Sensor cleaning device, sensor cleaning method, and sensor cleaning program

Abstract

An automatic driving control unit (20) controls automatic driving of a vehicle using information of an object detected by an object detection unit (16), and a dirt detection unit (18) detects dirt on a sensing surface of each of a camera (12) or an L i DAR (14) as a sensor, and when it is determined that cleaning can be performed with a cleaning liquid, the dirt detection unit (18) detects dirt on a sensing surface of each of the camera (12) and the L i DAR (14). A command for cleaning the camera (12) or the Li DAR (14) with the cleaning liquid is output to a cleaning control unit (22). A cleaning control unit (22) controls a cleaning actuator (24) in accordance with the command so as to spray a cleaning liquid onto the sensing surface of the camera (12) or the Li DAR (14) and perform cleaning, and notifies an automatic driving control unit (20) that the cleaning liquid is used to clean the sensing surface of the camera (12) or the Li DAR (14).

Description

Technical Field

[0001] The present disclosure relates to a sensor cleaning device, a sensor cleaning method and a sensor cleaning program. Citation of related applications

[0002] This application is based on Japanese patent application No. 2022-079684 filed on May 13, 2022, and claims the priority thereof. The entire contents of the patent application will be incorporated into this specification by reference. Background Art

[0003] In the automatic driving of a vehicle, the acceleration, deceleration, turning and braking of the vehicle are controlled based on the image information around the vehicle obtained by a camera or other shooting device and the information outside the vehicle obtained by scanning around the vehicle by a laser such as LiDAR.

[0004] Therefore, in sensors such as camera and LiDAR, when the so-called sensing surface related to obtaining information about the outside of the vehicle is contaminated, it is difficult to accurately obtain information about the outside of the vehicle. In the case of a camera, the sensing surface is the camera lens or the transparent glass protecting the camera lens, and in the case of LiDAR, the sensing surface is the light emitting part that irradiates the laser to the outside and the light receiving part that receives the laser reflected from the outside.

[0005] Japanese Patent Laid-Open No. 2019-162915 proposes an invention of a recognition sensor that uses high-pressure air or cleaning fluid to clean and recognize the surrounding conditions of a vehicle. Summary of the invention Technical problem to be solved by the invention

[0006] In the process of cleaning the identification sensor, it is difficult to obtain information outside the vehicle from the identification sensor being cleaned. However, in the invention disclosed in Japanese Patent Laid-Open No. 2019-162915, when other identification sensors among the multiple identification sensors included in the vehicle identify the same identification object as the identification sensor being cleaned, the identification sensor being cleaned is cleaned. However, in the case of air cleaning using high-pressure air, the recognition performance of the identification sensor will not be reduced. Therefore, when other identification sensors identify the same identification object as the identification sensor being cleaned, it is not particularly necessary to judge whether to clean the identification sensor being cleaned.

[0007] In addition, in the invention disclosed in Japanese Patent Gazette No. 2019-162915, when liquid cleaning is performed using a cleaning liquid to clean the sensing surface, in order to prevent the cleaning liquid from being mistakenly judged as dirt, it is necessary to notify the control device that detects dirt on the sensing surface that "liquid cleaning is in progress", but since this notification is not performed, the cleaning liquid attached to the sensing surface may be mistakenly judged as dirt.

[0008] The present disclosure is created in view of the above-mentioned technical problems, and its purpose is to obtain a sensor cleaning device, a sensor cleaning method and a sensor cleaning program that can accurately separate the use of air cleaning and liquid cleaning and suppress the influence of liquid cleaning on autonomous driving. Technical solutions adopted to solve technical problems

[0009] In order to achieve the above-mentioned object, the sensor cleaning device of the present invention comprises: an object detection unit (16), the object detection unit detects objects around the vehicle (300) based on information obtained by a plurality of sensors (12A-12D, 14A-14D) monitoring the periphery of the vehicle (300); a dirt detection unit (18), the dirt detection unit detects dirt on the sensors (12A-12D, 14A-14D); a cleaning control unit (22), the cleaning control unit continuously performs air cleaning by spraying high-pressure air to the sensors (12A-12D, 14A-14D) for a prescribed air cleaning time; and an automatic driving control unit (20), the automatic driving control unit uses the dirt detected by the object detection unit (16) to detect dirt on the sensors (12A-12D, 14A-14D) for a prescribed air cleaning time. The automatic driving of the vehicle is controlled based on the information of the object, and when the dirt detection unit detects dirt on the sensors (12A~12D, 14A~14D) and determines that the sensors (12A~12D, 14A~14D) can be cleaned with cleaning liquid, an instruction to clean the sensors (12A~12D, 14A~14D) with cleaning liquid is output to the cleaning control unit (22). The cleaning control unit (22) controls the liquid cleaning actuator (24A~24H) according to the instruction to spray the cleaning liquid onto the sensors (12A~12D, 14A~14D) for cleaning, and notifies the automatic driving control unit (20) that the sensors (12A~12D, 14A~14D) are being cleaned with the cleaning liquid.

