Sensor system

Abstract

For a predetermined period of time after the end of the drive of the cleaner (40) of the sensor's transmission section, the cleaner control unit (25) does not operate the cleaner (40). The sensor has a light-receiving section that receives light from the detected object through the transmission section. The dirt determination unit (12) determines the position information of the object after the first time based on the object's movement history at the first moment as the predicted position. If the reflection intensity at the predicted position obtained after the first time from the first moment is different from the reflection intensity of the object at the first moment, it determines that dirt is attached. The dirt determination unit (11) determines that the vehicle is in a certain location based on the distance information of the reference information and the distance information of the stop time point group information. If there is a difference between the distance information of the stop time point group information and the distance information of the reference information, it determines that dirt is attached.

Description

Technical Field

[0001] This disclosure relates to sensor systems. Background Technology

[0002] Cleaning systems equipped with cleaners are known through patent document 1, etc.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2001-171491 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, the inventors have discovered that when the cleaner blows cleaning fluid onto the object being cleaned, the cleaning fluid remains on the object for a certain period of time. For example, if the system is configured to determine contamination even immediately after the cleaner starts operating, the residual cleaning fluid may be mistakenly identified as contamination, potentially causing the cleaner to continue operating.

[0008] Furthermore, to detect contamination in LiDAR, for a given detection target, the detection results must differ between a clean state and a state with contamination. Therefore, the inventors of this invention considered that the sky always appears within a defined area of ​​the LiDAR's detection range, making it suitable as a detection target. Thus, they considered setting the sky as the detection target and using the difference in detection results between a clean state and a state with contamination to determine the presence of contamination.

[0009] However, in LiDAR mounted on vehicles, the scenery within the detection range changes drastically as the vehicle moves. If the scenery within the detection range changes, it becomes difficult to consistently determine dirt adhesion when configured to only detect specific objects. For example, as mentioned above, the sky is suitable as a detection object, but it is not visible when driving through tunnels, making it difficult to determine dirt adhesion solely based on the sky.

[0010] Furthermore, while the vehicle is in motion, the scenery within the LiDAR's detection range changes, but if dirt adheres to the LiDAR's transmission area, the scenery at that location remains unchanged. This difference could be used to detect dirt. However, when the vehicle is stationary, since the scenery remains unchanged, this method cannot determine the presence of dirt.

[0011] One of the purposes of this disclosure is to provide a sensor system that is less prone to misjudgment due to dirt.

[0012] One of the purposes of this disclosure is to provide a sensor system capable of detecting dirt, not limited to a specific object being detected.

[0013] One of the purposes of this disclosure is to provide a sensor system capable of detecting the adhesion of dirt when a vehicle is stationary.

[0014] Methods for solving problems

[0015] One aspect of this disclosure relates to a sensor system comprising: a sensor having a light-receiving portion for receiving light from a detected object via a transmission portion; a cleaner capable of cleaning the transmission portion; and a cleaner control unit for controlling the cleaner, wherein the cleaner control unit prevents the cleaner from operating for a predetermined period of time following the termination of the cleaner's operation.

[0016] One aspect of this disclosure relates to a sensor system comprising: a distance detection device having: a light-emitting portion that emits light into a detection range via a light-transmitting portion; a light-receiving portion that receives light reflected from an object by the light emitted from the light-emitting portion; a dot group information output portion that outputs dot group information including the position information of the object, distance information to the object, and reflection intensity from the object based on the light received by the light-receiving portion; an object recognition portion that recognizes an object and outputs the position information of the object, i.e., object position information; and a dirt determination portion that detects dirt adhering to the light-transmitting portion based on the dot group information and the object position information. The dirt determination portion determines the position information of the object after a first time interval based on the object's movement history at a first moment as a predicted position. If the reflection intensity at the predicted position obtained after the first time interval from the first moment is different from the reflection intensity of the object at the first moment, it determines that dirt is adhering to the position of the light-transmitting portion corresponding to the predicted position.

[0017] One aspect of this disclosure relates to a sensor system mounted on a vehicle, comprising: a distance detection device mounted on the vehicle, having: a light-emitting portion that emits light into a detection range via a light-transmitting portion; a light-receiving portion that receives light reflected from an object by the light emitted from the light-emitting portion; a dot group information output portion that outputs dot group information including the position information of the object, distance information to the object, and reflection intensity from the object based on the light received by the light-receiving portion; and a dirt determination portion that detects dirt adhering to the light-transmitting portion based on vehicle speed information output from the vehicle and the dot group information, wherein the dirt determination portion... The system identifies a group of points with a reflection intensity higher than a specified intensity and whose position information moves synchronously with the vehicle speed information as a high-reflectivity point group. Based on the reflection intensity and position information of the high-reflectivity point group, the system calculates a predetermined path for the high-reflectivity point group and a predicted reflection intensity when the high-reflectivity point group passes through the predetermined path. The system compares the reflection intensity obtained from the point group information output unit with the predicted reflection intensity when the object passes through the predetermined path. If the reflection intensity is different from the predicted reflection intensity, the system determines that dirt is attached to the predetermined path.

[0018] One aspect of this disclosure relates to a sensor system comprising: a distance detection device, a fixture fixed to the ground, having: a light-emitting part that emits light into a detection range via a light-transmitting part; a light-receiving part that receives light reflected from an object by the light emitted from the light-emitting part; a dot group information output part that outputs dot group information including the position information of the object, distance information to the object, and reflection intensity from the object based on the light received by the light-receiving part; and a dirt determination part that detects dirt adhering to the light-transmitting part based on the dot group information, wherein the dirt determination part determines dot groups whose reflection intensity changes to a predetermined value or less over a first predetermined time span from a first time to a second time span as target dot groups, and determines that dirt is adhering to the position corresponding to the target dot group if the reflection intensity of the target dot group is lower than a reference value determined based on the reflection intensity of the target dot group over the first predetermined time span for a second predetermined time or more.

[0019] One aspect of this disclosure relates to a sensor system mounted on a vehicle, comprising: a distance detection device mounted on the vehicle, having: a light-emitting portion that emits light into a detection range via a light-transmitting portion; a light-receiving portion that receives light reflected from an object by the light emitted from the light-emitting portion; a dot group information output portion that outputs dot group information including the position information of the object, distance information to the object, and reflection intensity from the object based on the light received by the light-receiving portion; a dirt determination portion that detects dirt adhering to the light-transmitting portion based on the dot group information; and a reference information recording portion that records the dot group information, i.e., reference information, obtained at a defined location. The dirt determination portion acquires a stop signal indicating that the vehicle has stopped from the vehicle, and determines that the vehicle is at the defined location based on the distance information of the reference information and the distance information of the dot group information at the time of stopping acquired in the acquisition of the stop signal, and determines that dirt is adhering if there is a difference between the distance information of the dot group information at the time of stopping and the distance information of the reference information. Attached Figure Description

[0020] Figure 1 This is a system block diagram of the sensor system according to the first embodiment of this disclosure.

