaner control section that outputs, to at least one of the sensor and the vehicle control section, an operation-in-progress signal indicating that the cleaner is operating, when the cleaner is operating.

[0024] In addition, one aspect of the present application relates to a cleaner control device for a vehicle that controls a sensor cleaner that cleans a sensor mounted on a vehicle and that acquires information outside the vehicle,

[0025] The cleaner control device outputs a signal that causes the sensor cleaner to operate to the sensor cleaner based on travel information of the vehicle.

[0026] Further, the travel information refers to at least one of an output signal from a direction indication switch, navigation information, automatic driving information, and a steering control signal.

[0027] In addition, one aspect of the present application relates to a cleaner control device that controls a cleaner in correspondence with a prescribed condition so that a cleaning target mounted on a vehicle is sprayed with a cleaning liquid,

[0028] The cleaner control device includes a prohibition determination section that prohibits operation of the cleaner even when the prescribed condition is satisfied,

[0029] The prohibition determination section,

[0030] when a signal indicating that a person is present in the vicinity of the host vehicle is input from a human sensor that can detect the presence or absence of a person in the vicinity of the vehicle,

[0031] when a vehicle speed less than or equal to a threshold value is detected from a vehicle speed sensor, or

[0032] when it is determined from a position information acquisition section that acquires a geographical position of the host vehicle that the host vehicle is in an area in which the presence of a person is highly likely, the operation of the cleaner is prohibited.

[0033] Effects of the Invention

[0034] According to one aspect of the present application, there is provided a vehicle cleaning system that can maintain a plurality of sensors in a clean state and always control a vehicle based on information having high reliability.

[0035] According to one aspect of the present application, there is provided a vehicle cleaning system that can suppress a vehicle control section from performing processing based on a sensor signal in sensor cleaning that has low reliability.

[0036] According to one aspect of the present application, there is provided a vehicle cleaner control device that can reduce the operational burden on a user and maintain a sensor in a clean state when necessary.

[0037] According to one aspect of the present application, there is provided a cleaner control device for a vehicle that achieves good user convenience. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a plan view of a vehicle equipped with a cleaning system.

[0039] Figure 2 is a block diagram of a vehicle system.

[0040] Figure 3 is a block diagram of a cleaning system.

[0041] Figure 4 is a block diagram of a cleaning system according to a first embodiment.

[0042] Figure 5 is a flowchart of a process executed by a cleaner control unit.

[0043] Figure 6 is a schematic view of a cleaning system according to a second embodiment.

[0044] Figure 7 represents image information transmitted in a cleaning system according to the second embodiment between a front camera and a vehicle control unit.

[0045] Figure 8 is a schematic view of a cleaning system according to a first modification.

[0046] Figure 9 represents image information transmitted in a cleaning system according to the first modification between a front camera and a vehicle control unit.

[0047] Figure 10 is a schematic view of a cleaning system according to a second modification.

[0048] Figure 11 represents image information transmitted in a cleaning system according to the second modification between a front camera and a vehicle control unit.

[0049] Figure 12 is a schematic view of a cleaning system according to a third modification.

[0050] Figure 13 represents image information transmitted in a cleaning system according to the third modification between a front camera and a vehicle control unit.

[0051] Figure 14 is a schematic view of a cleaning system according to a fourth modification.

[0052] Figure 15 represents image information transmitted in a cleaning system according to the fourth modification between a front camera and a vehicle control unit.

[0053] Figure 16 is a schematic view of a cleaning system according to a fifth modification.

[0054] Figure 17 is image information transmitted in the front camera and the vehicle control section in the cleaning system related to the fifth modification example.

[0055] Figure 18 is a view showing a case where the vehicle turns left with the cleaning system related to the third embodiment mounted thereon.

[0056] Figure 19 is a view showing a case where the vehicle turns left with the cleaning system related to the modification example of the third embodiment mounted thereon.

[0057] Figure 20 is a plan view of the vehicle with the cleaning system related to the fourth embodiment mounted thereon.

[0058] Figure 21 is a block diagram of the cleaning system.

[0059] Figure 22 is a block diagram of the cleaning system related to the modification example. DETAILED DESCRIPTION

[0060] Hereinafter, an embodiment of the present application will be described with reference to the accompanying drawings. In addition, in the description of the present embodiment, the description of components having the same reference numerals as those of the components already described will be omitted for the sake of convenience of the description. In addition, the dimensions of each component shown in the present drawings are sometimes different from the dimensions of the actual components for the sake of convenience of the description.

[0061] In addition, in the description of the present embodiment, "left-right direction", "front-rear direction", and "up-down direction" are appropriately mentioned for the sake of convenience of the description. These directions are relative directions set with respect to the vehicle 1 shown in FIG. 1. Here, the "up-down direction" is a direction including "up direction" and "down direction". The "front-rear direction" is a direction including "front direction" and "rear direction". The "left-right direction" is a direction including "left direction" and "right direction". Figure 1

[0062] << First Embodiment >>

[0063] Figure 1 is a plan view of the vehicle 1 with the vehicle cleaning system related to the present first embodiment (hereinafter, referred to as cleaning system 100) mounted thereon. The vehicle 1 has the cleaning system 100. In the present embodiment, the vehicle 1 is an automobile capable of traveling by an automatic driving mode.

[0064] First, the vehicle system 2 of the vehicle 1 will be described with reference to FIG. 2. Figure 2 The vehicle system 2 is a system for controlling the vehicle 1. The vehicle system 2 includes a vehicle control section 21, a front camera 22, a rear camera 23, a left camera 24, a right camera 25, a radar 26, a lidar 27, a navigation system 28, a communication system 29, and a vehicle information system 30. Figure 2 A block diagram of the vehicle system 2 is shown. As shown in FIG. 2, the vehicle system 2 includes the vehicle control section 21, the front camera 22, the rear camera 23, the left camera 24, the right camera 25, the radar 26, the lidar 27, the navigation system 28, the communication system 29, and the vehicle information system 30. Figure 2 ​As shown, the vehicle system 2 has a vehicle control section 3, an internal sensor 5, an external sensor 6, a light fixture 7, an HMI 8 (Human Machine Interface), a GPS 9 (Global Positioning System), a wireless communication section 10, and a map information storage section 11. Also, the vehicle system 2 has a steering actuator 12, a steering device 13, a brake actuator 14, a brake device 15, an accelerator actuator 16, and an accelerator device 17.

[0065] The vehicle control section 3 is constituted by an electronic control unit (ECU). The vehicle control section 3 is constituted by a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) in which various vehicle control programs are stored, and a RAM (Random Access Memory) in which various vehicle control data is temporarily stored. The processor is configured to expand a program designated from the various vehicle control programs stored in the ROM on the RAM, and execute various processes by the cooperative action with the RAM. The vehicle control section 3 is configured to control the travel of the vehicle 1.

[0066] The internal sensor 5 is a sensor capable of acquiring information of the host vehicle. The internal sensor 5 is, for example, at least one of an acceleration sensor, a speed sensor, a wheel speed sensor, a gyro sensor, and the like. The internal sensor 5 is configured to acquire information of the host vehicle including the travel state of the vehicle 1, and output the information to the vehicle control section 3.

[0067] The internal sensor 5 can have a seat sensor that detects whether or not a driver is seated on a driver's seat, a face orientation sensor that detects the direction of the face of the driver, a human sensor that detects whether or not a person is present in the vehicle, and the like.

[0068] The external sensor 6 is a sensor capable of acquiring information of the outside of the host vehicle. The external sensor is, for example, at least one of a camera, a radar, a LiDAR, and the like. The external sensor 6 is configured to acquire information of the outside of the host vehicle including the surrounding environment (other vehicles, pedestrians, road shape, traffic signs, obstacles, and the like) of the vehicle 1, and output the information to the vehicle control section 3. Alternatively, the external sensor 6 can have a weather sensor that detects a weather state, an illuminance sensor that detects the illuminance of the surrounding environment of the vehicle 1, and the like.

[0069] The camera is, for example, a camera including a CCD (Charge-Coupled Device), a CMOS (Complementary Metal-Oxide-Semiconductor), or the like. The camera is a camera that detects visible light, an infrared camera that detects infrared rays.

[0070] The radar is a millimeter wave radar, a microwave radar, or a laser radar, or the like.

[0071] LiDAR is an abbreviation of Light Detection and Ranging or Laser Imaging Detection and Ranging. LiDAR is generally a sensor that emits non-visible light to the front thereof, and based on the outgoing light and the returning light, acquires information of a distance up to an object, a shape of the object, a material of the object, a color of the object, and the like.

[0072] The lamp 7 is at least one of a headlamp provided at the front of the vehicle 1, a position lamp, a rear combination lamp provided at the rear of the vehicle 1, a turn signal lamp provided at the front or side of the vehicle, various lamps that make a pedestrian or a driver of another vehicle aware of a situation of the own vehicle, and the like.

[0073] The HMI 8 is constituted by an input portion that receives an input operation from the driver, and an output portion that outputs travel information and the like toward the driver. The input portion includes a steering wheel, an accelerator pedal, a brake pedal, a driving mode switching switch that switches a driving mode of the vehicle 1, and the like. The output portion is a display that displays various travel information.

[0074] The GPS 9 is configured to acquire current position information of the vehicle 1, and output the acquired current position information to the vehicle control portion 3. The wireless communication portion 10 is configured to receive travel information of other vehicles in the surroundings of the vehicle 1 from the other vehicles, and transmit travel information of the vehicle 1 to the other vehicles (vehicle-to-vehicle communication). In addition, the wireless communication portion 10 is configured to receive infrastructure information from infrastructure devices such as traffic signals, sign lights, and the like, and transmit travel information of the vehicle 1 to the infrastructure devices (road-to-vehicle communication). The map information storage portion 11 is an external storage device such as a hard disk drive that stores map information, and is configured to output the map information to the vehicle control portion 3.

[0075] In a case where the vehicle 1 travels by the automatic driving mode, the vehicle control portion 3 automatically generates at least one of a steering control signal, an acceleration control signal, and a brake control signal, based on the travel state information, the surrounding environment information, the current position information, the map information, and the like. The steering actuator 12 is configured to receive the steering control signal from the vehicle control portion 3, and control the steering device 13 based on the received steering control signal. The brake actuator 14 is configured to receive the brake control signal from the vehicle control portion 3, and control the brake device 15 based on the received brake control signal. The acceleration actuator 16 is configured to receive the acceleration control signal from the vehicle control portion 3, and control the acceleration device 17 based on the received acceleration control signal. As described above, in the automatic driving mode, the travel of the vehicle 1 is automatically controlled by the vehicle system 2.

[0076] On the other hand, in a case where the vehicle 1 travels by the manual driving mode, the vehicle control section 3 generates the steering control signal, the acceleration control signal, and the brake control signal in accordance with the manual operation of the driver with respect to the accelerator pedal, the brake pedal, and the steering wheel. As described above, in the manual driving mode, the steering control signal, the acceleration control signal, and the brake control signal are generated in accordance with the manual operation of the driver, and thus the travel of the vehicle 1 is controlled by the driver.