[0010] By configuring in this way, it is possible to obtain a sensor cleaning device, a sensor cleaning method, and a sensor cleaning program that can accurately separate the use of air cleaning and liquid cleaning and can suppress the influence of liquid cleaning on autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS The above objects, other objects, features and advantages of the present disclosure will become more apparent with reference to the accompanying drawings and the following detailed description. Figure 1 It is a schematic diagram showing an example of the configuration of an autonomous driving ECU for controlling the autonomous driving of a vehicle, a camera as a sensor for obtaining external information of the vehicle required for autonomous driving, a LiDAR as a sensor for obtaining external information of the vehicle required for autonomous driving, and a cleaning actuator for cleaning the camera and the LiDAR, respectively, in the first embodiment of the present disclosure. Figure 2 This is a block diagram showing an example of the structure of the sensor cleaning device according to the first embodiment of the present disclosure. Figure 3 This is a flowchart showing an example of the process of the sensor cleaning device according to the first embodiment of the present disclosure. Figure 4 This is an example of an enlarged view of image data acquired by the camera when foreign matter such as dirt adheres to the sensing surface. Figure 5 yes Figure 4 An example of a histogram of image data is shown. Figure 6 This is a block diagram showing an example of the structure of the sensor cleaning device according to the second embodiment of the present disclosure. Figure 7 This is a block diagram showing an example of the structure of a sensor cleaning device according to a third embodiment of the present disclosure. DETAILED DESCRIPTION

[0012] [First embodiment] Hereinafter, a first embodiment of the present disclosure will be described based on the drawings. Figure 1 The schematic diagram shows an example of the configuration of each of the automatic driving ECU (Electronic Control Unit) 10 for controlling the automatic driving of the vehicle 300, the cameras 12A, 12B, 12C, 12D as sensors for obtaining the external information of the vehicle 300 required for the automatic driving, the LiDAR 14A, 14B, 14C, 14D as sensors for obtaining the external information of the vehicle 300 required for the automatic driving, the cleaning actuators 24A, 24B, 24C, 24D for cleaning the cameras 12A, 12B, 12C, 12D, respectively, and the cleaning actuators 24E, 24F, 24G, 24H for cleaning the LiDAR 14A, 14B, 14C, 14D, respectively. The automatic driving ECU 10 is composed of, for example, a CPU (Central Processing Unit) and a rewritable non-volatile memory. The non-volatile memory stores a program representing the processing of the sensor cleaning device 100 described later, and the CPU reads out the program and executes it.

[0013] like Figure 1As shown, the camera 12A is provided on the upper portion of the front windshield of the vehicle 300, etc., and acquires an image in front of the vehicle 300. The camera 12B is provided on the upper portion of the rear windshield of the vehicle 300, etc., and acquires an image behind the vehicle 300. The camera 12C is provided on the left side of the vehicle 300, and acquires an image of the left side of the vehicle 300. In addition, the camera 12D is provided on the right side of the vehicle 300, and acquires an image of the right side of the vehicle 300.

[0014] Each of the LiDARs 14A, 14B, 14C, and 14D is configured to measure scattered light from laser beams irradiated in a pulsed manner toward the outside of the vehicle 300, and analyze the distance to a distant object and the properties of the object. Figure 1 As shown, the LiDAR 14A is provided at, for example, the front bumper of the vehicle 300, and acquires information in front of the vehicle 300. The LiDAR 14B is provided at, for example, the rear bumper of the vehicle 300, and acquires information behind the vehicle 300. The LiDAR 14C is provided at the left side of the vehicle 300, and acquires information on the left side of the vehicle 300. In addition, the LiDAR 14D is provided at the right side of the vehicle 300, and acquires information on the right side of the vehicle 300.

[0015] The cleaning actuators 24A, 24B, 24C, and 24D are controlled by the automatic driving ECU 10 to perform air cleaning by spraying high-pressure air or liquid cleaning by spraying cleaning liquid to the cameras 12A, 12B, 12C, and 12D, respectively. In addition, the cleaning actuators 24E, 24F, 24G, and 24H are controlled by the automatic driving ECU 10 to perform air cleaning or liquid cleaning to the LiDARs 14A, 14B, 14C, and 14D, respectively. In addition to performing air cleaning and liquid cleaning, each of the cleaning actuators 24A to 24H can also perform gas-liquid mixed phase cleaning by spraying high-pressure air and cleaning liquid to the cameras 12A to 12D and the LiDARs 14A to 14D, respectively.