[0021] Figure 2 This is a cross-sectional view of LiDAR.

[0022] Figure 3 This is a system block diagram of a sensor system according to the second embodiment of this disclosure.

[0023] Figure 4 This is a schematic diagram illustrating the determination of dirt adhesion in the second embodiment of this disclosure.

[0024] Figure 5 This is a schematic diagram illustrating the determination of dirt adhesion in the third embodiment of this disclosure.

[0025] Figure 6 This refers to the scenery within the detection range of a LiDAR fixed on a ground-based installation, as described in the fourth embodiment of this disclosure.

[0026] Figure 7 It is a graph showing the change in reflection intensity at a certain point on the guide plate.

[0027] Figure 8 This is a system block diagram of a sensor system according to the fifth embodiment of this disclosure.

[0028] Figure 9 This is a flowchart of the dirt adhesion determination process performed by the sensor system.

[0029] Figure 10It represents the landscape within the detection range of LiDAR when acquiring baseline information.

[0030] Figure 11 This refers to the landscape within the detection range of LiDAR when determining dirt levels. Detailed Implementation

[0031] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Furthermore, for ease of explanation, the descriptions of components having the same reference numerals as those already described in the embodiments are omitted. Also, for ease of explanation, the dimensions of the components shown in these drawings may sometimes differ from the actual dimensions of the components.

[0032] Furthermore, in the description of this embodiment, for ease of explanation, the terms "left-right direction," "front-back direction," and "up-down direction" are appropriately mentioned. These directions refer to the relative directions set for the vehicle. Here, "up-down direction" includes both "upward" and "downward" directions. "Front-back direction" includes both "forward" and "rearward" directions. "Left-right direction" includes both "left" and "right" directions.

[0033] <First Implementation>

[0034] Figure 1 This is a system block diagram of sensor system 1 according to the first embodiment of this disclosure. Figure 1 As shown, the sensor system 1 includes a sensor 30, a cleaner 40, and a cleaner control unit 25. The sensor 30 is a sensor capable of acquiring external information. The sensor 30 may be, for example, a camera, radar, LiDAR, or a door control camera. Hereinafter, the sensor system 1 mounted on a vehicle having a vehicle control unit 3 will be described.

[0035] Figure 2 This is a cross-sectional view of a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) sensor, exemplified by sensor 30. Figure 2 As shown, the LiDAR 30 includes a housing 31 with an opening and an outer lens 32 covering the opening of the housing 31. A light-emitting unit 33 and a light-receiving unit 34 are disposed inside the space formed by the housing 31 and the outer lens 32. The light-receiving unit 34 detects light emitted from the light-emitting unit 33 and reflected by the object being detected. At this time, the light-receiving unit 34 receives the reflected light from the object being detected via the outer lens 32 (transmitting portion). The light-receiving unit 34 outputs detection information corresponding to the detected light.

[0036] Additionally, the sensor system 1 includes a cleaner 40 for cleaning the LiDAR 30. The cleaner 40 blows cleaning fluid onto the outer lens 32 to remove dirt, dust, and other contaminants adhering to the outer lens 32. The cleaning fluid can be water or water containing cleaning components.

[0037] return Figure 1 The cleaner control unit 25 sends a drive signal to the cleaner 40 to activate the cleaner 40. Alternatively, the cleaner control unit 25 sends a stop signal to the cleaner 40 to stop its operation.

[0038] In this embodiment, the cleaner control unit 25 is configured not to operate the cleaner 40 for a predetermined period of time after the end of the cleaner's operation. The end of the cleaner's operation refers to events such as when the cleaner control unit 25 sends a stop signal to the cleaner 40, when the cleaner control unit 25 receives a signal indicating that the operation has stopped from the cleaner 40, when the cleaner control unit 25 stops the power supply used to operate the cleaner 40, or after a certain period of time after sending the drive signal to the cleaner 40.

[0039] The inventors of this invention studied the cleaning process of the cleaner 40. Initially, they envisioned that the cleaning fluid would be quickly removed by the airflow if the vehicle was moving, but they realized this was not the case. They reasoned that when the cleaner 40 blows the cleaning fluid onto the object being cleaned, the cleaning fluid remains on the object for a certain period of time. The inventors confirmed that even when the vehicle is traveling at a high speed of 60 km / h or higher, the cleaning fluid remains for approximately 1 to 10 seconds.

[0040] Therefore, for example, if the cleaner control unit 25 activates the cleaner 40 when the output of sensor 30 is abnormal, the cleaning fluid remaining in the outer lens 32 immediately after the cleaner 40 activates may sometimes cause the output of sensor 30 to become abnormal. As a result, if the cleaner control unit 25 activates the cleaner 40 based on the abnormal output of sensor 30 during a single activation, there is a concern that the cleaner 40 may continue to operate.

[0041] Even under such circumstances, according to the sensor system 1 of this embodiment, the cleaner 40 does not operate for a predetermined period of time after the end of the drive of the cleaner 40. Therefore, the unnecessary consumption of cleaning fluid is suppressed.

[0042] Furthermore, the sensor system 1 of this embodiment includes a dirt determination unit 26 (see reference 30) that determines whether dirt adheres to the outer lens 32 based on the output of the sensor 30. Figure 1The cleaner control unit 25 is compatible with the sensor system 1 that operates the cleaner 40 based on the output of the dirt detection unit 26. Unlike this embodiment, where the cleaner 40 is allowed to operate immediately after its operation has ended, residual cleaning fluid causes abnormal output from the sensor 30. Consequently, the dirt detection unit 26 determines that dirt has formed after a predetermined time since the cleaner 40's operation ended, and the cleaner control unit 25 continues to operate the cleaner 40 beyond its originally predetermined operating time.

[0043] According to the sensor system 1 of this embodiment, since the cleaner 40 does not operate for a predetermined time after the end of the drive of the cleaner 40, the cleaner 40 can be operated for only the originally predetermined operating time.

[0044] Alternatively, the sensor system 1 of this embodiment may also be configured to have a dirt determination unit 26, which determines whether dirt is attached to the outer lens 32 (transmitting part) based on the detection information of the sensor 30, and the cleaner control unit 25 is configured to not input the detection information of the sensor 30 into the dirt determination unit 26 for a predetermined time after the end of the drive of the cleaner 40.

[0045] Alternatively, the sensor system 1 of this embodiment may also be configured to have a dirt determination unit 26, which determines whether dirt is attached to the outer lens 32 based on the detection information of the sensor 30, and the cleaner control unit 25 is configured to not cause the dirt determination unit 26 to perform dirt determination for a predetermined time after the end of the drive of the cleaner 40.