[0077] Next, the driving mode of the vehicle 1 will be described. The driving mode is constituted by an automatic driving mode and a manual driving mode. The automatic driving mode is constituted by a full automatic driving mode, an advanced driving assistance mode, and a driving assistance mode. In the full automatic driving mode, the vehicle system 2 automatically performs all travel controls of the steering control, the brake control, and the acceleration control, and the driver is not in a state where the driver can drive the vehicle 1. In the advanced driving assistance mode, the vehicle system 2 automatically performs all travel controls of the steering control, the brake control, and the acceleration control, and although the driver is in a state where the driver can drive the vehicle 1, the driver does not drive the vehicle 1. In the driving assistance mode, the vehicle system 2 automatically performs a part of the travel controls of the steering control, the brake control, and the acceleration control, and the driver drives the vehicle 1 with the driving assistance of the vehicle system 2. On the other hand, in the manual driving mode, the vehicle system 2 does not automatically perform the travel control, and the driver drives the vehicle 1 without the driving assistance of the vehicle system 2.

[0078] In addition, the driving mode of the vehicle 1 can be switched by operating the driving mode switching switch. In this case, the vehicle control section 3 switches the driving mode of the vehicle 1 among the four driving modes (the full automatic driving mode, the advanced driving assistance mode, the driving assistance mode, and the manual driving mode) in accordance with the operation of the driving mode switching switch by the driver. In addition, the driving mode of the vehicle 1 can be automatically switched on the basis of information related to a drivable range in which an automatic driving vehicle can travel, a travel prohibition range in which the travel of the automatic driving vehicle is prohibited, or information related to an external weather state. In this case, the vehicle control section 3 switches the driving mode of the vehicle 1 on the basis of the information. Also, the driving mode of the vehicle 1 can be automatically switched by using a seat sensor, a face orientation sensor, or the like. In this case, the vehicle control section 3 switches the driving mode of the vehicle 1 on the basis of an output signal from the seat sensor, the face orientation sensor, or the like.

[0079] Returning to Figure 1In the vehicle 1, as the external sensor 6, there are provided a front LiDAR 6f, a rear LiDAR 6b, a right LiDAR 6r, a left LiDAR 6l, a front camera 6c, and a rear camera 6d. The front LiDAR 6f is configured to acquire information of the front of the vehicle 1. The rear LiDAR 6b is configured to acquire information of the rear of the vehicle 1. The right LiDAR 6r is configured to acquire information of the right of the vehicle 1. The left LiDAR 6l is configured to acquire information of the left of the vehicle 1. The front camera 6c is configured to acquire information of the front of the vehicle 1. The rear camera 6d is configured to acquire information of the rear of the vehicle 1.

[0080] Further, in Figure 1 In the example shown, the front LiDAR 6f is provided at the front of the vehicle 1, the rear LiDAR 6b is provided at the rear of the vehicle 1, the right LiDAR 6r is provided at the right of the vehicle 1, and the left LiDAR 6l is provided at the left of the vehicle 1, but the present application is not limited to this example. For example, the front LiDAR, the rear LiDAR, the right LiDAR, and the left LiDAR can be collectively arranged on the roof of the vehicle 1.

[0081] In the vehicle 1, as the lamp 7, there are provided a right front headlamp 7r and a left front headlamp 7l. The right front headlamp 7r is provided at the right of the front of the vehicle 1, and the left front headlamp 7l is provided at the left of the front of the vehicle 1. The right front headlamp 7r is provided to the right of the left front headlamp 7l.

[0082] The vehicle 1 has a front window 1f and a rear window 1b.

[0083] The vehicle 1 has a cleaning system 100 according to the embodiment of the present application. The cleaning system 100 is a system for removing foreign matter such as water droplets, dirt, dust, and the like adhering to a cleaning target object using a cleaning medium. In the present embodiment, the cleaning system 100 has a front window washer (hereinafter referred to as a front WW) 101, a rear window washer (hereinafter referred to as a rear WW) 102, a front LiDAR cleaner (hereinafter referred to as a front LC) 103, a rear LiDAR cleaner (hereinafter referred to as a rear LC) 104, a right LiDAR cleaner (hereinafter referred to as a right LC) 105, a left LiDAR cleaner (hereinafter referred to as a left LC) 106, a right front headlamp cleaner (hereinafter referred to as a right HC) 107, a left front headlamp cleaner (hereinafter referred to as a left HC) 108, a front camera cleaner 109a, and a rear camera cleaner 109b. Each of the cleaners 101 to 109b has one or more nozzles from which a cleaning medium such as a cleaning liquid or air is sprayed toward a cleaning target object.

[0084] The front WW 101 can be used for cleaning of the front window 1f. The rear WW 102 can be used for cleaning of the rear window 1b. The front LC 103 can clean the front LiDAR 6f. The rear LC 104 can clean the rear LiDAR 6b. The right LC 105 can clean the right LiDAR 6r. The left LC 106 can clean the left LiDAR 6l. The right HC 107 can clean the right headlamp 7r. The left HC 108 can clean the left headlamp 7l. The front camera cleaner 109a can clean the front camera 6c. The rear camera cleaner 109b can clean the rear camera 6d. Furthermore, the front camera cleaner 109a and the rear camera cleaner 109b are sometimes collectively referred to as the camera cleaner 109 in the following description.

[0085] Figure 3 is a block diagram of the cleaning system 100. The cleaning system 100 has, in addition to the cleaners 101 to 109b, a front storage tank 111, a front pump 112, a rear storage tank 113, a rear pump 114, a cleaner switch 115, a cleaner control section 116 (control section), and a mode switching switch 117.

[0086] The front WW 101, the front LC 103, the right LC 105, the left LC 106, the right HC 107, the left HC 108, and the front camera cleaner 109a are connected to the front storage tank 111 via the front pump 112. The front pump 112 delivers the cleaning liquid stored in the front storage tank 111 to the front WW 101, the front LC 103, the right LC 105, the left LC 106, the right HC 107, the left HC 108, and the front camera cleaner 109a.

[0087] The rear WW 102, the rear LC 104, and the rear camera cleaner 109b are connected to the rear storage tank 113 via the rear pump 114. The rear pump 114 delivers the cleaning liquid stored in the rear storage tank 113 to the rear WW 102, the rear LC 104, and the rear camera cleaner 109b.

[0088] An actuator that brings a nozzle into an open state to cause the cleaning liquid to be sprayed toward a cleaning target is provided in each of the cleaners 101 to 109b. The actuator provided in each of the cleaners 101 to 109b is electrically connected to the cleaner control section 116. In addition, the cleaner control section 116 is also electrically connected to the front pump 112, the rear pump 114, the cleaner switch 115, and the vehicle control section 3.

[0089] Figure 4 is a more detailed block diagram of the cleaning system 100 according to the first embodiment of the present application. As shown in Figure 4 The cleaner control section 116 has an operation request generation section 121 and a work prohibition determination section 122. The operation request generation section 121 is connected to the dirt sensor 123.

[0090] The dirt sensor 123 can detect dirt of each of the front window 1f, the rear window 1b, the LiDARs 6f, 6b, 6l, 6r, the cameras 6c, 6d, the headlamps 7l, 7r. The dirt sensor 123 outputs a dirt signal to the action request generation section 121 in a case where it is determined that the detection object has dirt. The action request generation section 121 outputs an action request signal to operate the cleaner to clean the detection object if a dirt signal is input with respect to the detection object. For example, if the dirt sensor 123 determines that the front LiDAR 6f has dirt, a dirt signal with respect to the front LiDAR 6f is input to the action request generation section 121, the action request generation section 121 outputs an action request signal to operate the front LC 103 with respect to the front LiDAR 6f to the operation prohibition determination section 122.

[0091] In the present embodiment, the operation prohibition determination section 122 is connected to all of the sensor cleaners 103 to 106, 109a, 109b (in Figure 4 the front camera cleaner 109a and the rear camera cleaner 109b are collectively shown as 109).

[0092] Figure 5 is a flowchart of the process performed by the cleaner control section 116. As Figure 5 indicated in the flowchart, the action request generation section 121 generates an action request signal with respect to the sensor cleaner 103 to 106, 109a, 109b that cleans the sensor determined to have dirt, and outputs the action request signal to the operation prohibition determination section 122 (step S01).

[0093] The operation prohibition determination section 122 determines whether an action request signal is input with respect to all of the sensor cleaners 103 to 106, 109a, 109b (step S02). If an action request signal is not input to the operation prohibition determination section 122 with respect to at least one of the sensor cleaners 103 to 106, 109a, 109b (step S02: No), the operation prohibition determination section 122 outputs an operation signal to all of the sensor cleaners 103 to 106, 109a, 109b that requested the action, and operates the sensor cleaners 103 to 106, 109a, 109b (step S03).

[0094] On the other hand, in a case where the operation request signal is input to the operation prohibition determination part 122 with respect to all of the sensor cleaners 103 to 106, 109a, and 109b (step S02: Yes), the operation prohibition determination part 122 does not output the operation signal to the specific sensor cleaner 103 to 106, 109a, and 109b that is greater than or equal to one of the sensor cleaners 103 to 106, 109a, and 109b for which the operation is requested, but outputs the operation signal to the other sensor cleaners 103 to 106, 109a, and 109b (step S04). The operation prohibition determination part 122 can also output the operation signal to the specific sensor cleaner 103 to 106, 109a, and 109b for which the operation signal was not output in step S04 after the operation of the other sensor cleaners 103 to 106, 109a, and 109b is completed (step S05).

[0095] The operation prohibition determination part 122 can determine the sensor cleaner 103 to 106, 109a, and 109b that outputs the operation signal on the basis of a priority level decided in advance in step S04. For example, in normal travel, the information obtained by the front LiDAR 6f that obtains information of the front of the vehicle and the information obtained by the front camera 6c is important. Therefore, it can be configured so that the operation signal is output to the front LC 103 that cleans the front LiDAR 6f and the front camera cleaner 109a that cleans the front camera 6c in step S04, and the operation signal is not output to the other sensor cleaners 104 to 106, 109b. Or, on the contrary, it can also be configured so that the operation signal is output to the other sensor cleaners 104 to 106, 109b in step S04, and the operation signal is not output to the front LC 103 and the front camera cleaner 109a. The sensor cleaner 103 to 106, 109a, and 109b that operates first can be one or a plurality of sensor cleaners.

[0096] Or, it can also be configured so that the operation prohibition determination part 122 outputs the operation signal to the sensor cleaners 103 to 106, 109a, and 109b in the order from the longest to the shortest interval from the previous operation to the current operation of the sensor cleaners 103 to 106, 109a, and 109b in step S04.

[0097] For example, in a case where the interval from the previous operation to the current operation of the front LC 103 is 14 days and the interval from the previous operation to the current operation of the other sensor cleaners 104 to 106, 109a, and 109b is 20 days, the front LC 103 can be less likely to be dirty than the other sensor cleaners 104 to 106, 109a, and 109b. Therefore, it can be configured so that the operation signal is not output to the front LC 103 for which the interval is the shortest in step S04, but the operation signal is output to the other sensor cleaners 104 to 106, 109a, and 109b.