[0016] Figure 2 1 is a block diagram showing an example of the structure of the sensor cleaning device 100 according to the present embodiment. Figure 1 As shown, a plurality of cameras 12 (12A to 12D), LiDAR 14 (14A to 14D) and cleaning actuators 24 (24A to 24H) are connected to the autonomous driving ECU 10. The cleaning actuator 24 is a device that uses any one of the cleaning methods of "gas", "liquid" and "gas-liquid mixed phase" to clean the camera 12 and LiDAR 14 sensors that serve as sensors.

[0017] like Figure 2As shown, the autonomous driving ECU 10 includes: an object detection unit 16, which detects objects around the vehicle 300 based on information obtained by the camera 12 and the LiDAR 14; and an autonomous driving control unit 20, which controls the autonomous driving of the vehicle 300 based on the detection results obtained by the object detection unit 16.

[0018] In addition, the automatic driving ECU 10 includes a dirt detection unit 18 that detects dirt attached to the sensing surface of each of the camera 12 and the LiDAR 14, and a cleaning control unit 22 that controls the cleaning actuator 24 based on the detection result obtained by the dirt detection unit 18, and the cleaning control unit 22 operates the cleaning actuator 24, and when cleaning the sensing surface of the camera 12 or the LiDAR 14, the cleaning control unit 22 notifies the automatic driving control unit 20 of which sensor to be cleaned is the camera 12A to 12D or the LiDAR 14A to 14D, so that the automatic driving control unit 20 does not recognize the cleaning liquid attached to the sensing surface of the sensor to be cleaned as dirt. As described above, the sensing surface is the camera lens or the transparent glass protecting the shooting lens in the case of the camera 12, and is the light emitting unit that irradiates the laser to the outside and the light receiving unit that receives the laser reflected from the outside in the case of the LiDAR 14.

[0019] Figure 3 This is a flowchart showing an example of the process of sensor cleaning device 100 according to the present embodiment. Figure 3 The processing shown is executed in the automatic driving ECU 10. The automatic driving ECU 10 is composed of, for example, a CPU (Central Processing Unit) and a rewritable nonvolatile memory. The nonvolatile memory stores a data file indicating the Figure 3 The CPU reads out the program stored in the nonvolatile memory and executes it. As shown in step S100, Figure 3 The process shown starts with autonomous driving of the vehicle 300 , and the autonomous driving and the detection of dirt by the sensors start simultaneously.

[0020] In step S102, the dirt detection unit 18 determines whether dirt on the sensing surface is detected. When the sensor is the camera 12, the presence or absence of dirt on the sensing surface is determined based on the image data acquired by the camera 12. In addition, when the sensor is the LiDAR 14 and the light amount of the laser (received light) reflected from the outside of the vehicle 300 becomes less than a predetermined first light amount threshold, it is determined that dirt is attached to the sensing surface.

[0021] Figure 4This is an example of an enlarged view of image data acquired by the camera 12 when foreign matter such as dirt is attached to the sensing surface. Figure 4 The squares in are pixels constituting the image data. When there is no foreign matter such as dirt on the sensing surface of the camera 12, the brightness (pixel value) is represented as close to white as in the pixel PXL, but when there is dirt on the sensing surface, the pixel value is represented as close to black as in the pixel PXB.

[0022] Figure 5 yes Figure 4 An example of a histogram of image data is shown. Figure 5 The pixel value is set on the horizontal axis and the number of pixels is set on the vertical axis. In the present embodiment, when the difference between the maximum and minimum values ​​of the pixel values ​​of pixels having a predetermined number of pixels N or more, that is, the brightness difference ΔB, is greater than the predetermined first brightness difference threshold, it is determined that foreign matter such as dirt exists on the sensing surface. Pixels less than the predetermined number of pixels N may be noise generated in the image data, and therefore, the pixels are not used for determining the maximum and minimum values ​​of the pixel values. The predetermined number of pixels N varies depending on the specifications of the camera 12, but as an example, N = 2m (m = 2 to 4).

[0023] If it is determined in step S102 that foreign matter such as dirt exists on the sensing surface, the process proceeds to step S104. If it is determined in step S102 that foreign matter such as dirt does not exist on the sensing surface, the dirt detection unit 18 continues to perform dirt detection.

[0024] In step S104, the dirt detection unit 18 determines whether the foreign matter attached to the sensing surface is a water drop. Figure 5 When the brightness difference ΔB shown is smaller than the second brightness difference greater than the first brightness difference threshold, it is determined that water droplets are attached to the sensing surface. In other words, when the brightness difference ΔB is greater than the second brightness difference threshold, it can be determined that dirt other than water droplets is attached to the sensing surface of the camera 12. The first brightness difference threshold and the second brightness difference threshold are specifically determined based on, for example, image information acquired in a state where dirt or water droplets are attached to the sensing surface of the camera 12.