[0046] Alternatively, the sensor system 1 of this embodiment may also be configured to have a dirt determination unit 26, which determines whether dirt is attached to the outer lens 32 based on the detection information of the sensor 30, and the cleaner control unit 25 is configured to not output the dirt determination result of the dirt determination unit 26 within a predetermined time from the end of the drive of the cleaner 40.

[0047] Alternatively, the sensor system 1 of this embodiment may also be configured to have a dirt determination unit 26, which determines whether dirt is attached to the outer lens 32 based on the detection information of the sensor 30, and the cleaner control unit 25 is configured to activate the cleaner 40 based on the output of the dirt determination unit 26, and the cleaner control unit 25 is configured to keep the cleaner 40 from activating for a predetermined time from the end of the drive of the cleaner 40, regardless of the output of the dirt determination unit 26.

[0048] In addition, such as Figure 1As shown, the sensor system 1 may also include: a weather information acquisition unit 27 that outputs weather information including at least one of temperature, humidity, and air pressure; and a time determination unit 28 that determines a time period for which the cleaner 40 will not operate based on the weather information.

[0049] The time that the cleaning fluid remains on the outer lens 32 is affected not only by vehicle speed but also by weather conditions such as temperature, humidity, and ambient temperature. For example, in dry or hot conditions, the remaining time tends to be shorter. Conversely, in rainy, humid, or cold conditions, the remaining time tends to be longer. Therefore, by calculating the prescribed inactivity time of the cleaner 40 based on this weather information, a time suitable for the current weather conditions can be set.

[0050] Furthermore, the time determination unit 28 can also determine the specified time based on the latitude of the location. For example, the latitude of the location can be determined based on GPS information. Since the lower the latitude is closer to the equator, the less likely the cleaning fluid is to remain, a shorter specified time can be set.

[0051] Furthermore, as described above, the time determination unit 28 may also be configured to determine the time based on the vehicle's travel speed obtained from the vehicle control unit 3. Alternatively, the time may be a fixed value independent of vehicle speed, weather information, latitude, etc.

[0052] Furthermore, in the sensor system 1 of this embodiment, the cleaner control unit 25 is preferably configured to allow the cleaner 40 to operate when a signal indicating that the vehicle has stopped is received from the vehicle control unit 3. During the period when the cleaner 40 operates and blows cleaning fluid, the sensor 30 cannot perform normal detection. Therefore, it is preferable to activate the cleaner 40 when the vehicle is stopped. Additionally, since the airflow is not active when the vehicle is stopped, cleaning fluid tends to remain in the outer lens 32. However, according to the sensor system 1 of this embodiment, since the cleaner 40 is not activated for a predetermined period of time with residual cleaning fluid, unnecessary consumption of the cleaning fluid can be suppressed.

[0053] Furthermore, in this embodiment, an example of the sensor system 1 being mounted on a vehicle has been described, but this disclosure is not limited to this example.

[0054] This disclosure can also be applied to sensor systems 1 that have sensors installed on ground-based installations such as traffic lights and streetlights and acquire traffic information such as the speed and number of vehicles passing through the location.

[0055] Furthermore, while this embodiment has described an example of an external sensor being a LiDAR, this disclosure is not limited thereto. External sensors can also be cameras or millimeter-wave radars.

[0056] <Second Implementation>

[0057] Next, refer to Figure 3 as well as Figure 4 The sensor system 10 according to the second embodiment will be described. Figure 3 This is a system block diagram of the sensor system 10 according to the second embodiment of this disclosure. The sensor system 10 of this embodiment is mounted in a vehicle having a vehicle control unit 3. Figure 3 As shown, the sensor system 10 includes a LiDAR 30 (an example of a sensor) and a dirt detection unit 12. The LiDAR 30 is a sensor capable of acquiring external information.

[0058] like Figure 2 As shown, the LiDAR 30 includes a housing 31 with an opening and an outer lens 32 covering the opening of the housing 31. A light-emitting unit 33 and a light-receiving unit 34 are disposed inside the space formed by the housing 31 and the outer lens 32. The light-receiving unit 34 detects light emitted from the light-emitting unit 33 and reflected by the object being detected. At this time, the light-receiving unit 34 receives the reflected light from the object being detected via the outer lens 32 (an example of a transmission part). The light-receiving unit 34 outputs detection information corresponding to the detected light.

[0059] The light-emitting unit 33 emits light into a detection area (defined range) defined in front of the LiDAR 30. The light-emitting unit 33 emits light sequentially towards multiple points within the detection area. The light emitted from the light-emitting unit 33 and reflected by objects within the detection area passes through the outer lens 32 and enters the light-receiving unit 34. The light-receiving unit 34 outputs the detection result corresponding to the detection of the reflected light to the point group information output unit 35.

[0060] Point group information output unit 35 (refer to) Figure 3 For multiple points within the detection area, the system outputs point group information, including location information, distance information, and reflection intensity information.

[0061] The position information indicates which point (called the detection point) in the detection area reflects the light emitted from the light-emitting part 33 and reflected towards the light-receiving part 34, or the position of that detection point.

[0062] For example, the detection area is pre-divided into a matrix shape such as 10000×10000, and the light-emitting unit 33 is configured to emit light to points within the divided area. The light-emitting unit 33 is configured to emit light sequentially from the point located to the upper right of these multiple points toward the point located to the lower left. In this case, position information includes the order in which the light is received and towards which point it is emitted. In this case, the point group information output unit 35 sequentially outputs a pair of information consisting of distance information and reflection intensity information, and the order in which these information are output constitutes the position information.

[0063] Alternatively, the light-emitting unit 33 includes a light source and a reflector whose orientation can be changed. The light-emitting unit 33 can be configured to determine the direction of light emitted by the light-emitting unit 33 based on the orientation of the reflector. In this case, the direction of travel of the light reflected by the reflector becomes position information. In this case, the position information can represent the direction of light travel by horizontal and vertical angles. The point group information output unit 35 outputs point group information consisting of the position information, distance information, and reflection intensity information of the detection points based on the orientation of the reflector of the light-emitting unit 33.

[0064] Distance information refers to the distance between the light-receiving unit 34 and the object present at the detection point. The distance information is calculated based on the speed of light and the time or phase from when the light-emitting unit 33 emits light towards the detection point until the light-receiving unit 34 receives the reflected light from the detection point.

[0065] The reflection intensity information is information indicating the intensity of light when the light receiving unit 34 receives reflected light from the detection point.

[0066] The dirt detection unit 12 detects dirt adhering to the outer lens 32 based on point group information including position information, distance information, and reflection intensity information. Figure 4 The method for determining dirt based on the dirt determination unit 12 will be explained.

[0067] Figure 4 This is a schematic diagram used to illustrate the determination of dirt adhesion in this embodiment. Figure 4 The image shows a landscape within the detection range of LiDAR30. Figure 4 In this context, there are guide signs (indicators) on highways (an example of such landmarks). Figure 4 In the diagram, the guide plate visible at the first time t1 is represented by a solid line, and the predicted position of the guide plate at the second time t2 is represented by a dashed line.