[0098] Alternatively, the interval can also be said to be short for the sensor being a sensor that is easily soiled. Therefore, it can also be configured to output the work signal to the sensor cleaners 103 to 106, 109a, 109b in order from short to long of the interval from the previous operation of the sensor cleaners 103 to 106, 109a, 109b to the present. Therefore, it can be configured to output the work signal to the sensor cleaner 103, which has the shortest interval, in step S04, and not to output the work signal to the other sensor cleaners 104 to 106, 109a, 109b.

[0099] As described above, the cleaning system 100 of the present embodiment has a plurality of sensor cleaners 103 to 106, 109a, 109b that can clean a plurality of external sensors 6 that differ from each other in at least one of the detection method, the detection object, the detection direction, and the detection timing, respectively, and a cleaner control section 116 that causes the plurality of sensor cleaners 103 to 106, 109a, 109b to operate in response to the input signal,

[0100] The cleaner control section 116 controls so as not to cause all of the sensor cleaners 103 to 106, 109a, 109b to operate simultaneously.

[0101] In addition, in the operation of the sensor cleaners 103 to 106, 109a, 109b, for example, cleaning liquid is sprayed to the lens element and the housing of the camera 6c, and therefore it is not easy to obtain accurate information from the cleaned external sensor 6.

[0102] However, according to the cleaning system 100 according to the present embodiment, there are a plurality of cleaners 103 to 106, 109a, 109b that can clean a plurality of sensors 6f, 6b, 6r, 6l, 6c, 6d that differ from each other in at least one of the detection method, the detection object, the detection direction, and the detection timing, respectively. The cleaner control section 116 controls so as not to cause all of the cleaners 103 to 106, 109a, 109b to operate simultaneously. Therefore, the vehicle 1 can obtain accurate information from at least one external sensor 6. According to the cleaning system 100 according to the present embodiment, it is possible to continuously obtain accurate information from the external sensor 6 at all times.

[0103] Further, "not making all of the sensor cleaners 103 to 106, 109a, 109b work simultaneously" basically means "not being in a state where all of the sensor cleaners 103 to 106, 109a, 109b are working at a certain instant". However, for example, sometimes cleaning liquid remains on the surface of the cleaning target after the sensor cleaners complete the operation, and in this case, it is still difficult to obtain accurate information from the sensor where the cleaning liquid remains. Generally, after the cleaning liquid is sprayed toward the sensor, it is expected to slide off after about 5 seconds. Therefore, "not making all of the sensor cleaners 103 to 106, 109a, 109b work simultaneously" includes "not being in a state where all of the sensor cleaners 103 to 106, 109a, 109b are working within a range of 5 seconds".

[0104] Further, in the present embodiment, the cleaner control section 116 controls so as not to make all of the sensor cleaners work simultaneously which clean sensors whose detection directions are the same as the front and at least one of the detection methods, the detection objects, and the detection timings are different from each other. In the present embodiment, the detection directions of the front LiDAR 6f and the front camera 6c are the same, but at least one of the detection methods, the detection objects, and the detection timings are different from each other. The cleaner control section 116 controls so as not to make the front LiDAR 6f and the front camera 6c work simultaneously. Therefore, in the present embodiment, it is possible to continuously obtain information of the front from at least one of the front LiDAR 6f or the front camera 6c.

[0105] Further, in the above-described embodiment, as shown in Figure 4 The action request generation section 121 is connected to the headlamp cleaner switch 124 in addition to the dirt sensor 123. In addition, the work prohibition determination section 122 is connected to the right HC 107 and the left HC 108 in addition to the sensor cleaners 103 to 106, 109a, 109b.

[0106] The headlamp cleaner switch 124 is provided in the vehicle cabin. The headlamp cleaner switch 124 is a switch that can be operated by the occupant. If the headlamp cleaner switch 124 is operated, a signal is output to the action request generation section 121. The action request generation section 121 outputs an action request signal to the work prohibition determination section 122 which attempts to make the right HC 107 and the left HC 108 that can clean the right headlamp 7r and the left headlamp 7l, respectively, work if a signal from the headlamp cleaner switch 124 is input.

[0107] In the above-described step S02, the work prohibition determination section 122 can be configured to determine whether or not an action request signal is input with respect to all of the sensor cleaners 103 to 106, 109a, 109b and the right HC 107 and the left HC 108.

[0108] If the operation prohibition determination part 122 is not inputted the operation request signal with respect to at least one of the sensor cleaners 103 to 106, 109a, 109b, and the right and left HCs 107 and 108 (Step S02: No), the operation prohibition determination part 122 outputs the operation signal to all of the cleaners 103 to 109b which requested the operation, and operates the cleaners 103 to 109b which requested the operation (Step S03).

[0109] On the other hand, in a case where the operation request signal is inputted to the operation prohibition determination part 122 with respect to all of the sensor cleaners 103 to 106, 109a, 109b, and the right and left HCs 107 and 108 (Step S02: Yes), the operation prohibition determination part 122 does not output the operation signal to the specific sensor cleaner 103 to 109b which is greater than or equal to one among the sensor cleaners 103 to 109b which requested the operation, but outputs the operation signal to the other sensor cleaners 103 to 109b (Step S04). The operation prohibition determination part 122 can also output the operation signal to the specific sensor cleaner 103 to 109b which did not output the operation signal in Step S04 after the operation of the other sensor cleaners 103 to 109b is completed (Step S05).

[0110] Unlike the present embodiment, for example, in a case where the configuration is such that all of the sensor cleaners 103 to 106, 109a, 109b, and the right and left HCs 107 and 108 can be operated simultaneously, the following undesirable situation can occur. Since it is not easy to obtain accurate information from the front LiDAR 6f in the cleaning of the front LiDAR 6f, manual driving can be performed. In the cleaning of the right headlamp 7r, an accurate light distribution pattern is not obtained, and manual driving is not suitable, and thus automatic driving can be performed based on the information output from the front LiDAR 6f. However, if the front LiDAR 6f and the right headlamp 7r are cleaned simultaneously, it is difficult to obtain reliable information.

[0111] On the contrary, according to the cleaning system 100 related to the present embodiment, all of the sensor cleaners 103 to 106, 109a, 109b, and the right and left HCs 107 and 108 are not operated simultaneously. Therefore, accurate information can always be obtained from the front LiDAR 6f, or the driver accurately obtains information of the front of the vehicle through the accurate light distribution pattern, and it is easy to control the vehicle based on reliable information.

[0112] The window washer switch 125 is provided in the vehicle cabin. The window washer switch 125 is a switch that can be operated by an occupant. If the window washer switch 125 is operated, a signal is output to the operation request generation portion 121. The operation request generation portion 121 outputs an operation request signal that attempts to operate the front WW 101 and the rear WW 102 that can clean the front window 1f and the rear window 1b, respectively, to the operation prohibition determination portion 122 if a signal from the window washer switch 125 is input.

[0113] Unlike the present embodiment, for example, in a case where the entire sensor cleaners 103 to 106, 109a, 109b, and the front WW 101 and the rear WW 102 are configured to be able to operate simultaneously, the following undesirable situation can occur. For example, since it is difficult to obtain accurate information from the front LiDAR 6f in the cleaning of the front LiDAR 6f, manual driving can be performed. In the cleaning of the front window 1f, the driver can not easily obtain accurate information, and thus automatic driving can be performed based on information output from the front LiDAR 6f. However, if the front LiDAR 6f and the front window 1f are cleaned simultaneously, it is difficult to obtain reliable information.

[0114] According to the cleaning system 100 according to the present embodiment, the entire sensor cleaners 103 to 106, 109a, 109b, and the front WW 101 and the rear WW 102 are not caused to operate simultaneously. Therefore, accurate information can always be obtained from the front LiDAR 6f, or the driver accurately obtains information of the front of the vehicle through the front window 1f, and the vehicle is easily controlled based on reliable information.

[0115] In the above-described first embodiment, an example in which the operation request generation portion 121 outputs an operation request signal that causes a cleaner to operate so as to clean a certain cleaning target if a dirt signal is input with respect to the cleaning target, but the present application is not limited thereto. One of the features of the present application is that, in a system configured to cause a plurality of cleaners to operate in a case where a dirt signal is input with respect to a single certain cleaning target, the entire cleaners are not caused to operate simultaneously. A modified example of the first embodiment will be described below.

[0116] The operation request generation section 121 can be configured to cause the plurality of cleaners 101 to 109b to operate so that the plurality of cleaning objects including the cleaning object with respect to which the dirt signal is input are cleaned if the dirt signal is input with respect to the cleaning object. The operation prohibition determination section 122 causes at least one of the cleaners 101 to 109b not to operate. Alternatively, the operation request generation section 121 can be configured to output the operation request signal to all of the cleaners 101 to 109b if the dirt signal is input with respect to the external sensor 6. In this case, the operation prohibition determination section 122 can be configured to cause at least one of the cleaners 101 to 109b other than the cleaner that cleans the external sensor 6 with respect to which the dirt signal is input among the plurality of external sensors 6 common to the detection method not to operate.

[0117] For example, the operation request generation section 121 can be configured to output the operation request signal that causes all of the cleaners 101 to 109b to operate if the dirt signal with respect to the front LiDAR 6f is input to the operation request generation section 121. In this case, the operation prohibition determination section 122 does not output the operation signal to the cleaner that cleans the cleaning object with the lowest priority level other than the cleaning object that is the target of the dirt signal on the basis of the priority level of the cleaning object that is the target of the dirt signal, and outputs the operation signal to the cleaner other than this. For example, the operation request generation section 121 can be configured not to output the operation signal to the cleaner that cleans the cleaning object with the lowest priority level other than the front LiDAR 6f on the basis of the priority level described above among the cleaning objects other than the front LiDAR 6f that is the target of the dirt signal, and outputs the operation signal with respect to the other cleaners 101 to 109b including the front LiDAR 6f. In addition, in this configuration, the operation prohibition determination section 122 can be configured not to output the operation signal to the cleaner that cleans the cleaning object with the lowest priority level, but to output the operation signal to the cleaner that cleans the cleaning object with the shortest interval from the previous operation to the present.

[0118] Alternatively, the cleaner control section 116 can also be configured to output the operation request signal to only the plurality of sensor cleaners 103 to 106, 109a, 109b that clean the plurality of external sensors 6 common to the detection method of the external sensor 6 that is the object of the dirt signal, among the plurality of cleaners 101 to 109b, if the dirt signal is input with respect to the external sensor 6. For example, the cleaner control section 116 can be configured to output the operation signal to only the front LC 103, the rear LC 104, the right LC 105, and the left LC 106 among the plurality of cleaners 101 to 109b, and not to output the operation signal to the front WW 101, the rear WW 102, the right HC 107, the left HC 108, the front camera cleaner 109a, and the rear camera cleaner 109b, if the dirt signal is input with respect to the front LiDAR 6f to the cleaner control section 116.

[0119] Alternatively, the cleaner control section 116 can also be configured to output the operation request signal to only the plurality of external sensors 6 that are the object of the dirt signal and the plurality of cleaning objects that differ in the detection method from the cleaning object in which the dirt is detected, among the plurality of cleaners 101 to 109b, if the dirt signal is input with respect to the external sensor 6. For example, the cleaner control section 116 can be configured to output the operation signal to only the front LC 103, the front WW 101, the rear WW 102, the right HC 107, the left HC 108, the front camera cleaner 109a, and the rear camera cleaner 109b among the plurality of cleaners 101 to 109b, and not to output the operation signal to the rear LC 104, the right LC 105, and the left LC 106, if the dirt signal is input with respect to the front LiDAR 6f to the cleaner control section 116.