[0025] When the sensor is LiDAR 14, when the amount of light of the laser reflected from the outside of the vehicle is greater than a predetermined second light amount threshold value that is smaller than the predetermined first light amount threshold value, it is determined that water droplets are attached to the sensing surface. In other words, when the amount of light of the laser reflected from the outside of the vehicle is less than the predetermined second light amount threshold value, it can be determined that dirt other than water droplets is attached to the sensing surface of LiDAR 14. The predetermined first light amount threshold value and the predetermined second light amount threshold value are specifically determined based on, for example, changes in the amount of light received when dirt or water droplets are attached to the sensing surface of LiDAR 14.

[0026] In step S104, if water drops are detected on the sensing surface, the step is transferred to step S106. If no water drops are detected on the sensing surface, that is, if it is considered that dirt other than water drops is attached to the sensing surface, the step is transferred to step S112.

[0027] In step S106, the cleaning control unit 22 controls the cleaning actuator 24, and implements air cleaning by spraying high-pressure air onto the sensing surface of the sensor determined to have water droplets attached thereto within a prescribed time. In the present embodiment, dirt detection of the sensing surface is also performed during the air cleaning of step S106. In addition, the spray pressure, spray amount, and prescribed time of the high-pressure air in the air cleaning of step S106 are specifically determined, for example, by an experiment of removing the water droplets while actually making the water droplets attached to the sensing surface. Alternatively, the air cleaning may be continued before determining whether the sensor performance has improved in step S108 described later, and if no improvement in the sensor performance is seen in step S108, the control of terminating the air cleaning may be performed.

[0028] In step S108, the object detection unit 16 and the automatic driving control unit 20 determine whether the sensor performance has been improved. Specifically, when the sensor is the camera 12, Figure 5 If the brightness difference ΔB shown is less than a first brightness difference threshold, the sensor performance is determined to be improved. If the sensor is LiDAR 14, the sensor performance is determined to be improved if the amount of laser light reflected from the outside of the vehicle is greater than a first light amount threshold.

[0029] In step S108 , when the sensor performance is improved, the process proceeds to step S102 , and when the sensor performance is not improved, the process proceeds to step S110 .

[0030] In step S110, the automatic driving control unit 20 reduces the speed of the vehicle 300. The degree of reduction in the speed is affected by the speed limit of the driving lane, etc., but is 10 to 15 km / h as an example.

[0031] In step S112, whether liquid cleaning control can be performed is determined in the automatic driving control unit 20. Specifically, when the sensor to be cleaned is covered with cleaning liquid but does not hinder object detection for automatic driving, and when there are no prescribed objects such as pedestrians or two-wheeled vehicles around the vehicle 300 to which cleaning liquid cannot be applied, it is determined that liquid cleaning control can be performed.

[0032] More specifically, the object detection unit 16 does not detect a pedestrian or a two-wheeled vehicle (predetermined object to which the cleaning liquid cannot be applied) within a predetermined range around the vehicle 300 immediately before the liquid cleaning is performed. The predetermined range is specifically determined based on the injection pressure and injection amount of the cleaning liquid of the cleaning actuator 24. In addition, although the sensor to be cleaned is covered with the cleaning liquid, the object detection for autonomous driving is not hindered, for example, the dirt detected by the dirt detection unit 18 is light and can be easily removed by the injection of the cleaning liquid, or only some of the sensors of the cameras 12A to 12D and the LiDAR 14A to 14D provided with a plurality of sensors are the cleaning targets, and the sensors other than the cleaning targets function normally.

[0033] For the dirt detection unit 18, the dirt detected by the dirt detection unit 18 is light and can be easily removed by spraying the cleaning fluid. For example, if the sensor is the camera 12, then Figure 5 When the brightness difference ΔB shown is substantially equal to the first predetermined brightness difference threshold, if the sensor is the LiDAR 14 , the light amount of the laser light reflected from the outside of the vehicle 300 is substantially equal to the first predetermined light amount threshold.

[0034] In step S112, if liquid cleaning control is possible, a command to clean the sensor with cleaning liquid is output to the cleaning control unit 22, and the step proceeds to step S114. If liquid cleaning control is not possible, the step proceeds to step S102.

[0035] In step S114, in the cleaning control unit 22, it is determined whether liquid cleaning can be performed. Specifically, the situation where liquid cleaning cannot be performed due to the restriction on the cleaning actuator 24 side is determined as "No", and the situation where liquid cleaning can be performed is determined as "Yes". The restriction on the cleaning actuator 24 side in step S114 refers to, for example, in the case where multiple sensors are cleaning objects, the liquid cleaning of multiple sensors cannot be performed at the same time due to the limitation of the pump that pressurizes the cleaning liquid, resulting in a situation where sensors are forced to be cleaned on standby, or a situation where the cleaning liquid is insufficient and the cleaning itself cannot be performed. In step S114, if liquid cleaning can be performed, the step is transferred to step S116, and if liquid cleaning cannot be performed, the step is transferred to step S122.