[0068] First, at time t0, the target identification unit 11 determines the target based on the output of the point group information output unit 35 according to predetermined conditions. The predetermined conditions refer to, for example, identifying an area with a reflectance intensity of a predetermined intensity or higher as a target. Alternatively, identifying an area with a predetermined number of detection points having a reflectance intensity of a predetermined intensity or higher as a target. The predetermined conditions can be set to any condition that allows the target to be determined based on the output of the point group information output unit 35. The target identification unit 11 outputs the target's position as target position information to the dirt determination unit 12. After determining the target, the target identification unit 11 continues to track the target and outputs the position information along with the time information to the dirt determination unit 12.

[0069] The dirt determination unit 12 obtains the reflection information of any point a1 of the target at the first time t1, which has passed a predetermined time T0 since time t0, from the point group information output unit 35. For example, let the reflection intensity information of point a1 at the first time t1 be A1.

[0070] Next, based on the object's movement history, the dirt detection unit 12 determines the object's position information at the second time t2, which is the time after a predetermined time T0 has elapsed since time t0, as the expected position. For example, if the position of point a1 within the object at time t0 is X0, and point a1 within the object at the first time t1 moves to position X1, the position X2 of point a1 within the detection range of the object at the second time t2 can be calculated as follows. Furthermore, the position Xn is actually the x and y values ​​when the detection range is represented by x and y coordinates, or the θ and φ values ​​when the detection range is represented by vertical angle θ and horizontal angle φ.

[0071] X2 = X1 + (X1 - X0) / T0 × T1

[0072] Next, the dirt determination unit 12 obtains the reflection intensity information A2 of position X2 from the point group information output unit 35 at the second time t2, and compares the reflection intensity information A2 with the reflection intensity information A1 of position X1 at the first time t1. For example, if the absolute value of the difference between the reflection intensity information A1 and A2, |A2-A1|, is greater than or equal to a predetermined value, the dirt determination unit 12 determines that dirt adheres to the position of the outer lens 32 corresponding to the predicted position X2. Alternatively, if the absolute value of the difference between the reflection intensity information A1 and A2, i.e., |1-A2 / A1|, obtained by subtracting the ratio of the reflection intensity information A1 and A2 from 1, is greater than or equal to a predetermined value, the dirt determination unit 12 determines that dirt adheres to the position of the outer lens 32 corresponding to the predicted position X2.

[0073] If the outer lens 32 is clean, the LiDAR 30 measures reflected light from the same object, so the reflection intensity information should not differ significantly between the first time t1 and the second time t2. However, when dirt adheres to the outer lens 32, the light emitted from the light-emitting part 33 of the LiDAR 30 is immediately reflected by the dirt present nearby. Furthermore, compared to objects outside the vehicle, the dirt adhering to the outer lens 32 is located near the light-receiving part 34, thus increasing the intensity of the reflected light. Therefore, when dirt adheres to the outer lens 32, the reflection intensity information is significantly increased compared to the case where dirt is not present.

[0074] Therefore, in this embodiment, if the actual reflection intensity at the predicted position X2 is greater than the predicted reflection intensity at the predicted position X2 (which is the same as the reflection intensity at position X1), it is determined that dirt is attached to the position of the outer lens 32 corresponding to the predicted position X2.

[0075] Furthermore, more precisely, because the vehicle is moving, the distance between the object and LiDAR30 tends to decrease over time. Therefore, the reflection intensity information A2 tends to be larger than the reflection intensity information A1. However, the difference between the reflection intensity in the absence of dirt and the reflection intensity in the presence of dirt is far greater than the increase in reflection intensity caused by the shortened distance due to vehicle movement. Therefore, even if the vehicle is moving, it will not hinder the aforementioned method of determining dirt.

[0076] Thus, according to the sensor system 10 of this embodiment, even when the scenery changes within the detection range, dirt adhesion can be determined by comparing the reflection intensity of an object at a first time t1 with the reflection intensity at a predicted location at a second time t2. The sensor system 10 of this embodiment can predict the positions of all objects based on movement history, therefore all objects can be used to determine dirt adhesion, eliminating the need to determine dirt adhesion only for specific objects. Furthermore, the movement history of the object can also be the movement history within the detection range when the object itself does not move, or when a vehicle carrying the LiDAR 30 moves relative to the LiDAR.

[0077] Furthermore, the preferred object recognition unit 11 is configured to recognize the presence of an object in an area where the reflection intensity is above a predetermined intensity.

[0078] Since stronger reflectivity results in more stable reflectivity information, it allows for consistent determination of dirt levels. Furthermore, because high-reflectivity metal surfaces and road surfaces are solid objects, they are unlikely to change over time, making them suitable for pollution detection.

[0079] The preferred object recognition unit 11 is configured to recognize that an object exists in a region with a vertical angle of 0 degrees or more within the detection range of the LiDAR 30, and in a region with a reflectance intensity of 100 or more.

[0080] Areas with a vertical angle of 0 degrees or more are located above the horizon. Above the horizon, there are many metal billboards or guide signs, which are suitable for detecting dirt. Furthermore, the sky is behind these objects, resulting in a significant difference in reflectivity between the sky and the objects, making it easy for the object recognition unit 11 to determine the outline of the objects.

[0081] In addition, such as Figure 3 As shown, the sensor system 10 can also be configured to have a camera 43 whose field of view includes the detection range of the LiDAR 30, and the object recognition unit 11 determines the object and object position information based on the image acquired from the camera 43.

[0082] For example, the object recognition unit 11 can also determine objects such as billboards, signboards, or large trucks based on the images acquired by the camera 43, and determine the object location information.

[0083] Camera 43 can identify objects that are not highly reflective, such as cloth, as objects. Therefore, even objects with low reflectivity can be used to determine the presence of dirt.

[0084] Furthermore, in the above description, the point at the second time t2 was obtained through a linear approximation, but this disclosure is not limited to this example. It is also possible to obtain the positions of point a1 more than twice and obtain the point at the second time t2 based on them. Alternatively, when the vehicle is moving, since the movement of points within the area is regular, the point at the second time can also be obtained based on this regularity and the vehicle speed.

[0085] Additionally, the sensor system 10 includes a cleaner 40 for cleaning the LiDAR 30. The cleaner 40 blows cleaning fluid onto the outer lens 32 to remove dirt, dust, and other contaminants adhering to the outer lens 32. The cleaning fluid can be water or water containing cleaning components.