[0120] Further, the example in which the cleaner control section 116 is configured to determine the cleaners that operate simultaneously / not to operate simultaneously from the viewpoint of commonality / difference in the detection method of the cleaning object in which the dirt is detected has been described, but the present application is not limited thereto.

[0121] The cleaner control section 116 can also be configured to determine the cleaners that operate simultaneously / not to operate simultaneously from the viewpoint of commonality / difference in the detection object and the cleaning object in which the dirt is detected. For example, the front LiDAR 6f and the front camera 6c have the common point of detecting the obstacle in front of the vehicle. Therefore, the cleaner control section 116 can be configured not to cause the front LC 103 and the front camera cleaner 109a to operate simultaneously.

[0122] The cleaner control section 116 can be configured to determine whether to operate simultaneously or not the cleaners from the viewpoint of commonality / difference of the detection timing of the cleaning target on which the dirt is detected. For example, the cleaner control section 116 can be configured not to operate other cleaners when the front LC 103 and the front camera cleaner 109a are caused to operate simultaneously in a case where the front LiDAR 6f and the front camera 6c are configured to acquire information of the front of the vehicle synchronously.

[0123] The cleaner control section 116 can be configured to determine whether to operate simultaneously or not the cleaners from the viewpoint of commonality / difference of the installation position of the cleaning target on which the dirt is detected. For example, the front camera 6c and the front window 1f have in common that they are installed at the front of the vehicle. Therefore, the cleaner control section 116 can be configured not to cause the front camera cleaner 109a and the front WW 101 to operate simultaneously.

[0124] The cleaner control section 116 can be configured to determine whether to operate simultaneously or not the cleaners from the viewpoint of commonality / difference of the storage tank that stores the cleaning liquid used for the cleaner of the cleaning target on which the dirt is detected. For example, the front LC 103 that cleans the front LiDAR 6f is connected to the front storage tank 111. As shown in FIG. 1, the front storage tank 111 is connected to the front WW 101, the right LC 105, the left LC 106, the right HC 107, the left HC 108, and the front camera cleaner 109a in addition to the front LC 103. Therefore, the cleaner control section 116 can be configured not to cause the front WW 101, the front LC 103, the right LC 105, the left LC 106, the right HC 107, the left HC 108, and the front camera cleaner 109a to operate simultaneously. Figure 3

[0125] The cleaner control section 116 can be configured to determine whether to operate simultaneously or not the cleaners from the viewpoint of commonality / difference of the pump that delivers the cleaning liquid to the cleaning target on which the dirt is detected. The front LC 103 that cleans the front LiDAR 6f is connected to the front pump 112. As shown in FIG. 1, the front pump 112 is connected to the front WW 101, the right LC 105, the left LC 106, the right HC 107, the left HC 108, and the front camera cleaner 109a in addition to the front LC 103. Therefore, the cleaner control section 116 can be configured not to cause the front WW 101, the front LC 103, the right LC 105, the left LC 106, the right HC 107, the left HC 108, and the front camera cleaner 109a to operate simultaneously. Figure 3

[0126] ​​The cleaner control section 116 can be configured not to operate all of the sensor cleaners 103 to 106, 109a, 109b at the same time. Alternatively, the cleaner control section 116 can be configured not to operate all of the cleaners 101 to 109b including the front WW 101, the rear WW 102, the right HC 107, and the left HC 108 in addition to the sensor cleaners at the same time.

[0127] Alternatively, the cleaner control section 116 can be configured not to operate all of the plurality of sensor cleaners 103 to 106, 109a, 109b capable of cleaning a plurality of sensors respectively having at least one of the detection method, the detection object, the detection direction, and the detection timing different from each other at the same time. For example, the detection methods of the front LiDAR 6f, the rear LiDAR 6b, the right LiDAR 6r, and the left LiDAR 6f are common. Therefore, the cleaner control section 116 can be configured not to operate all of the front LC 103, the rear LC 104, the right LC 105, and the left LC 106 at the same time.

[0128] Alternatively, the cleaner control section 116 can be configured not to operate all of the plurality of sensor cleaners 103 to 106, 109a, 109b capable of cleaning a plurality of sensors respectively having at least one of the detection method, the detection object, the detection direction, and the detection timing different from each other at the same time. For example, the detection methods of the front LiDAR 6f, the rear LiDAR 6b, the right LiDAR 6r, and the left LiDAR 6f are common. Therefore, the cleaner control section 116 can be configured not to operate all of the front LC 103, the rear LC 104, the right LC 105, and the left LC 106 at the same time.

[0129] Alternatively, the cleaner control section 116 can be configured not to operate all of the plurality of sensor cleaners 103 to 106, 109a, 109b capable of cleaning a plurality of sensors respectively having at least one of the detection method, the detection object, the detection direction, and the detection timing different from each other at the same time. For example, the detection methods of the front LiDAR 6f, the rear LiDAR 6b, the right LiDAR 6r, and the left LiDAR 6f are common. Therefore, the cleaner control section 116 can be configured not to operate all of the front LC 103, the rear LC 104, the right LC 105, and the left LC 106 at the same time.

[0130] Alternatively, the cleaner control section 116 can be configured not to operate all of the plurality of sensor cleaners 103 to 106, 109a, 109b capable of cleaning the plurality of sensors that are different from each other in at least one of the detection method, the detection object, and the detection direction, at the same time. For example, the detection timing of the front LiDAR 6f, the rear LiDAR 6b, the right LiDAR 6r, and the left LiDAR 6f is sometimes the same. Therefore, the cleaner control section 116 can be configured not to operate all of the front LC 103, the rear LC 104, the right LC 105, and the left LC 106 at the same time.

[0131] <<Second Embodiment>>

[0132] Next, a vehicle cleaning system according to the second embodiment will be described.

[0133] Reference numerals of elements of a vehicle cleaning system 1100 according to the second embodiment (hereinafter referred to as the cleaning system 1100) are denoted by numerals obtained by adding 1000 to reference numerals attached to elements of the cleaning system 100 according to the first embodiment. As for elements of the second embodiment that are common to the first embodiment, the same reference numerals are assigned and the description thereof is appropriately omitted. In addition, a vehicle 1 to which the cleaning system 1100 according to the present embodiment is applied is the same as the vehicle 1 according to the first embodiment described above, and thus detailed description thereof is omitted. Figures 1 to 3

[0134] Figure 6 is a schematic view of the cleaning system 1100 according to the second embodiment of the present application. In Figure 6 , the relationship among the front camera cleaner 109a, the cleaner control section 116, the front camera 6c, and the vehicle control section 3 is shown by taking the front camera 6c as an example of the external sensor 6.

[0135] As shown in Figure 6 , the front camera 6c has a photographing section 1131, a camera-side temporary storage section 1132, and a transmission section 1133. The photographing section 1131 guides light from the outside, converts it into an electric signal, and outputs the electric signal to the temporary storage section. The camera-side temporary storage section 1132 temporarily stores the electric signal input from the photographing section 1131 as memory information. The transmission section 1133 transmits the memory information stored in the camera-side temporary storage section 1132 to the vehicle control section 3 as an electric signal.

[0136] ​The vehicle control section 3 has a reception section 1141, a vehicle-side temporary storage section 1142, and a computation section 1143. The reception section 1141 is inputted with an electric signal outputted from the front camera 6c. The reception section 1141 temporarily stores the electric signal inputted from the front camera 6c as memory information in the vehicle-side temporary storage section 1142. The computation section 1143 computes a signal used for vehicle control, based on the memory information stored in the vehicle-side temporary storage section 1142 and an output from the internal sensor 5, and the like. The computation section 1143 automatically generates at least one of a steering control signal, an acceleration control signal, and a brake control signal.

[0137] The cleaner control section 116 outputs a work signal that causes the front camera cleaner 109a to work to the front camera cleaner 109a when a signal that causes the front camera cleaner 109a to work is inputted from the cleaner switch 115, when a signal that indicates that the front camera 6c is dirty is inputted from a not-illustrated dirt sensor, or when a prescribed time has elapsed from the previous work of the front camera cleaner 109a, and the like.

[0138] In the cleaning system 1100 of the present embodiment, the cleaner control section 116 outputs a working signal that indicates that the front camera cleaner 109a is working to the transmission section 1133 of the front camera 6c when the front camera cleaner 109a is working.

[0139] Figure 7 Image information transmitted in the front camera 6c and the vehicle control section 3 is shown. Figure 7 Image information taken by the photographing section 1131 of the front camera 6c, image information outputted by the transmission section 1133 of the front camera 6c to the vehicle control section 3, image information inputted to the reception section 1141 of the vehicle control section 3, image information temporarily stored in the vehicle-side temporary storage section 1142, and image information used by the computation section 1143 of the vehicle control section 3 when computing a signal used for vehicle control are shown.

[0140] In a case where the working signal is not output from the cleaner control section 116, the image information G11 taken by the photographing section 1131 at time t1 is output as image information G12 from the transmission section 1133 of the front camera 6c to the vehicle control section 3. The image information G12 output from the transmission section 1133 of the front camera 6c to the vehicle control section 3 is received as image information G13 by the reception section 1141. The image information G13 received by the reception section 1141 is temporarily stored as image information G14 by the vehicle-side temporary storage section 1142. The image information G14 temporarily stored by the vehicle-side temporary storage section 1142 is used in the operation as image information G15 by the operation section 1143. Hereinafter, the image information G21 taken by the photographing section 1131 at time t2 becomes the image information G22, the image information G23, the image information G24, and the image information G25 in this order.

[0141] In the present embodiment, the cleaner control section 116 outputs the working signal indicating that the front camera cleaner 109a is working to the transmission section 1133 of the front camera 6c when the front camera cleaner 109a is working. The transmission section 1133 of the front camera 6c does not transmit the image information to the vehicle control section 3 if the working signal is input from the cleaner control section 116.

[0142] In the present embodiment, the cleaner control section 116 outputs the working signal indicating that the front camera cleaner 109a is working to the transmission section 1133 of the front camera 6c when the front camera cleaner 109a is working. The transmission section 1133 of the front camera 6c does not transmit the image information to the vehicle control section 3 if the working signal is input from the cleaner control section 116. Figure 7 In the present embodiment, the cleaner control section 116 outputs the working signal indicating that the front camera cleaner 109a is working to the transmission section 1133 of the front camera 6c when the front camera cleaner 109a is working. The transmission section 1133 of the front camera 6c does not transmit the image information to the vehicle control section 3 if the working signal is input from the cleaner control section 116.

[0143] With respect to the image information G11 taken by the photographing section 1131 at time t1, the transmission section 1133 of the front camera 6c receives the image information G11 and outputs the image information G12 to the vehicle control section 3.

[0144] With respect to the image information G21 taken by the photographing section 1131 at time t2, although the transmission section 1133 of the front camera 6c receives the image information G21, it is not output to the vehicle control section 3, and thus the image information G22 output from the transmission section 1133 becomes blank.