[0036] In step S116, the cleaning control unit 22 controls the cleaning actuator 24 and performs liquid cleaning for a predetermined time by spraying the cleaning liquid onto the sensing surface of the sensor to be cleaned. In the present embodiment, during the liquid cleaning of step S116, dirt detection of the sensing surface is also performed. In addition, the spray pressure, spray amount and predetermined time of the cleaning liquid in the liquid cleaning of step S116 are specifically determined, for example, by an experiment of removing the dirt in a state where the dirt is actually attached to the sensing surface.

[0037] In step S118, the cleaning control unit 22 notifies that the sensor to be cleaned is being cleaned with liquid. This notification is performed because the cleaning liquid covers the sensing surface due to liquid cleaning and may affect the sensor detection, and the cleaning liquid is scattered around the vehicle 300. On the other hand, since air cleaning does not directly affect the detection of the sensor or the objects existing around the vehicle 300 due to cleaning, the cleaning control unit 22 does not need to notify the automatic driving control unit 20 that cleaning is in progress during air cleaning.

[0038] In step S120, the object detection unit 16 and the automatic driving control unit 20 determine whether the sensor performance has been improved. Specifically, when the sensor is the camera 12, Figure 5 If the brightness difference ΔB shown is less than a first brightness difference threshold, the sensor performance is determined to be improved. If the sensor is LiDAR 14, the sensor performance is determined to be improved if the amount of laser light reflected from the outside of the vehicle is greater than a first light amount threshold.

[0039] In step S120 , when the sensor performance is improved, the step is transferred to step S102 to restart the dirt detection of the sensing surface. When the sensor performance is not improved, the step is transferred to step S122 .

[0040] In step S122, the automatic driving control unit 20 switches from automatic driving to driving assistance. Specifically, it is a warning display of obstacles detected by the object detection unit 16 or a lane departure alarm. Alternatively, measures such as further reducing the vehicle speed, prohibiting lane changes, etc., to reduce the level of automatic driving, or suspending automatic driving may be performed. The execution of measures such as reducing the vehicle speed, prohibiting lane changes, etc. to reduce the level of automatic driving, or suspending automatic driving varies according to the position of the sensor that cannot remove dirt. For example, in the case where the dirt on the sensing surface of the camera 12A or LiDAR 14A that obtains information in front of the vehicle 300 cannot be removed, since the impact on automatic driving is large, measures to stop automatic driving are taken. In addition, in the case where the dirt on the sensing surface of the camera 12B or LiDAR 14B that obtains information behind the vehicle 300 cannot be removed, measures such as prohibiting lane changes to reduce the level of automatic driving are taken. In addition, in the case where the dirt on the sensing surface of the camera 12C, 12D or LiDAR 14C, 14D that obtains information on the side of the vehicle 300 cannot be removed, measures such as reducing the vehicle speed are taken.

[0041] In step S124, the automatic driving control unit 20 determines whether the automatic driving is stopped by the driver. In step S124, if the automatic driving is stopped, the automatic driving control unit 20 outputs an instruction to stop the cleaning with the cleaning fluid to the cleaning control unit 22, and ends the steps including Figure 3 A series of processes of liquid cleaning shown in FIG. 1 are performed. Even when liquid cleaning is finished, air cleaning can be continued. In step S124, if the automatic driving is not stopped, the step is transferred to step S102 to restart the dirt detection of the sensing surface.

[0042] As described above, in this embodiment, by accurately and separately using air cleaning and liquid cleaning, dirt on the sensing surface can be effectively removed. In addition, in this embodiment, when the object detection unit 16 does not detect a pedestrian or a two-wheeled vehicle within a specified range around the vehicle 300 before cleaning, liquid cleaning is performed, and sensor cleaning that takes the surrounding into consideration can be performed.

[0043] In addition, in the present embodiment, when the dirt detection unit 18 detects that the dirt is light and can be easily removed by spraying cleaning liquid, or when only some of the sensors among the cameras 12A to 12D and LiDAR 14A to 14D provided with a plurality of sensors are cleaning targets and the sensors other than the cleaning targets function normally, liquid cleaning is performed, and the cleaning control unit 22 notifies the automatic driving control unit 20 that the sensor is being cleaned, thereby suppressing the influence on the object detection used for automatic driving even if the sensor that is the cleaning target is covered with cleaning liquid.

[0044] [Second Embodiment] Next, a second embodiment of the present disclosure will be described. Figure 6 2 is a block diagram showing an example of the structure of the sensor cleaning device 200 of the present embodiment. In the present embodiment, the difference from the first embodiment is that the cleaning ECU 60 including the cleaning control unit 62 is a circuit independent of the automatic driving ECU 50, and the dirt detection unit 18 outputs the information of the detected dirt on the sensing surface not only to the cleaning control unit 62 but also to the automatic driving control unit 20. Since the other structures are the same as those of the first embodiment, the same symbols as those of the first embodiment are marked for the same structures as those of the first embodiment, and detailed description is omitted.