[0086] Furthermore, in the sensor system 10 of this embodiment, the cleaner control unit 41 is preferably configured to allow the cleaner 40 to operate when a signal indicating that the vehicle has stopped is received from the vehicle control unit 3. During the period when the cleaner 40 operates and blows cleaning fluid, the LiDAR 30 cannot perform normal detection. Therefore, it is preferable to activate the cleaner 40 when the vehicle is stopped. Additionally, since the airflow is not active when the vehicle is stopped, cleaning fluid tends to remain in the outer lens 32. However, according to the sensor system 10 of this embodiment, since the cleaner 40 is not activated for a predetermined period of time with residual cleaning fluid, unnecessary consumption of the cleaning fluid can be suppressed.

[0087] <Third Implementation Method>

[0088] Alternatively, the dirt detection unit 12 of the sensor system 10 mounted on the vehicle can also be configured as follows. (Use) Figure 5 The method for determining dirt in the sensor system 10 according to the third embodiment of this disclosure will be described. Figure 5 This is a schematic diagram illustrating the determination of dirt adhesion in the third embodiment of this disclosure. Figure 5 In the diagram, symbol C represents the predetermined forward path of the guide plate. Furthermore, the block diagram of the sensor system 10 in the third embodiment is the same as that in the second embodiment.

[0089] First, the dirt determination unit 12 obtains reflection intensity information from the dot group information output unit and identifies dot groups with reflection intensity higher than a specified intensity and whose position information moves synchronously with vehicle speed information as high-reflectivity dot groups. For example, dot groups with high reflectivity, such as metal billboards, guide panels, or road surfaces, that move synchronously with vehicle speed information are identified as high-reflectivity dot groups. Synchronization with vehicle speed information means moving only at the same speed as the vehicle. For example, the distance between a guide panel fixed at a position far from the vehicle and the vehicle decreases synchronously with the vehicle speed as the vehicle approaches. However, the distance to an oncoming vehicle traveling at a constant speed (vehicle speed V2) decreases synchronously with the speed calculated by combining the vehicle speed V1 and the oncoming vehicle speed V2. In such cases, it is also referred to as synchronization with vehicle speed information.

[0090] exist Figure 5 In the example shown, the dirt determination unit 12 identifies the guide plate of the highway as a group of high reflectivity points.

[0091] Next, the dirt determination unit 12 calculates the predetermined path taken by the high-reflectivity point group and the predicted reflection intensity when the high-reflectivity point group passes through the predetermined path, based on the reflection intensity and position information of the high-reflectivity point group. The dirt determination unit 12 determines the predetermined path taken by the high-reflectivity point group based on the movement history of the guide plate. By using the same method as in the second embodiment described above, the predetermined path taken by the high-reflectivity point group can be determined.

[0092] For example, let time t1 be the time after a predetermined time T0 from time t0. If we set the position of point a2 of the object at time t0 as X0 and the position of point a2 of the object at time t1 as X1, then the position X of point a2 at time t after a predetermined time T from time t1 can be obtained by the following formula.

[0093] X = X1 + (X1 - X0) / T0 × T

[0094] Next, the dirt determination unit 12 calculates the predicted reflection intensity when passing through a predetermined path based on the reflection intensity information of the high-reflectivity point group. For example, similar to the second embodiment described above, the reflection intensity information A0 at the time t0 when the guide plate is determined to be a high-reflectivity point group can be used as the predicted reflection intensity when passing through the predetermined path.

[0095] Alternatively, a linear approximation can be used to calculate the predicted reflection intensity A2 of point a2 at time t2 after a specified time T2 from time t1 using the following formula.

[0096] A2 = A1 + (A1 - A0) / T0 × T2

[0097] Alternatively, if time T elapses, the distance between point a2 and the vehicle speed V × time T is shortened. Therefore, the attenuation rate α of the detection light in the air can also be used to calculate the predicted reflection intensity A according to the following formula.

[0098] A2=A1+α×V×T

[0099] Next, at time t2, after a predetermined time T2 has elapsed from time t1, the dirt determination unit 12 obtains the actual reflection intensity A2' obtained from the point group information output unit 35 when the object has passed the predetermined path. The dirt determination unit 12 compares the actual reflection intensity A2' with the predicted reflection intensity A2, and if the actual reflection intensity A2' is different from the predicted reflection intensity A2, it determines that dirt is attached to the predetermined path.

[0100] If the outer lens 32 is clean, the LiDAR 30 measures reflected light from the same object, so the reflection intensity information should not differ significantly between the first time t1 and the second time t2. However, when dirt adheres to the outer lens 32, the light emitted from the light-emitting part 33 of the LiDAR 30 is immediately reflected by the dirt present nearby. Furthermore, compared to objects outside the vehicle, the dirt adhering to the outer lens 32 is located near the light-receiving part 34, thus increasing the intensity of the reflected light. Therefore, when dirt adheres to the outer lens 32, the reflection intensity information is significantly increased compared to the case where dirt is not present.

[0101] Therefore, in this embodiment, when the actual reflection intensity A2' is greater than the predicted reflection intensity A2, it is determined that dirt is attached to the position of the outer lens 32 corresponding to the predetermined forward path.

[0102] Thus, with the sensor system 10 of this embodiment, even when the scenery changes within the detection range, dirt adhesion can be determined by comparing the predicted reflection intensity A2 with the actual reflection intensity A2' when the object passes through the predetermined path. According to the sensor system 10 of this embodiment, the predetermined path of all objects can be predicted based on movement history, therefore all objects can be used to determine dirt adhesion, eliminating the need to determine dirt adhesion only for specific objects.

[0103] <Fourth Implementation>

[0104] Furthermore, in the second and third embodiments described above, examples of LiDAR 30 being mounted on a moving vehicle have been given, but this disclosure is not limited thereto. This disclosure can also be applied to sensor systems 10 including LiDAR 30 mounted on ground-mounted installations. For example, this disclosure can also be applied to sensor systems 10 using LiDAR 30 mounted on ground-mounted installations such as traffic lights and streetlights to acquire traffic information such as the speed and number of vehicles passing through the area. Figure 6 as well as Figure 7 The operation of the dirt detection unit 12 in this embodiment will be explained. Furthermore, the block diagram of the sensor system 10 in the fourth embodiment is the same as that in the second embodiment.

[0105] Figure 6 This refers to the scenery within the detection range of a LiDAR30 device that is fixed to the ground.

[0106] First, based on the reflection intensity information obtained from the point group information output unit 35, the dirt determination unit 12 determines the point group whose reflection intensity changes to a predetermined value or less over a first predetermined time S1 from the first time t1 to the second time t2 as the point group to be determined.

[0107] The variation in reflection intensity being "below a specified value" means, for example, that the average reflection intensity within a first specified time S1 is 80% or more of the maximum value within the first specified time S1, or that the ratio of the reflection intensity within the first specified time S1 to the maximum value relative to the minimum value is 80% or more, or that is a specified value.