[0145] With respect to the image information G31 taken by the photographing section 1131 at time t3, although the transmission section 1133 of the front camera 6c receives the image information G31, it is not output to the vehicle control section 3, and thus the image information G32 output from the transmission section 1133 becomes blank.

[0146] Regarding the image information G41 acquired by the imaging unit 1131 at time t4, the transmitting unit 1133 of the front camera 6c receives the image information G41 and outputs the image information G42 to the vehicle control unit 3.

[0147] Image information acquired by the imaging unit 1131 at times t2 and t3 is not transmitted to the vehicle control unit 3 through the transmission unit 1133 of the front camera 6c. Therefore, the calculation unit 1143 of the vehicle control unit 3 is not input with image information at times t2 and t3.

[0148] like Figure 7 As shown, the image information G21 and G31 acquired by the imaging unit 1131 during the operation of the front camera cleaner 109a is unclear because the camera lens and housing are covered with cleaning fluid. Therefore, unlike this embodiment, when this unclear image information is output to the vehicle control unit 3, the vehicle control unit 3 has to control the vehicle based on information with low reliability.

[0149] According to the cleaning system 1100 of this embodiment, the image information G21 and G31 obtained by the imaging unit 1131 during the operation of the front camera cleaner 109a is not output to the vehicle control unit 3, thus avoiding the situation where the vehicle control unit 3 controls the vehicle 1 based on information with low reliability.

[0150] Furthermore, the transmitting unit 1133 of the front camera 6c may also be configured to output the latest image information G12 that was not input to the vehicle control unit 3 when a working signal is received from the cleaner control unit 116.

[0151] <First Variation>

[0152] Next, use Figure 8 and Figure 9 A first variation of the cleaning system 1100 according to the second embodiment described above will be described. Figure 8 The first variation involves the cleaning system 1100A and Figure 6 Corresponding diagram. Figure 9 The cleaning system 1100A is shown with Figure 7 Correspondingly, the image information is transmitted in the front camera 6c and the vehicle control unit 3.

[0153] like Figure 8 As shown, in the first variant, the cleaner control unit 116, similarly to the second embodiment, outputs a working signal indicating that the front camera cleaner 109a is working to the transmitter 1133 of the front camera 6c when the front camera cleaner 109a is working.

[0154] exist Figure 9In the image information, the asterisk indicates a marker attached to the image information. When the transmitting unit 1133 of the front camera 6c receives an operating signal from the cleaner control unit 116, it outputs the image information G22 to the vehicle control unit 3 along with the marker. The transmitting unit 1133 can transmit the marker along with the image information G22, or it can output it independently of the image information G22.

[0155] exist Figure 9 In the process, the camera cleaner 109a is not working before time t1, is working before time t2 and t3, and stops working before time t4. The cleaner control unit 1116 outputs a working signal to the transmitter 1133 of the front camera 6c at time t2 and t3.

[0156] Regarding the image information G11 acquired by the imaging unit 1131 at time t1, the transmitting unit 1133 of the front camera 6c receives the image information G11 and outputs the image information G12 to the vehicle control unit 3.

[0157] Regarding the image information G21 acquired by the imaging unit 1131 at time t2, the transmitting unit 1133 of the front camera 6c receives the image information G21 and outputs the image information G22 to the vehicle control unit 3 with a tag.

[0158] Regarding the image information G31 acquired by the imaging unit 1131 at time t3, the transmitting unit 1133 of the front camera 6c receives the image information G31 and outputs the image information G32 to the vehicle control unit 3 with a tag.

[0159] Regarding the image information G41 acquired by the imaging unit 1131 at time t4, the transmitting unit 1133 of the front camera 6c receives the image information G41 and outputs the image information G42 to the vehicle control unit 3.

[0160] At times t2 and t3, the image information acquired by the imaging unit 1131 is transmitted to the vehicle control unit 3 via the transmitting unit 1133 of the front camera 6c with an attached marker.

[0161] In the first variation, the arithmetic unit 1143 is configured not to use the labeled image information during computation. Therefore, as Figure 9 As shown, image information G24 and G34, which became unclear due to the presence of cleaning fluid, were not used as image information by the vehicle control unit 3 during calculations. As described above, in the first variation, the situation where the vehicle control unit 3 controls the vehicle 1 based on information of low reliability is also avoided.

[0162] <Second Variation>

[0163] Next, use Figure 10 and Figure 11A second modification of the cleaning system 1100 according to the second embodiment will be described. Figure 10 is a schematic view of the cleaning system 1100B according to the second modification. Figure 6 corresponding to the second modification. Figure 11 shows image information transmitted in the front camera 6c and the vehicle control portion 3 corresponding to the cleaning system 1100B according to the second modification. Figure 7

[0164] As shown in Figure 10 , in the second modification, the cleaner control portion 116 outputs an in-operation signal indicating that the front camera cleaner 109a is in operation to the camera-side temporary storage portion 1132 when the front camera cleaner 109a is in operation.

[0165] The cleaner control portion 116 outputs the in-operation signal indicating that the front camera cleaner 109a is in operation to the transmission portion 1133 of the front camera 6c when the front camera cleaner 109a is in operation in the second modification. The transmission portion 1133 of the front camera 6c does not transmit image information to the vehicle control portion 3 if the in-operation signal is input from the cleaner control portion 116.

[0166] As shown in Figure 11 , the front camera cleaner 109a is not in operation at time tl, is in operation at times t2 and t3, and stops operation at time t4. The cleaner control portion 116 outputs the in-operation signal to the camera-side temporary storage portion 1132 at times t2 and t3.

[0167] With respect to the image information G11 taken by the photographing portion 1131 at time tl, the temporary storage portion of the front camera 6c stores the image information G11, and the transmission portion 1133 outputs the image information G12 to the vehicle control portion 3.

[0168] With respect to the image information G21 taken by the photographing portion 1131 at time t2, the temporary storage portion of the front camera 6c does not receive the image information G21. Therefore, the transmission portion 1133 outputs blank image information G22 to the vehicle control portion 3.

[0169] With respect to the image information G31 taken by the photographing portion 1131 at time t3, the temporary storage portion of the front camera 6c does not receive the image information G31. Therefore, the transmission portion 1133 outputs blank image information G32 to the vehicle control portion 3.

[0170] With respect to the image information G41 taken by the photographing portion 1131 at time t4, the temporary storage portion of the front camera 6c receives the image information G41, and outputs the image information G42 to the vehicle control portion 3. ​

[0171] The image information G21, G31 taken by the imaging section 1131 while the headlamp camera cleaner 109a is operating is not stored by the camera-side temporary storage section 1132, so the operation section 1143 of the vehicle control section 3 is not inputted with the image information at times t2, t3.

[0172] With the cleaning system 1100B according to the second modification, since the image information G21, G31 taken by the imaging section 1131 while the headlamp camera cleaner 109a is operating is not outputted to the vehicle control section 3, the situation where the vehicle control section 3 controls the vehicle 1 based on information of low reliability is also avoided.

[0173] <Third Modification>

[0174] Next, a third modification of the cleaning system 1100 according to the second embodiment will be described. Figure 12 Figure 13 The third modification will be described with reference to FIG. 17. Figure 12 FIG. 17 is a schematic view of the cleaning system 1100C according to the third modification, corresponding to FIG. 16. Figure 6 FIG. 18 shows the image information transmitted in the headlamp camera 6c and the vehicle control section 3 of the cleaning system 1100C according to the third modification, corresponding to FIG. 17. Figure 13 Figure 7 As shown in FIG. 18, in the third modification, the cleaner control section 116 outputs an operating signal indicating that the headlamp camera cleaner 109a is operating to the receiving section 1141 of the vehicle control section 3 while the headlamp camera cleaner 109a is operating.

[0175] As shown in FIG. 18, in the third modification, the cleaner control section 116 outputs an operating signal indicating that the headlamp camera cleaner 109a is operating to the receiving section 1141 of the vehicle control section 3 while the headlamp camera cleaner 109a is operating. The receiving section 1141 of the vehicle control section 3 does not receive the image information if the operating signal is inputted from the cleaner control section 116. Figure 12

[0176] In the third modification, the cleaner control section 116 outputs an operating signal indicating that the headlamp camera cleaner 109a is operating to the receiving section 1141 of the vehicle control section 3 while the headlamp camera cleaner 109a is operating. The receiving section 1141 of the vehicle control section 3 does not receive the image information if the operating signal is inputted from the cleaner control section 116.

[0177] As shown in FIG. 18, in the third modification, the cleaner control section 116 outputs an operating signal indicating that the headlamp camera cleaner 109a is operating to the receiving section 1141 of the vehicle control section 3 while the headlamp camera cleaner 109a is operating. The receiving section 1141 of the vehicle control section 3 does not receive the image information if the operating signal is inputted from the cleaner control section 116. Figure 13 As shown in FIG. 18, in the third modification, the cleaner control section 116 outputs an operating signal indicating that the headlamp camera cleaner 109a is operating to the receiving section 1141 of the vehicle control section 3 while the headlamp camera cleaner 109a is operating. The receiving section 1141 of the vehicle control section 3 does not receive the image information if the operating signal is inputted from the cleaner control section 116.

[0178] As shown in FIG. 18, in the third modification, the cleaner control section 116 outputs an operating signal indicating that the headlamp camera cleaner 109a is operating to the receiving section 1141 of the vehicle control section 3 while the headlamp camera cleaner 109a is operating. The receiving section 1141 of the vehicle control section 3 does not receive the image information if the operating signal is inputted from the cleaner control section 116.​​​

[0179] Regarding the image information G21 acquired by the imaging unit 1131 at time t2, the transmitting unit 1133 of the front camera 6c sends image information G22 to the receiving unit 1141 of the vehicle control unit 3, but the receiving unit 1141 of the vehicle control unit 3 does not receive the image. Therefore, the receiving unit 1141 receives blank image information G23.

[0180] Regarding the image information G31 acquired by the imaging unit 1131 at time t3, the transmitting unit 1133 of the front camera 6c sends image information G32 to the receiving unit 1141 of the vehicle control unit 3, but the receiving unit 1141 of the vehicle control unit 3 does not receive the image. Therefore, the receiving unit 1141 receives blank image information G33.

[0181] Regarding the image information G41 acquired by the imaging unit 1131 at time t4, the transmitting unit 1133 of the front camera 6c sends the image information G42 to the receiving unit 1141 of the vehicle control unit 3, and the receiving unit 1141 of the vehicle control unit 3 receives the image information G43.

[0182] The image information acquired by the imaging unit 1131 at times t2 and t3 is not received by the receiving unit 1141, therefore the calculation unit 1143 of the vehicle control unit 3 is not input with image information at times t2 and t3.

[0183] In the cleaning system 1100C involved in the third modification, the image information G21 and G31 obtained by the imaging unit 1131 during the operation of the front camera cleaner 109a are not input to the vehicle control unit 3, thus avoiding the situation where the vehicle control unit 3 controls the vehicle 1 based on information with low reliability.

[0184] <Fourth Variation>

[0185] Next, use Figure 14 and Figure 15 A fourth variation of the cleaning system 1100 according to the second embodiment described above will be described. Figure 14 The fourth variation involves the cleaning system 1100D and... Figure 6 Corresponding diagram. Figure 15 The cleaning system 1100D is shown with Figure 7 Correspondingly, the image information is transmitted in the front camera 6c and the vehicle control unit 3.