[0045] In this embodiment, if Figure 6 As shown, the automatic driving control unit 20 can quickly determine which sensor is the cleaning object and the extent of the impact on object detection when the sensor of the cleaning object is cleaned by liquid by receiving information about the dirt on the sensing surface from the dirt detection unit 18.

[0046] In addition, when dirt on the sensing surface cannot be removed even by liquid cleaning, it is possible to quickly shift to control such as lowering the level of automatic driving or stopping automatic driving.

[0047] [Third Embodiment] Next, a third embodiment of the present disclosure will be described. Figure 7 2 is a block diagram showing an example of the structure of the sensor cleaning device 210 of the present embodiment. In the present embodiment, the difference from the second embodiment is that in the automatic driving ECU 70, the dirt detection unit 18 does not output the information of the detected dirt on the sensing surface to the cleaning control unit 82 of the cleaning ECU 80, but outputs it to the automatic driving control unit 20. Since the other structures are the same as those of the second embodiment, the same symbols as those of the second embodiment are marked for the same structures as those of the second embodiment, and detailed descriptions are omitted.

[0048] In this embodiment, the object detection information obtained by the object detection unit 16 and the dirt information of the sensing surface obtained by the dirt detection unit 18 are centrally output to the automatic driving control unit 20. In the automatic driving control unit 20, the automatic driving control of the vehicle 300 and the cleaning of the sensing surface are comprehensively performed, which helps to suppress the influence of liquid cleaning on automatic driving.

[0049] In addition, in this embodiment, the program is pre-stored (installed) in a non-volatile memory, but the present invention is not limited thereto. The program may also be provided in a non-transitory storage medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Vrsatile Disk ReadOnly Memory), a USB (Universal Serial Bus) memory, or a semiconductor memory. In addition, each of the above programs may also be downloaded from an external device via a network.

[0050] Although the present disclosure is described based on the embodiments, it should be understood that the present disclosure is not limited to the above-mentioned embodiments and structures. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and methods, and other combinations and methods containing only one element, above or below them, also belong to the scope and thought range of the present disclosure.