[0108] The target point group can be identified as a group of points that remain stationary relative to the ground, such as guide signs on highways, shop billboards, building roofs, and road surfaces, and whose reflection intensity is stable. Alternatively, the target reflection point group can be identified as a group of points that remain stationary relative to the ground for a first predetermined time S1, such as the body of a parked truck. Alternatively, since the sky is also stable and has low reflection intensity, it can be identified as a group of target points. Figure 6 In this process, the guide signs of the highway are identified as the target point group.

[0109] Next, if the reflection intensity of the target point group is lower than the reference value determined based on the reflection intensity of the target point group during the first predetermined time S1 for a period of time S2 or more, the dirt detection unit 12 determines that dirt is attached to the position corresponding to the target point group. For example, a guide plate that displays a strong reflection intensity B1 for 1 hour should maintain the same reflection intensity B1 thereafter. However, if dust subsequently attaches to the outer lens 32, the reflection intensity B2 after the time of attachment continues to be weaker than the reflection intensity B1. Therefore, in this case, the dirt detection unit 12 can determine that dirt is attached to the outer lens 32.

[0110] Furthermore, the reference value determined based on the reflection intensity of the target point group during the first predetermined time S can be the average value or the maximum value of the reflection intensity of the target point group during the first predetermined time S. Alternatively, it can be a value calculated by multiplying the average or maximum value of the reflection intensity of the target point group during the first predetermined time S by a coefficient such as 0.8. Additionally, the dirt detection unit 12 can also determine that dirt is attached when the reflection intensity of the target point group after the second time point is less than 80% of this reference value.

[0111] The second specified time S2 can be the same as or different from the first specified time S1. Furthermore, an object that represents a stable reflection intensity across the first specified time S1 can also be expected to exhibit the same reflection intensity across subsequent first specified times S1, so it is preferable that the second specified time is shorter than the first specified time.

[0112] use Figure 7 The method for determining the aforementioned dirt is explained in detail. Figure 7 It is a graph showing the shift in reflection intensity at a point a3, which acts as a guide plate. Figure 7 The vertical axis represents the reflection intensity, and the horizontal axis represents time. From time s0 to time s1, the reflection intensity is A0. Then, from time s1 to time s2, the bird crosses between the light-receiving part and the billboard, and the reflection intensity decreases to A1. Then, from time s2 to time s3, the reflection intensity recovers to A0. Furthermore, after time s3, dirt adheres to the outer lens 32, and the state where the reflection intensity decreases to A2 continues.

[0113] In this case, the dirt determination unit 12 determines that the change in reflection intensity from time s1 to time s4 after the first predetermined time S1 is less than a predetermined value, and this point is determined as one of the determination target points. In addition, the reflection intensity decreases due to birds between time s1 and time s4 (during the period from time s1 to time s2), and the change in reflection intensity between time s1 and time s4 is determined to be sufficiently small, so this point is determined as a determination target point.

[0114] During time s3, between time s4 and time s5 after the second predetermined time S2, the reflection intensity decreases to state A2. When the average reflection intensity Aavr between time s4 and the second predetermined time S2 is less than 80% of the maximum reflection intensity A0 within the first predetermined time S1, the dirt detection unit 12 determines that dirt is attached to the position of the outer lens 32 corresponding to point a3.

[0115] Thus, with the sensor system 10 described in this embodiment, even when the scenery within the detection range changes due to the movement of vehicles, pedestrians, birds, etc., the adhesion of dirt can be determined by using the reflection intensity of an object that represents a stable reflection intensity over a certain period of time. Objects that display a stable reflection intensity over a certain period of time include the road surface, the sky, and guide boards, etc., and all objects can be used to determine the adhesion of dirt, without being limited to specific objects.

[0116] Alternatively, this embodiment can also be applied to a sensor system that mounts LiDAR in a vehicle. For example, when a vehicle is in motion, the road surface or similar surface may exhibit a stable reflectivity within a fixed area of ​​the detection range. Therefore, the sensor system of the fourth embodiment mounted in a vehicle can use the road surface to determine the presence of dirt adhesion.

[0117] <Fifth Implementation>

[0118] Next, refer to Figures 8 to 11 The sensor system 100 according to the fifth embodiment will be described. Figure 8 This is a system block diagram of the sensor system 100 according to the fifth embodiment of this disclosure. The sensor system 100 of this embodiment is mounted in a vehicle having a vehicle control unit 3. Figure 8 As shown, the sensor system 100 includes a LiDAR 30 (an example of a sensor), a dirt detection unit 111, and a reference information recording unit 112. The LiDAR 30 is a sensor capable of acquiring external information.

[0119] like Figure 2 As shown, the LiDAR 30 includes a housing 31 with an opening and an outer lens 32 (an example of a transmission section) covering the opening of the housing 31. A light-emitting unit 33 and a light-receiving unit 34 are disposed inside the space formed by the housing 31 and the outer lens 32. The light-receiving unit 34 detects light emitted from the light-emitting unit 33 and reflected by the object being detected. At this time, the light-receiving unit 34 receives the reflected light from the object being detected via the outer lens 32 (an example of a transmission section). The light-receiving unit 34 outputs detection information corresponding to the detected light.

[0120] The light-emitting unit 33 emits light within a detection range defined in front of the LiDAR 30. The light-emitting unit 33 sequentially emits light towards multiple points within the detection area. Light emitted from the light-emitting unit 33 and reflected by objects within the detection area passes through the outer lens 32 and enters the light-receiving unit 34. The light-receiving unit 34 outputs the detection result corresponding to the detection of the reflected light to the point group information output unit.

[0121] Point group information output unit 35 (refer to) Figure 8 For multiple points within the detection area, output point group information including location and distance information.

[0122] The position information indicates which point (called the detection point) in the detection area reflects the light emitted from the light-emitting part 33 and reflected towards the light-receiving part 34, or the position of that detection point.

[0123] For example, the detection area is pre-divided into a matrix shape such as 10000×10000, and the light-emitting unit 33 is configured to emit light to points within the divided area. The light-emitting unit 33 is configured to emit light sequentially from the point located to the upper right of these multiple points toward the point located to the lower left. In this case, position information is included, including the order in which the received light is emitted toward which point. In this case, the point group information output unit 35 sequentially outputs distance information, and the order in which it is output becomes the position information.

[0124] Alternatively, the light-emitting unit 33 may include a light source and a reflector whose orientation can be changed, and may be configured to determine the direction of light emitted by the light-emitting unit 33 based on the orientation of the reflector. In this case, the direction of light travel reflected by the reflector becomes position information. In this case, the position information can represent the direction of light travel by horizontal and vertical angles. The point group information output unit 35 outputs point group information consisting of the position information and distance information of the detection points based on the orientation of the reflector of the light-emitting unit 33.

[0125] Distance information refers to the distance between the light-receiving unit 34 and the object present at the detection point. The distance information is calculated based on the speed of light and the time or phase from when the light-emitting unit 33 emits light towards the detection point until the light-receiving unit 34 receives the reflected light from the detection point.