[0186] like Figure 14As shown, in the fourth variation, the cleaner control unit 116 outputs a working signal to the vehicle-side temporary storage unit 1142 indicating that the front camera cleaner 109a is working when the front camera cleaner 109a is working. If the vehicle-side temporary storage unit 1142 receives a working signal from the cleaner control unit 116, it stores the image information with a tag.

[0187] like Figure 15 As shown, the camera cleaner 109a is not working before time t1, is working before times t2 and t3, and stops working before time t4. The cleaner control unit 116 outputs a working signal to the camera-side temporary storage unit 1132 at times t2 and t3.

[0188] Regarding the image information G11 acquired by the imaging unit 1131 at time t1, the vehicle-side temporary storage unit 1142 stores it as image information G14.

[0189] Regarding the image information G21 acquired by the imaging unit 1131 at time t2, the vehicle-side temporary storage unit 1142 stores the image information G24 with a tag.

[0190] Regarding the image information G31 acquired by the imaging unit 1131 at time t3, the vehicle-side temporary storage unit 1142 stores the image information G34 with a tag.

[0191] Regarding the image information G41 acquired by the imaging unit 1131 at time t4, the vehicle-side temporary storage unit 1142 stores it as image information G44.

[0192] Image information acquired by the imaging unit 1131 at times t2 and t3 is marked and stored in the vehicle-side temporary storage unit 1142.

[0193] In the fourth variation, the arithmetic unit 1143 is configured not to use the labeled image information for calculation. Therefore, as Figure 15 As shown, image information G24 and G34, which became unclear due to the presence of cleaning fluid, were not used as image information by the vehicle control unit 3 during calculation. As described above, in the fourth variation, the situation where the vehicle control unit 3 controls the vehicle 1 based on information with low reliability is also avoided.

[0194] <Fifth Variation>

[0195] Next, use Figure 16 and Figure 17 A fifth variation of the cleaning system 1100 according to the second embodiment described above will be described. Figure 16 The fifth variation involves the cleaning system 1100E and... Figure 6A corresponding diagram. Figure 17 A corresponding diagram. Figure 7 A corresponding diagram.

[0196] As Figure 16 indicated, in the fifth modification, the cleaner control section 116 outputs an operation-in-progress signal indicating that the camera cleaner 109a is operating to the arithmetic section 1143 of the vehicle control section 3 while the camera cleaner 109a is operating. The arithmetic section 1143 does not use image information at the time of the operation if the operation-in-progress signal is input from the cleaner control section 116.

[0197] As Figure 17 indicated, the camera cleaner 109a is not operating at time t1, is operating at times t2, t3, and stops operating at time t4. The cleaner control section 116 outputs the operation-in-progress signal to the arithmetic section 1143 at times t2, t3.

[0198] With respect to the image information G11 taken by the imaging section 1131 at time t1, the arithmetic section 1143 reads out the image information G14 stored in the vehicle-side temporary storage section 1142 as the image information G15, and uses the image information G15 to operate the signals used at the time of the vehicle control.

[0199] With respect to the image information G21 taken by the imaging section 1131 at time t2, the arithmetic section 1143 does not read out the image information G14 stored in the vehicle-side temporary storage section 1142, and the image information G15 based on the image information G14 is not used for the operation.

[0200] With respect to the image information G31 taken by the imaging section 1131 at time t3, the arithmetic section 1143 does not read out the image information G34 stored in the vehicle-side temporary storage section 1142, and the image information G35 based on the image information G34 is not used for the operation.

[0201] With respect to the image information G41 taken by the imaging section 1131 at time t4, the arithmetic section 1143 reads out the image information G44 stored in the vehicle-side temporary storage section 1142 as the image information G45, and uses the image information G45 to operate the signals used at the time of the vehicle control.

[0202] The image information taken by the imaging section 1131 at times t2, t3 is not used for the operation in the arithmetic section 1143.

[0203] In the fifth modification, the arithmetic section 1143 is configured so that the arithmetic section 1143 does not use the image information at the time of the operation if the operation-in-progress signal is input. Therefore, as Figure 17As shown, the image information G24, G34, which has become unclear with the cleaning liquid, is not used as the image information used by the vehicle control section 3 at the time of operation. As described above, in the fifth modified example as well, it is possible to avoid a situation in which the vehicle control section 3 controls the vehicle 1 based on information with low reliability.

[0204] In the second embodiment and the first to fifth modified examples thereof described above, the relationship between the front camera 6c, the front camera cleaner 109a, the cleaner control section 116, and the vehicle control section 3 has been described, but the present application is not limited thereto. The present application can also be applied to the relationship between the rear camera 6d, the rear camera cleaner 109b, the cleaner control section 116, and the vehicle control section 3. The present application can also be applied to the relationship between the front LiDAR 6f, the front LC 103, the cleaner control section 116, and the vehicle control section 3. The present application can also be applied to the relationship between the rear LiDAR 6b, the rear LC 104, the cleaner control section 116, and the vehicle control section 3. The present application can also be applied to the relationship between the right LiDAR 6f, the right LC 105, the cleaner control section 116, and the vehicle control section 3. The present application can also be applied to the relationship between the left LiDAR 6f, the left LC 106, the cleaner control section 116, and the vehicle control section 3.

[0205] In the second embodiment and the first to fifth modified examples thereof described above, the manner in which the in-operation signal is output to the front camera 6c or the vehicle control section 3 in the operation of the front camera cleaner 109a has been described, but the present application is not limited thereto. Of course, it can also be configured in a manner in which an in-operation signal is output to the front LiDAR 6f or the vehicle control section 3 in the operation of the front LC 103, and the like.

[0206] <<Third Embodiment>>

[0207] Next, the vehicle-use cleaning system according to the third embodiment will be described.

[0208] The reference numerals of the elements of the vehicle-use cleaning system according to the third embodiment (hereinafter referred to as the cleaning system 2100) are indicated by the reference numerals attached to the elements of the cleaning system 100 according to the first embodiment with 2000 added thereto. The elements of the third embodiment that are common to the first embodiment will be indicated by the same reference numerals, and the description thereof will be appropriately omitted. In addition, the vehicle 1 to which the cleaning system 2100 according to the present embodiment is applied is the same as the vehicle 1 of the first embodiment described above, and thus the detailed description thereof will be omitted. Figures 1 to 3 The vehicle 1 according to the first embodiment described above is the same as the vehicle 1 to which the cleaning system 2100 according to the present embodiment is applied, and thus the detailed description thereof will be omitted.

[0209] In the cleaning system 2100 according to the third embodiment of the present application, the cleaner control section 116 is configured to output a signal for operating the sensor cleaners 103 to 106, 109 to the sensor cleaners 103 to 106, 109 based on travel information of the vehicle 1.

[0210] In a case where the vehicle 1 travels by the automatic driving mode, the vehicle control section 3 determines a travel route in accordance with a destination input by a user, a current position, and map information. The vehicle control section 3 grasps that the host vehicle 1 approaching a position of a left turn along the travel route based on the travel route, the current position, and the map information. If the host vehicle 1 approaches the position of the left turn, the vehicle control section 3 generates a left turn signal.

[0211] Before the vehicle 1 turns left, it is confirmed whether or not there is an obstacle in a travel direction (left front), whether or not there is an obstacle in a left side, whether or not there is a car, a bicycle, or a pedestrian approaching from a left rear. Therefore, if the vehicle control section 3 generates the left turn signal, the vehicle control section 3 acquires information of the front of the host vehicle 1, information of the left side of the host vehicle 1, and information of the left rear of the host vehicle 1.

[0212] The vehicle control section 3 is configured to generate a steering control signal for the left turn based on travel state information, surrounding environment information, current position information, map information, and the like in a case where no obstacle or the like is confirmed. The steering actuator 12 receives the steering control signal from the vehicle control section 3 and controls the steering device 13 based on the received steering control signal.

[0213] If the vehicle control section 3 generates the left turn signal, the left turn signal is output to the cleaner control section 116. The cleaner control section 116 outputs a signal for operating the left LC 106 to the left LC 106 if the left turn signal is input. The left LiDAR 61 cleaned by the left LC 106 is able to acquire information of a wide range including the left side, the left front, and the left rear of the vehicle 1. Therefore, if the left LC 106 is operated at the time when the left turn signal is input, clear information can be acquired from the left LiDAR 61 at the time when the vehicle 1 turns left.

[0214] Figure 18 is a view showing a case where the vehicle 1 equipped with the cleaning system 2100 according to the third embodiment of the present application turns left. In the view, 1A shows the vehicle 1 just before turning left, and 1B, 1C show the vehicle 1 in the middle of turning left. In the view, the sensor cleaners 103 to 106, 109 that are black indicate that they are in operation. Figure 18 In the view, the sensor cleaners 103 to 106, 109 that are black indicate that they are in operation.

[0215] As shown in the view, the left LC 106 is operated at the time when the vehicle 1 turns left. Figure 18As shown, the cleaner control unit 116 is preferably configured to output a working signal to the left LC 106 before the vehicle 1 turns left, and to output a stop signal to stop the operation of the left LC 106 before the vehicle 1 turns left. More specifically, the cleaner control unit 116 is preferably configured to output a working signal to the left LC 106 and a stop signal before the vehicle control unit 3 outputs a left-turn steering control signal to the steering actuator 12. The reason for this is that if the left LiDAR 61 is cleaned with cleaning fluid, it is not easy to obtain reliable information when it is desired.

[0216] However, when the left LC 106 is configured to clean the left LiDAR 6l with air, normal information will be obtained during cleaning, so the timing of cleaning can be any timing before or during a left turn.

[0217] According to the cleaner control unit 116 of this embodiment, the sensor cleaners 103-106 and 109 are activated based on the travel information of the vehicle 1, so it is convenient for the user. In addition, since the sensor cleaners 103-106 and 109 are activated based on the travel information, for example, by cleaning the required sensors in advance when the travel route changes, the sensors can be kept clean when necessary.

[0218] In this embodiment, the system can be configured to output a working signal to the right LC 105 when a left turn signal is input to the cleaner control unit 116, or it can be configured not to output a working signal to the right LC 105.

[0219] The present invention is not limited to the examples of the third embodiment described above. Figure 19 Is with Figure 18 Similarly, a figure is shown illustrating a vehicle 1 equipped with the cleaning system 2100A according to a variation of the third embodiment turning left.

[0220] like Figure 19 As shown, in this modified example, if a left-turn signal is input to the cleaner control unit 116, a signal to activate the right LC 105 is output to the right LC 105. During a left turn, as described above, a wide range of information about the left side of vehicle 1 is acquired; however, information about the right side of vehicle 1 becomes less important. Therefore, in the cleaning system 2100A according to this modified example, the right LiDAR 6r, which acquires information about the right side, is cleaned at a time when the importance of information about the right side of vehicle 1 decreases.

[0221] In particular, the importance of information on the right side of the vehicle 1 is low during the left turn of the vehicle 1. Therefore, it is preferable to configure such that, after the vehicle control portion 3 outputs the steering control signal for the left turn to the steering actuator 12, the cleaner control portion 116 outputs the operation signal to the right LC 105, and if the vehicle 1 ends the left turn and outputs the steering control signal for straight running to the steering actuator 12, the cleaner control portion 116 stops the output of the operation signal, or the cleaner control portion 116 outputs a stop signal that stops the operation of the right LC 105.