[0051] The following are additional notes related to the present disclosure. (Note 1) A sensor cleaning device, the sensor cleaning device comprising: An object detection unit (16) for detecting objects around the vehicle (300) based on information acquired by a plurality of sensors (12A-12D, 14A-14D) for monitoring the periphery of the vehicle (300); a dirt detection unit (18) for detecting dirt on the sensors (12A-12D, 14A-14D); a cleaning control unit (22) that continuously performs air cleaning by spraying high-pressure air toward the sensors (12A-12D, 14A-14D) for a predetermined air cleaning time; and an automatic driving control unit (20) which uses information about the object detected by the object detection unit (16) to control automatic driving of the vehicle, and outputs an instruction to the cleaning control unit (22) to clean the sensors (12A-12D, 14A-14D) with cleaning fluid when the dirt detection unit detects dirt on the sensors (12A-12D, 14A-14D) and determines that the sensors (12A-12D, 14A-14D) can be cleaned with cleaning fluid, The cleaning control unit (22) controls the liquid cleaning actuator (24A~24H) according to the instructions to spray the cleaning liquid onto the sensors (12A~12D, 14A~14D) for cleaning, and notifies the automatic driving control unit (20) that the sensors (12A~12D, 14A~14D) are being cleaned using the cleaning liquid. (Note 2) A sensor cleaning device as described in Note 1, wherein the automatic driving control unit (20) outputs an instruction to the cleaning control unit (22) to clean the sensor of the cleaning object using a cleaning fluid when a part of the multiple sensors (12A to 12D, 14A to 14D) are cleaning objects and the sensors other than the cleaning objects function normally. (Note 3) A sensor cleaning device as described in Note 1 or Note 2, wherein when the automatic driving control unit (20) uses the cleaning liquid to clean the sensors (12A~12D, 14A~14D), if the object detection unit (16) detects a specified object to which the cleaning liquid cannot be applied within a certain range from the sensors (12A~12D, 14A~14D), the cleaning of the sensors (12A~12D, 14A~14D) using the cleaning liquid is interrupted. (Note 4) A sensor cleaning device as described in any one of Appendixes 1 to 3, wherein the cleaning control unit (22) continues to spray the cleaning liquid to the sensors (12A to 12D, 14A to 14D) for a predetermined liquid cleaning time, The automatic driving control unit (20) performs any of the following controls during automatic driving: limiting the vehicle speed, reducing the automatic driving level, and terminating the automatic driving, when the dirt detection unit (18) still detects dirt on the sensors (12A to 12D, 14A to 14D) even after the spraying of the cleaning liquid continues for the specified liquid cleaning time. (Note 5) A sensor cleaning device as described in Note 4, wherein the automatic driving control unit (20) reduces the automatic driving level by switching the automatic driving to driving assistance when the dirt detection unit (18) still detects dirt on the sensor (12A~12D, 14A~14D) even after the spraying of the cleaning liquid continues for the specified liquid cleaning time. (Note 6) A sensor cleaning device as described in Note 4, wherein the automatic driving control unit (20) outputs an instruction to the cleaning control unit (22) to stop cleaning the sensors (12A to 12D, 14A to 14D) using cleaning fluid when the automatic driving is stopped. (Note 7) A sensor cleaning device as described in any one of Notes 4 to 6, wherein the automatic driving control unit (20) will not identify the cleaning liquid attached to the sensor (12A~12D, 14A~14D) as dirt during the specified liquid cleaning time. (Note 8) A sensor cleaning device as described in any one of Notes 1 to 7, wherein the cleaning control unit (22) does not notify the automatic driving control unit (20) that the cleaning of the sensors (12A to 12D, 14A to 14D) is in progress when performing air cleaning on the sensors (12A to 12D, 14A to 14D). (Note 9) A sensor cleaning device as described in any one of Notes 1 to 8, wherein the automatic driving control unit (20) terminates the air cleaning when the detection function of the sensors (12A to 12D, 14A to 14D) does not improve after the air cleaning continues for the prescribed air cleaning time, and outputs an instruction to the cleaning control unit (22) to perform cleaning using cleaning fluid. (Note 10) A sensor cleaning method, the sensor cleaning method comprising: The step of detecting an object around the vehicle based on information acquired by a sensor monitoring the vehicle's surroundings; A step of controlling the autonomous driving of the vehicle using the information of the detected object; A step of detecting dirt on the above-mentioned sensors (12A-12D, 14A-14D); An air cleaning step of spraying high-pressure air toward the sensors (12A to 12D, 14A to 14D) for a predetermined air cleaning time; and When it is detected that the above-mentioned sensors (12A~12D, 14A~14D) are contaminated and can be cleaned with cleaning liquid, the liquid cleaning actuator (24A~24H) is controlled to spray the above-mentioned cleaning liquid onto the above-mentioned sensors (12A~12D, 14A~14D) to clean them. (Note 11) A sensor cleaning procedure, The sensor cleaning program enables the computer to function as an object detection unit, a dirt detection unit, a cleaning control unit, and an automatic driving control unit. The object detection unit detects an object around the vehicle based on information obtained from a sensor that monitors the periphery of the vehicle, the dirt detection unit detects dirt on the sensors (12A-12D, 14A-14D), the cleaning control unit controls the air cleaning actuator to continue air cleaning by spraying high-pressure air to the sensors (12A-12D, 14A-14D) for a predetermined air cleaning time when the dirt detection unit (18) detects dirt on the sensors (12A-12D, 14A-14D), the automatic driving control unit uses information on the object detected by the object detection unit (16) to control automatic driving of the vehicle, and outputs an instruction to the cleaning control unit (22) to clean the sensors (12A-12D, 14A-14D) with cleaning liquid when the dirt detection unit (18) detects dirt on the sensors (12A-12D, 14A-14D) and determines that the sensors can be cleaned with cleaning liquid. The cleaning control unit (22) controls the liquid cleaning actuator (24A~24H) according to the instructions to spray the cleaning liquid onto the sensors (12A~12D, 14A~14D) for cleaning, and notifies the automatic driving control unit (20) that the sensors (12A~12D, 14A~14D) are being cleaned with the cleaning liquid.

Claims

1. A sensor cleaning device, comprising: an object detection unit (16) for detecting an object around the vehicle (300) based on information acquired by a plurality of sensors (12A-12D, 14A-14D) for monitoring the periphery of the vehicle (300); a dirt detection unit (18) for detecting dirt on the sensors (12A-12D, 14A-14D); a cleaning control unit (22) that continuously performs air cleaning for a predetermined air cleaning time and sprays high-pressure air toward the sensors (12A to 12D, 14A to 14D) during the air cleaning; and an automatic driving control unit (20) for controlling the automatic driving of the vehicle using information about the object detected by the object detection unit (16), and outputting an instruction to the cleaning control unit (22) to clean the sensors (12A-12D, 14A-14D) using the cleaning liquid when the dirt detection unit detects dirt on the sensors (12A-12D, 14A-14D) and determines that the sensors (12A-12D, 14A-14D) can be cleaned using the cleaning liquid, The cleaning control unit (22) controls the liquid cleaning actuator (24A~24H) according to the instruction to spray the cleaning liquid to the sensors (12A~12D, 14A~14D) for cleaning, and notifies the automatic driving control unit (20) that the cleaning of the sensors (12A~12D, 14A~14D) is in progress using the cleaning liquid.