[0126] The dirt detection unit 111 detects dirt adhering to the outer lens 32 based on point group information including position and distance information. (Using...) Figures 9 to 11 The pollution determination method of the pollution determination section 111 is explained.

[0127] Figure 9 This is a flowchart of the dirt adhesion determination process performed by the sensor system 100. For example... Figure 9 As shown, firstly, the dirt determination unit 111 determines whether to obtain a stop signal indicating that the vehicle has stopped from the vehicle control unit 3 (step S01).

[0128] Furthermore, this flowchart can also be configured to begin when the vehicle's power is disconnected. Alternatively, it can be configured to begin when the vehicle's gear lever is engaged in park, when the parking brake is applied, when the vehicle speed has remained at zero for a specified period of time, or when the user operates a switch that initiates the determination of dirt adhesion.

[0129] If no stop signal is received (step S01: No), the dirt determination unit 111 ends the process. If a stop signal is received (step S01: Yes), the dirt determination unit 111 obtains point group information from the point group information output unit 35 (step S02).

[0130] Next, the dirt determination unit 111 reads the reference information from the reference information recording unit 112 and compares the acquired dot group information (hereinafter referred to as the stop dot group information) with the reference information (step S03). The reference information refers to the dot group information used by the dirt determination unit 111 as a reference when determining the adhesion of dirt.

[0131] Figure 10 This represents the landscape within the detection range of LiDAR30 when the baseline information was acquired. Figure 10 This refers to the scenery within the detection range of the LiDAR 30 when a vehicle equipped with the sensor system 100 of this embodiment is parked in a user's parking lot. In this embodiment, the LiDAR 30 detects the area behind the vehicle. For example, when the vehicle is parked in the user's parking lot with the outer lens 32 clean, the dot group information output from the dot group information output unit 35 is reference information. That is, the LiDAR 30 captures... Figure 10 Information about the scenery shown becomes reference information. For example, when a vehicle is parked at a certain location at any given time, and the user performs a specific operation such as pressing a specific switch, the point group information acquired at that location is recorded in the reference information recording unit 112.

[0132] In addition, the baseline information is preferably obtained from places where users frequently park, such as their own parking lot, garage, the parking lot or garage of the user's destination, or the parking lot of the store they are visiting.

[0133] Then, return Figure 9 Step S03, as follows Figure 11 As shown, assume the vehicle is parked in the user's parking lot. Figure 11 This indicates the landscape within the detection range of the LiDAR30 when determining dirt. Figure 9 In the process, the dirt determination unit 111 compares the stopping time group information obtained when the vehicle stops with the reference information to determine whether the location where the vehicle is currently stopped is consistent with the location obtained from the reference information.

[0134] Specifically, the dirt determination unit 111 compares the location information of the stopping point group information with the distance information that matches the location information of the reference information. At this time, if the location where the vehicle stops matches the location where the reference information was obtained, the distance information of the two should be approximately the same. Therefore, in step S03, it is determined whether the ratio (hereinafter referred to as the approximation ratio) of the number of point group information whose distance information of the stopping point group information differs from the distance information of the reference information by less than a first threshold to the total number of point group information is a second threshold or higher. The first threshold is a value of 70% or higher, and the second threshold is a number greater than or equal to 70% but less than 100%.

[0135] For example, the number of point clusters whose distance information about a certain location differs from that of the reference information by less than 10% (an example of the first threshold) is counted. If the number of these counted point clusters is approximately 90% (an example of the second threshold) or higher relative to the total number of point clusters within the detection range, step S03 is determined as: Yes.

[0136] In step S03, if the approximate proportion is less than the second threshold (e.g., less than 90%) (step S03: No), it is inferred that the current parking location of the vehicle is different from the location where the reference information was obtained. Therefore, the dirt determination unit 111 does not determine the dirt adhesion and ends the process.

[0137] On the other hand, in step S03, if the approximate ratio is greater than or equal to the second threshold (step S03: Yes), it is presumed that the location where the vehicle is currently parked is the same as the location where the reference information was obtained. Therefore, the dirt determination unit 111 uses the reference information and the stopping time group information to determine the dirt adhesion.

[0138] Specifically, the dirt determination unit 111 determines that dirt is attached to the outer lens 32 when the approximate percentage is above the second threshold and below the third threshold (step S04). In addition, the third threshold is a number that is greater than the second threshold and less than 100%.

[0139] If no dirt adheres to the outer lens 32, since the vehicle is located at the location where reference information is acquired, the consistency between the stop point group information and the reference information should be quite high. Therefore, if the approximate proportion is 97% or higher (an example of the third threshold) (step S04: No), the dirt determination unit 111 determines that there is no dirt (step S06) and ends the process. Alternatively, the dirt determination unit 111 may also be configured to determine that there is no dirt and output a no-dirt signal to the vehicle control unit 3.

[0140] On the other hand, such as Figure 11As shown, when dirt D adheres to the outer lens 32, the light emitted from the light-emitting part is reflected by the dirt D attached to the outer lens 32 located nearby, thus the distance information at that location becomes extremely small. Therefore, although the distance information of the stopping point group information is consistent with the distance information of the reference information in most areas where dirt D is not attached, the distance information of the stopping point group information is inconsistent with the distance information of the reference information in areas where dirt D is attached, so the approximate ratio will not be close to a high value of 100%.

[0141] Therefore, in this embodiment, in step S04, if the approximate percentage is 90% or more and less than 98% (above the second threshold and less than the third threshold) (step S04: Yes), it is determined that dirt adheres to the outer lens 32 (step S05). The dirt determination unit 111 may also be configured to output a signal indicating dirt adhesion to the vehicle control unit 3 and the cleaner control unit. In this example, the second threshold is set to 90% and the third threshold is set to 98%, but these values ​​are arbitrary. Furthermore, here, the case where the two are approximately equal to 1 is described as an approximate percentage.

[0142] Thus, according to the sensor system 100 of this embodiment, point group information that will become the reference for pollution determination is recorded as reference information, and the reference information is compared with the point group information of the current location when the vehicle stops. Therefore, even when the vehicle is not moving, the adhesion of dirt to the outward lens 32 can be detected when the vehicle is stopped.

[0143] Furthermore, more precisely, the vehicle is not limited to parking precisely in the same location and with the same orientation. Therefore, in steps S03 and S04, the dirt determination unit 111 may also include, as reference information, information on corrections made when the vehicle moves parallel in the left-right and front-back directions, and information on corrections made when the vehicle's orientation is changed to a range of ±5 degrees.