[0222] In the present modification, it is preferable to configure the cleaner control portion 116 such that the operation signal is not output to the left LC 106 when the left turn signal is input to the cleaner control portion 116. Thereby, it is possible to continuously obtain information on the left side from the left LiDAR 61 at the time of the left turn.

[0223] Further, in the above-described third embodiment and the modification thereof, the case where the vehicle 1 turns left at a crossroads or the like is described, but the above-described third embodiment and the modification thereof can be applied even in the case where the vehicle 1 turns the steering wheel to the left side in order to change lanes.

[0224] In addition, in the above-described description, the case where the vehicle 1 turns left is described, but the cleaner control portion 116 also controls the right LC 105 or the left LC 106 at the time of right turn.

[0225] Further, it is also possible to configure the cleaner control portion 116 such that the front LC 103 and / or the front camera cleaner 109a are operated / operated and stopped when the vehicle 1 starts moving forward. Or, it is also possible to configure the cleaner control portion 116 such that the rear LC 104 is operated / operated and stopped when the vehicle 1 starts moving backward.

[0226] In addition, in the above-described third embodiment and the modification thereof, the case where the vehicle 1 travels by the automatic driving mode is described, but the present application is not limited thereto. It is also possible to configure such that, in the case where the signal for the left turn is input to the vehicle control portion 3 by the passenger operating the direction instruction switch 18 (refer to Figure 2 ), the cleaner control portion 116 performs the control as in the above-described third embodiment or the modification thereof. Or, it is also possible to configure such that, in the case where the signal for the left turn is input to the cleaner control portion 116 by the passenger operating the direction instruction switch 18, the cleaner control portion 116 performs the control as in the above-described third embodiment or the modification thereof.

[0227] Further, in the above-described third embodiment and modifications thereof, the structure in which the cleaner control section 116 receives the steering control signal as the travel information has been described, but the present application is not limited thereto. For example, the cleaner control section 116 can also be configured to receive at least one of the output signal from the direction indication switch 18, navigation information, and automatic driving information as the travel information.

[0228] <Fourth Embodiment>

[0229] Next, the vehicle cleaning system according to the fourth embodiment will be described.

[0230] The reference numerals of the elements of the vehicle cleaning system 3100 according to the fourth embodiment (hereinafter referred to as the cleaning system 3100) are denoted by the reference numerals attached to the elements of the cleaning system 100 according to the first embodiment plus 3000. The elements of the fourth embodiment that are common to the first embodiment will be described with the same reference numerals, and the description thereof will be appropriately omitted.

[0231] Figure 20 is a plan view of the vehicle 1 on which the cleaning system 3100 is mounted. As shown in Figure 20 In the present embodiment, a human body sensing sensor 3123 is mounted in the vehicle 1. The basic structure of the present cleaning system 3100 is the same as that shown in Figure 2 and Figure 3

[0232] Figure 21 is a more detailed block diagram of the cleaning system 3100. As shown in Figure 21 Thus, the cleaner control section 116 has a prohibition determination section 3121 and a dirt determination section 3122. The human body sensing sensor 3123, the vehicle speed sensor 3124, and the position information acquisition section 3125 are connected to the prohibition determination section 3121.

[0233] The dirt determination section 3122 determines the degree of dirt of the objects to be cleaned 1f, 1b, 6f, 6b, 6r, 6l, 7r, 7l, 9c, and outputs a work request signal requesting the operation of the corresponding cleaner 101 to 109b to the prohibition determination section 3121 when it is determined that there is dirt.

[0234] For example, if the dirt determination section 3122 determines that the front LiDAR 6f has dirt based on the signal output from the front LiDAR 6f, it outputs a work request signal requesting the operation of the front LC 103 to the prohibition determination section 3121. Alternatively, if a dirt signal is input from a dirt sensor capable of detecting dirt of the front LiDAR 6f, the dirt determination section 3122 outputs a work request signal requesting the operation of the front LC 103 to the prohibition determination section 3121.​

[0235] The prohibition determination part 3121 does not operate the cleaner 101 to 109b even when the prescribed condition is satisfied, in the following described case. The prohibition determination part 3121, if a work request signal is input from the dirt determination part 3122, determines whether to operate the corresponding cleaner 101 to 109b based on at least one signal of the human sensing sensor 3123, the vehicle speed sensor 3124, and the position information acquisition part 3125. The prohibition determination part 3121 outputs a work signal to operate the corresponding cleaner 101 to 109b in a case where the corresponding cleaner 101 to 109b is operated. The prohibition determination part 3121 does not output the work signal to the corresponding cleaner 101 to 109b in a case where the corresponding cleaner 101 to 109b is not operated.

[0236] The human sensing sensor 3123 is provided at the front, right, rear, and left of the vehicle 1 as shown in FIG. 12. The human sensing sensor 3123 outputs a person signal indicating the presence of a person, for example, when a person intrudes within 1 meter of the human sensing sensor 3123. The prohibition determination part 3121 does not output the work signal to the corresponding cleaner 101 to 109b even when the work request signal is input from the dirt determination part 3122 in a state where the person signal is input from the human sensing sensor 3123. The prohibition determination part 3121 outputs the work signal to the corresponding cleaner 101 to 109b in a case where the work request signal is input from the dirt determination part 3122 in a state where the person signal is not input from the human sensing sensor 3123. Figure 20

[0237] The cleaner system 3100 according to the present embodiment prohibits the operation of the cleaner 101 to 109b when a signal indicating the presence of a person around the vehicle 1 is input from the human sensing sensor 3123 to the cleaner control part 116. Therefore, it is possible to prevent the case where the cleaning liquid is sprayed to a person against the intention of the occupant when a person is present around the vehicle 1.

[0238] Further, the threshold value at which the human sensing sensor 3123 outputs the person signal is preferably 1 meter or less, but can be 2 meters or less, or 50 centimeters or less. The threshold value can be configured to be changeable by the user. The larger the threshold value, the more it is possible to prevent the case where the cleaning liquid is sprayed to a person, but the cleaning frequency of the cleaning target object is likely to decrease. The smaller the threshold value, the more it is possible to increase the cleaning frequency of the cleaning target object, but the probability of spraying the cleaning liquid to a person increases. The threshold value can be configured to be changeable by the user. For example, it can be configured to be changeable by the user to three modes of a close distance mode of 50 centimeters, a middle distance mode of 1 meter, and a long distance mode of 2 meters.

[0239] ​Furthermore, the threshold for outputting a person signal for each human body sensor 3123 can be different. For example, when the exterior of the front WW 101 is integrated with the upper surface of the hood, the washer fluid from the front WW 101 tends to be blown out at a large angle relative to the windshield 1f. In contrast, when the exterior of the right LC 105 is integrated with the right side of the vehicle 1, the washer fluid from the right LC 105 tends to be blown out at a small angle relative to the right LiDAR 6r. In this case, the area of ​​washer fluid dispersion from the right LC 105 is likely to be smaller than that from the front WW 101. Therefore, the threshold for outputting a person signal for the human body sensor 3123 located on the right side of the vehicle 1 can be made smaller than the threshold for outputting a person signal for the human body sensor 3123 located at the front of the vehicle 1.

[0240] Alternatively, the human body sensor 3123 may be configured to detect the distance between itself and a detected person, and may be configured to output a signal representing its distance to the prohibition determination unit 3121. For example... Figure 20 As shown, the front camera 6c and the front windshield 1f are located behind the front LiDAR 6f. Therefore, when there is someone in front of the vehicle 1, the cleaning fluid sprayed when cleaning the front LC 103 is more likely to hit the person than when cleaning the front WW 101 and the front camera 6c. Therefore, for example, the distance between the front LC 103 and the person that prevents it from operating can be set to be greater than the distance between the front camera cleaner 109a and the front WW 101 that prevents them from operating. The human body sensor 3123 can be configured to output a signal indicating the distance to the person instead of a person signal, or it can be configured to output the signal together with the person signal.

[0241] The vehicle speed sensor 3124 detects the vehicle speed of vehicle 1 and outputs a specific speed signal to the prohibition determination unit 3121 when the speed is less than or equal to a specified speed. When a specific speed signal is input from the vehicle speed sensor 3124, the prohibition determination unit 3121 does not output a working signal to the corresponding cleaners 101-109b, even if a working request signal is input from the dirt determination unit 3122. When no specific speed signal is input from the vehicle speed sensor 3124 but a working request signal is input from the dirt determination unit 3122, the prohibition determination unit 3121 outputs a working signal to the corresponding cleaners 101-109b.

[0242] Consider the following situations when the vehicle is traveling at low speed: for example, driving cautiously when the vehicle is close to a person; driving on a narrow road; driving in a parking lot; stopping before a pedestrian crossing; and continuing to drive after stopping before a pedestrian crossing. In other words, the probability of people being nearby is higher when the vehicle is traveling at low speed compared to when it is traveling at high speed.

[0243] Therefore, the cleaning system 3100 according to the present embodiment prohibits the operation of the cleaners 101 to 109b when the vehicle speed detected by the vehicle speed sensor 3124 is less than or equal to the threshold value. Therefore, it is possible to prevent the cleaners 101 to 109b from operating against the intention of the occupant in a situation where the possibility of people being around the vehicle 1 is high.

[0244] The threshold value at the time of outputting the specific vehicle speed signal can be configured to be changeable by the user. For example, it can be configured to be changeable by the user to three modes of a low speed mode of 5 km / h, a medium speed mode of 10 km / h, and a high speed mode of 20 km / h.

[0245] Further, instead of the vehicle speed sensor 3124, an acceleration sensor can be used. The prohibition determination portion 3121 can make the above-described determination based on a vehicle speed obtained by time-integrating the acceleration of the acceleration sensor. Alternatively, it can be configured such that the prohibition determination portion 3121 determines whether to prohibit the operation of the cleaners 101 to 109b based on both the output of the vehicle speed sensor 3124 and the output of the acceleration sensor.

[0246] The position information acquisition portion 3125 determines, for the vehicle 1, in which place the vehicle 1 is, based on the GPS 9 and the map information storage portion 11 (see Figure 2 ), such as a building, a city street, a service area, a rural area, an expressway, and the like. The building, the city street, the service area, and the like are places where the possibility of people being around the vehicle 1 is low. On the other hand, the rural area, the expressway, and the like are places where the possibility of people being around the vehicle 1 is high. The position information acquisition portion 3125 outputs the people area signal to the prohibition determination portion 3121 when it is determined that the vehicle 1 is in the building, the city street, the service area. The position information acquisition portion 3125 does not output the people area signal to the prohibition determination portion 3121 when it is determined that the vehicle 1 is in the rural area, the expressway.

[0247] The prohibition determination portion 3121 does not output the operation signal to the corresponding cleaner 101 to 109b even when the operation request signal is input from the dirt determination portion 3122 in a state where the people area signal is input from the position information acquisition portion 3125. The prohibition determination portion 3121 outputs the operation signal to the corresponding cleaner 101 to 109b in a case where the operation request signal is input from the dirt determination portion 3122 in a state where the people area signal is not input from the position information acquisition portion 3125.