2. The sensor cleaning device according to claim 1, characterized in that: When some of the multiple sensors (12A to 12D, 14A to 14D) are cleaning targets and the sensors other than the cleaning targets function normally, the automatic driving control unit (20) outputs an instruction to the cleaning control unit (22) to clean the sensors that are the cleaning targets using cleaning fluid.

3. The sensor cleaning device according to claim 1, characterized in that: When the automatic driving control unit (20) uses the cleaning fluid to clean the sensors (12A to 12D, 14A to 14D), if the object detection unit (16) detects a specified object to which the cleaning fluid cannot be applied within a certain range from the sensors (12A to 12D, 14A to 14D), the cleaning of the sensors (12A to 12D, 14A to 14D) by the cleaning fluid is interrupted.

4. The sensor cleaning device according to any one of claims 1 to 3, characterized in that: The cleaning control unit (22) continues to spray the cleaning liquid toward the sensors (12A to 12D, 14A to 14D) for a predetermined liquid cleaning time. The automatic driving control unit (20) performs any of the following controls during automatic driving: limiting the vehicle speed, reducing the automatic driving level, and terminating the automatic driving, when the dirt detection unit (18) still detects dirt on the sensor (12A to 12D, 14A to 14D) even after the spraying of the cleaning liquid continues for the prescribed liquid cleaning time.

5. The sensor cleaning device according to claim 4, characterized in that: The automatic driving control unit (20) reduces the automatic driving level by switching the automatic driving to driving assistance when the dirt detection unit (18) still detects dirt on the sensor (12A to 12D, 14A to 14D) even after the injection of the cleaning liquid continues for the prescribed liquid cleaning time.

6. The sensor cleaning device according to claim 4, characterized in that: When the automatic driving is stopped, the automatic driving control unit (20) outputs a command to the cleaning control unit (22) to stop cleaning the sensors (12A to 12D, 14A to 14D) with the cleaning fluid.

7. The sensor cleaning device according to claim 6, characterized in that: The automatic driving control unit (20) does not recognize the cleaning liquid attached to the sensors (12A to 12D, 14A to 14D) as dirt during the prescribed liquid cleaning time.

8. The sensor cleaning device according to claim 1, characterized in that: When the cleaning control unit (22) performs air cleaning on the sensors (12A to 12D, 14A to 14D), it does not notify the automatic driving control unit (20) that the cleaning of the sensors (12A to 12D, 14A to 14D) is in progress.

9. The sensor cleaning device according to claim 1, characterized in that: After the air cleaning continues for the specified air cleaning time, if the detection function of the sensors (12A to 12D, 14A to 14D) does not improve, the automatic driving control unit (20) terminates the air cleaning and outputs an instruction to the cleaning control unit (22) to clean with cleaning fluid.

10. A sensor cleaning method, the sensor cleaning method comprising: The process of detecting an object around the vehicle based on information acquired by a sensor monitoring the vehicle's surroundings; The process of controlling the autonomous driving of the vehicle using the information of the detected object; A step of detecting dirt on the sensors (12A-12D, 14A-14D); The step of continuously performing air cleaning by spraying high-pressure air toward the sensors (12A to 12D, 14A to 14D) for a predetermined air cleaning time; and A process for controlling a liquid cleaning actuator (24A-24H) to spray the cleaning liquid onto the sensor (12A-12D, 14A-14D) for cleaning when dirt on the sensor (12A-12D, 14A-14D) is detected and the sensor can be cleaned using a cleaning liquid.

11. A sensor cleaning procedure, The sensor cleaning program enables the computer to function as an object detection unit, a dirt detection unit, a cleaning control unit, and an automatic driving control unit. The object detection unit detects an object around the vehicle based on information obtained from a sensor that monitors the periphery of the vehicle, the dirt detection unit detects dirt on the sensors (12A-12D, 14A-14D), the cleaning control unit controls an air cleaning actuator to continue air cleaning by spraying high-pressure air to the sensors (12A-12D, 14A-14D) for a predetermined air cleaning time when the dirt detection unit (18) detects dirt on the sensors (12A-12D, 14A-14D), the automatic driving control unit uses information on the object detected by the object detection unit (16) to control automatic driving of the vehicle, and outputs an instruction to the cleaning control unit (22) to clean the sensors (12A-12D, 14A-14D) with cleaning liquid when the dirt detection unit (18) detects dirt on the sensors (12A-12D, 14A-14D) and determines that the sensors can be cleaned with cleaning liquid, The cleaning control unit (22) controls the liquid cleaning actuator (24A~24H) according to the instruction to spray the cleaning liquid to the sensor (12A~12D, 14A~14D) for cleaning, and notifies the automatic driving control unit that the sensor (12A~12D, 14A~14D) is being cleaned with the cleaning liquid.

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