[0144] In addition, such as Figure 9 As shown, when parking spaces for other vehicles are continuously arranged to the left and right of this vehicle's parking space, the preferred approach is to obtain the point cluster information as the baseline information under all the following scenarios: other vehicles are parked only to the left of this vehicle, other vehicles are parked only to the right of this vehicle, other vehicles are parked on both sides of this vehicle, and other vehicles are not parked on either side of this vehicle. Figure 9 In the example shown, the shape and location of the wall, the location and size of the wall's protrusions and recesses, the size and shape of the curb, and the location and length of the white line are preferably included in the reference information.

[0145] Alternatively, when obtaining reference information in a user's garage, objects such as brooms or bicycles within 1.5m on one side are likely to move frequently. Therefore, it is preferable that the point group information forming these objects is not included in the reference information. Instead, it is preferable to use the point group information forming the garage walls, beams, or scratches formed on the walls as the reference information.

[0146] Alternatively, GPS signals can be used to determine that the location where the reference information was obtained is consistent with the location where the vehicle is currently stopped.

[0147] In addition, in this embodiment, the adhesion of dirt is determined by whether the ratio of the number of point group information below a first threshold to the total number of point group information is greater than or equal to a second threshold and less than a third threshold, based on the difference between the distance information of the point group information at the time of stopping and the distance information of the reference information. However, the present invention is not limited to this.

[0148] For example, it can also be configured such that (1) the ratio of the number of point group information whose distance information of the point group information at the time of stopping differs from the distance information of the reference information by less than a first threshold to the total number of point group information, i.e., the approximate ratio, is a second threshold or higher, and (2) for the distance information of the point group information at the time of stopping whose distance information differs from the reference information by more than a first threshold, the difference between the distance information of the point group information at the time of stopping and the distance information of the reference information is a fourth threshold or higher than the first threshold, it is determined that dirt is attached to the part of the outer lens 32 corresponding to that area.

[0149] Specifically, in cases where the approximate proportion is above 90% in (1), it is inferred that the vehicle is in a location where the baseline information is obtained.

[0150] Furthermore, (2) when the stop time point group information, which is not similar to the reference information, is significantly different from the reference information, it can be determined that dirt adheres to that area. That is, when dirt adheres to the outer lens 32, since the detection light is reflected by the dirt near the light-emitting part, the distance information is extremely small compared to the case where the detection light is reflected on the road surface, etc. Therefore, for the distance information of the stop time point group information, which is not similar to the reference information and differs from the reference information by more than 10% (first threshold), it can be determined that dirt adheres to the part of the outer lens 32 corresponding to the area where the distance information differs from the reference information by more than 70% (an example of the fourth threshold). Preferably, the fourth threshold is more than twice the first threshold, and more preferably more than three times.

[0151] Furthermore, in this embodiment, an example of applying this disclosure to a LiDAR 30 for acquiring information about the rear of a vehicle has been described, but this disclosure is not limited thereto. For example, this disclosure may also be applied to a LiDAR 30 for acquiring information about the front of a vehicle, a LiDAR 30 for acquiring information about the sides of a vehicle, etc. Furthermore, this disclosure may also be applied to a LiDAR 30 for acquiring information around the entire circumference of a vehicle.

[0152] Additionally, the sensor system 100 includes a cleaner 40 for cleaning the LiDAR 30. The cleaner 40 blows cleaning fluid onto the outer lens 32 to remove dirt, dust, and other contaminants adhering to the outer lens 32. The cleaning fluid can be water or water containing cleaning components.

[0153] Furthermore, in the sensor system 100 of this embodiment, the cleaner control unit 41 is preferably configured to allow the cleaner 40 to operate when a signal indicating that the vehicle has stopped is received from the vehicle control unit 3. During the period when the cleaner 40 operates and blows cleaning fluid, the LiDAR 30 cannot perform normal detection. Therefore, it is preferable to activate the cleaner 40 when the vehicle is stopped. Additionally, since the airflow is not active when the vehicle is stopped, cleaning fluid tends to remain in the outer lens 32. However, according to the sensor system 100 of this embodiment, since the cleaner 40 is not activated for a predetermined period of time with residual cleaning fluid, unnecessary consumption of the cleaning fluid can be suppressed.

[0154] The embodiments of the present invention have been described above, but it is self-evident that the technical scope of this disclosure should not be interpreted as limited by the description of these embodiments. Those skilled in the art will understand that this embodiment is merely an example, and various modifications to the embodiments can be made within the scope of the invention as described in the protection scope of this invention. The technical scope of this disclosure should be determined based on the scope of the invention as described in the protection scope of this invention and its equivalents.

[0155] This application is based on Japanese Patent Application No. 2020-217241 filed on December 25, 2020, Japanese Patent Application No. 2021-18193 filed on February 8, 2021, and Japanese Patent Application No. 2021-18194 filed on February 8, 2021, the contents of which are incorporated herein by reference.

Claims

1. A sensor system, comprising: The sensor has a light-receiving part that receives light from the object being detected through a transmitting part; A cleaner capable of cleaning the permeable portion; The cleaner control unit controls the cleaner; The weather information acquisition unit outputs weather information including at least one of temperature, humidity, and air pressure; as well as The time determination department decides the specified time based on the weather information. The cleaner control unit prevents the cleaner from operating for a predetermined period of time after the cleaner's operation ends.

2. The sensor system according to claim 1, wherein, It includes a dirt detection unit that determines whether dirt adheres to the permeable portion based on the detection information from the sensor. The cleaner control unit does not input the sensor's detection information to the dirt determination unit for a predetermined period of time after the cleaner's operation ends.

3. The sensor system according to claim 1, wherein, It includes a dirt detection unit that determines whether dirt adheres to the permeable portion based on the detection information from the sensor. The cleaner control unit prevents the dirt determination unit from performing the dirt determination within a predetermined time after the cleaner's operation ends.

4. The sensor system according to claim 1, wherein, It includes a dirt detection unit that determines whether dirt adheres to the permeable portion based on the detection information from the sensor. The cleaner control unit does not cause the dirt determination unit to output the dirt determination result for a predetermined period of time after the cleaner's operation ends.

5. The sensor system according to claim 1, wherein, It includes a dirt detection unit that determines whether dirt adheres to the permeable portion based on the detection information from the sensor. The cleaner control unit is configured to activate the cleaner based on the output of the dirt detection unit. The cleaner control unit does not activate the cleaner for a predetermined period of time after the cleaner's operation ends, regardless of the output of the dirt determination unit.

6. The sensor system according to claim 1, wherein, It has a time determination unit that determines the specified time based on the latitude of the location.

7. The sensor system according to claim 1, wherein, The sensor system is mounted on the vehicle. It has a time determination unit that determines the time based on the vehicle's travel speed obtained from the vehicle.

8. The sensor system according to claim 1, wherein, The sensor system is mounted on a vehicle equipped with a vehicle control unit. When the cleaner control unit receives a signal from the vehicle control unit indicating that the vehicle has stopped, it allows the cleaner to operate.

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