[0248] The cleaning system 3100 according to the present embodiment prohibits the operation of the cleaners 101 to 109b when it is determined by the position information acquisition section 3125 that acquires the geographical position of the host vehicle 1 that the host vehicle 1 is in an area where the possibility of the presence of a person is high. Thus, it is possible to prevent the operation of the cleaners 101 to 109b against the intention of the occupant in a situation where the possibility of the presence of a person around the vehicle 1 is high.

[0249] Further, in the above description, the structure in which the prohibition determination section 3121 is inputted with the person signal from the human body sensor 3123, the specific vehicle speed signal from the vehicle speed sensor 3124, and the person area signal from the position information acquisition section 3125 is shown, but the present application is not limited thereto. The prohibition determination section 3121 can also be configured to be inputted with only one or only two of the person signal, the specific vehicle speed signal, and the person area signal.

[0250]

[0251] Further, in the above-described fourth embodiment, the example in which the dirt signal outputted from the dirt sensor 123 becomes a trigger for the prohibition determination section 3121 to determine whether or not to prohibit the operation of the corresponding cleaner 101 to 109b is described, but the present application is not limited thereto.

[0252] Figure 22 is a block diagram of a cleaning system 3100A according to a modification of the above-described cleaning system 3100. As Figure 22 indicated, the signal outputted from the vehicle control section 3 can be configured to become a trigger for the prohibition determination section 3121 to determine whether or not to prohibit the operation of the corresponding cleaner 101 to 109b.

[0253] For example, the vehicle control section 3 can be configured to output, to the prohibition determination section 3121, a work request signal that requests the operation of the corresponding cleaner 101 to 109b when it is determined that a prescribed interval has elapsed from the previous operation date and time of the corresponding cleaner 101 to 109b. Alternatively, the vehicle control section 3 can be configured to output, to the prohibition determination section 3121, a work request signal that requests the operation of the corresponding cleaner 101 to 109b when it is determined that the vehicle 1 has traveled a prescribed distance from the previous operation time of the corresponding cleaner 101 to 109b.

[0254] Further, the prescribed interval and the prescribed distance can differ depending on the object to be cleaned. For example, it can be that the prescribed interval and the prescribed distance set with respect to the front LC 103 and the front camera cleaner 109a are shortened compared to the prescribed interval and the prescribed distance set with respect to the front headlight cleaners 107 and 108. Thus, the front LC 103 and the front camera cleaner 109a are likely to be operated more frequently than the front headlight cleaners 107 and 108. ​

[0255] <Various modifications>

[0256] The above describes an embodiment of the present application, but of course should not be construed as limiting the technical scope of the present application to the description of this embodiment. This embodiment is merely an example, and various modifications of the embodiment are possible within the scope of the application described in the claims, as understood by those skilled in the art. The technical scope of the present application should be determined based on the scope of the application described in the claims and the equivalent scope thereof.

[0257] In the present embodiment, the driving mode of the vehicle is described as including the fully automatic driving mode, the advanced driving assistance mode, the driving assistance mode, and the manual driving mode, but the driving mode of the vehicle should not be limited to these four modes. The driving mode of the vehicle can include at least one of these four modes. For example, the driving mode of the vehicle can be such that only one of them can be executed.

[0258] Also, the classification of the driving mode of the vehicle, the display method can be appropriately changed in accordance with the laws or rules related to automatic driving in each country. Likewise, the definitions of "fully automatic driving mode", "advanced driving assistance mode", "driving assistance mode" described in the description of the present embodiment are merely examples, and their definitions can be appropriately changed in accordance with the laws or rules related to automatic driving in each country.

[0259] In the above-described embodiment, an example in which the cleaning system 100, 1100-1100E, 2100, 2100A, 3100, 3100A is mounted on a vehicle capable of automatic driving is described, but the cleaning system 100, 1100-1100E, 2100, 2100A, 3100, 3100A can also be mounted on a vehicle incapable of automatic driving.

[0260] In addition, in the above-described embodiment, the cleaning system 100, 1100-1100E, 2100, 2100A, 3100, 3100A is described as including the external sensor 6, but the cleaning system 100, 1100-1100E, 2100, 2100A, 3100, 3100A can also be a structure that does not include the external sensor 6. However, if the cleaning system 100, 1100-1100E, 2100, 2100A, 3100, 3100A is configured as an assembly including the external sensor 6, the positioning accuracy of the cleaner 103-106, 109a, 109b for the external sensor 6 is easily improved, and thus is preferable. In addition, when the cleaning system 100, 1100-1100E, 2100, 2100A, 3100, 3100A is mounted on the vehicle 1, the external sensor 6 can also be installed together, and thus the assembly to the vehicle 1 is also improved.

[0261] In the above-described embodiments, the cleaners 103 to 106 that clean the LiDARs 6f, 6b, 6r, 6l and the cleaners 109a that clean the front camera 6c and the cleaners 109b that clean the rear camera 6d are described as the cleaners that clean the exterior sensors 6, but the application is not limited to this. The cleaning systems 100, 1100 to 1100E, 2100, 2100A, 3100, 3100A can also have cleaners that clean radars instead of the cleaners 103 to 106, 109a, 109b, or can have cleaners that clean radars in addition to the cleaners 103 to 106, 109a, 109b. The LiDARs and the radars can be cleaned at the same time at once, or only one of the LiDARs and the radars can be cleaned at once.

[0262] Further, the exterior sensors 6 such as the LiDARs 6f, 6b, 6r, 6l sometimes have detection surfaces and covers that cover the detection surfaces. The cleaners that clean the exterior sensors 6 can be configured to clean the detection surfaces, or can be configured to clean the covers that cover the sensors.

[0263] The cleaning medium that is sprayed by the cleaning systems 100, 1100 to 1100E, 2100, 2100A, 3100, 3100A includes air, water, or a cleaning liquid that contains a detergent, or the like. The cleaning medium that is sprayed to each of the front and rear windows 1f, 1b, the headlamps 7r, 7l, the LiDARs 6f, 6b, 6r, 6l, the cameras 6c, 6d can be different, or can be the same.

[0264] Further, in the above-described embodiments, examples in which the cleaners 101, 103, 105 to 109a are connected to the front storage tank 111 and the cleaners 102, 104, 109b are connected to the rear storage tank 113 are described, but the application is not limited to this.

[0265] The cleaners 101 to 109b can be connected to a single storage tank. The cleaners 101 to 109b can be connected to storage tanks that are different from each other.

[0266] Alternatively, the cleaners 101 to 109b can be connected to a common storage tank for each kind of the objects to be cleaned. For example, the LCs 103 to 106 can be connected to a common first storage tank, and the HCs 107, 108 can be connected to a second storage tank that is different from the first storage tank.

[0267] Alternatively, the cleaners 101 to 109b can be connected to a common storage tank for each configuration position of their cleaning targets. For example, the front WW 101, the front LC 103, and the front camera cleaner 109a can be connected to a common front storage tank, the right LC 105 and the right HC 107 can be connected to a common right storage tank, the rear WW 102, the rear LC 104, and the rear camera cleaner 109b can be connected to a common rear storage tank, and the left LC 106 and the left HC 108 can be connected to a common left storage tank.

[0268] In addition, in the above-described embodiment, an example in which the cleaning medium is ejected from the cleaners 101 to 109b by operating the actuators provided in the cleaners 101 to 109b is described, but the present application is not limited thereto.

[0269] Alternatively, the cleaners 101 to 109b can be connected to a common storage tank for each configuration position of their cleaning targets. For example, the front WW 101, the front LC 103, and the front camera cleaner 109a can be connected to a common front storage tank, the right LC 105 and the right HC 107 can be connected to a common right storage tank, the rear WW 102, the rear LC 104, and the rear camera cleaner 109b can be connected to a common rear storage tank, and the left LC 106 and the left HC 108 can be connected to a common left storage tank.

[0270] Alternatively, the cleaners 101 to 109b can be connected to a common storage tank for each configuration position of their cleaning targets. For example, the front WW 101, the front LC 103, and the front camera cleaner 109a can be connected to a common front storage tank, the right LC 105 and the right HC 107 can be connected to a common right storage tank, the rear WW 102, the rear LC 104, and the rear camera cleaner 109b can be connected to a common rear storage tank, and the left LC 106 and the left HC 108 can be connected to a common left storage tank.

[0271] The cleaners 101 to 109b are each provided with one or more ejection holes through which the cleaning medium is ejected. The cleaners 101 to 109b can be provided with one or more ejection holes through which the cleaning liquid is ejected and one or more ejection holes through which air is ejected.

[0272] The cleaners 101 to 109b can be provided independently of each other or can be unitized. For example, the right LC 105 and the right HC 107 can be provided as a single unit. The right LC 105 and the right HC 107 can be provided as a single unit in a manner integrated with the right headlamp 7r and the right LiDAR 6r.

[0273] This application is based on Japanese Patent Application No. 2017-142714 filed on July 24, 2017, Japanese Patent Application No. 2017-142715 filed on July 24, 2017, Japanese Patent Application No. 2017-142716 filed on July 24, 2017, and Japanese Patent Application No. 2017-142717 filed on July 24, 2017, the contents of which are incorporated herein by reference in their entirety.

Claims

1. A vehicle cleaner control device that controls a sensor cleaner for cleaning sensors mounted on a vehicle that acquire information from outside the vehicle. The vehicle cleaner control device outputs a signal to the sensor cleaner to activate the sensor cleaner based on the vehicle's travel information. Based on the vehicle's right turn or left turn information, a signal to activate the sensor cleaner will be output to the sensor cleaner.

2. The vehicle cleaner control device according to claim 1, wherein, The sensor has at least a right sensor located on the right side of the vehicle and a left sensor located on the left side of the vehicle. The sensor cleaner has at least a right cleaner capable of spraying cleaning medium onto the right sensor and a left cleaner capable of spraying the cleaning medium onto the left sensor. The sensor cleaner control device outputs a signal to the right cleaner to activate the right cleaner when the travel information indicates a right turn, and outputs a signal to the left cleaner to activate the left cleaner when the travel information indicates a left turn.

3. The vehicle cleaner control device according to claim 2, wherein, The cleaning medium is sprayed onto the right-hand cleaner before the vehicle turns right. The cleaning medium is sprayed onto the left cleaner before the vehicle turns left.

4. The vehicle cleaner control device according to claim 1, wherein, The sensor has at least a right sensor located on the right side of the vehicle and a left sensor located on the left side of the vehicle. The sensor cleaner has at least a right cleaner capable of spraying cleaning medium onto the right sensor and a left cleaner capable of spraying the cleaning medium onto the left sensor. The sensor cleaner control device outputs a signal to the left cleaner to activate the left cleaner when the travel information indicates a right turn, and outputs a signal to the right cleaner to activate the right cleaner when the travel information indicates a left turn.

5. The vehicle cleaner control device according to claim 4, wherein, The cleaning medium is sprayed onto the left cleaner during the vehicle's right turn. The cleaning medium is sprayed onto the right cleaner during the vehicle's left turn.

6. The vehicle cleaner control device according to claim 1, wherein, The sensor cleaner is activated in accordance with the operation of the user's direction indicator switch.

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