Method for pre-processing temperature-adjustable sensor cover, computing device for vehicle, computer-readable storage medium, temperature-adjustable sensor cover system, and vehicle

Abstract

The invention relates to a method for pre-treating a temperature-adjustable sensor cover of a surroundings sensor of a vehicle, comprising determining a route region which describes a region of a future surroundings of the vehicle along a predetermined route. Further, the method according to the present invention comprises receiving ambient data comprising data relating to precipitation deposits on the sensor covers within the route area. Finally, the method according to the invention comprises outputting a heating signal for pre-processing the temperature-adjustable sensor cover, the heating signal being output as a function of the surroundings data.

Description

Field of the Invention

[0001] The present invention relates to a method for preprocessing a temperature - adjustable sensor cover for a vehicle's ambient sensor. Furthermore, the present invention relates to a computing device for a vehicle for performing such a method. Furthermore, the present invention relates to a computer - readable storage medium, a temperature - adjustable sensor cover system for a vehicle's ambient sensor, and a vehicle. Background Art

[0002] Almost all modern vehicles are nowadays equipped with ambient sensors such as cameras, radars, lidars, or ultrasonic sensors. Such sensors are used to detect the vehicle's surroundings. Based on the detected surroundings, various assistance systems can be implemented. For example, cruise control systems, lane - change assistance systems, and collision warning systems. To protect the ambient sensors from the influence of the surroundings, especially weather, the ambient sensors have sensor covers. For example, a radar sensor has a so - called radome. The radome forms a cover here and is permeable to the electromagnetic radiation of the radar sensor. Here, the radome can be integrated into the vehicle's bodywork, for example, in a bumper or a radiator grille.

[0003] When the temperature approaches or falls below the freezing point of water, precipitation may deposit on the sensor cover of the ambient sensor. Such precipitation deposition can impair the performance of the ambient sensor. For example, to remove precipitation deposition from the hood, the hood has a heating element. The heating element can be designed, for example, as a heating foil and / or a heating wire. Typically, the heating wire is orthogonal to the polarization direction of the electromagnetic radiation of the radar sensor.

[0004] Reliable identification of weather - determined conditions is crucial for the successful temperature adjustment of the sensor cover or the removal of precipitation deposition by means of the heating element of the sensor cover. Typically, sensor covers in the vehicle field are nowadays temperature - adjusted in a temperature range from - 5°C to + 5°C. Furthermore, regulating systems, especially for hood heating, are also known.

[0005] For example, document DE 10 2021 108 439 A1 describes a method for operating a heating device for temperature - adjusting a radome of a vehicle radar sensor, comprising the steps of: receiving ambient data describing the vehicle's surroundings and / or at least one area of the vehicle's radome; identifying precipitation deposition on the hood based on the ambient data; outputting a heating signal for temperature - adjusting the radome to the heating device according to the identified precipitation deposition, wherein image data from at least one camera of the vehicle are received as ambient data and precipitation in the vehicle's surroundings and / or in the radome area is determined based on the image data. Summary of the Invention

[0006] The object of the present invention is to provide a solution for improving the temperature regulation of the sensor cover of a vehicle's ambient sensor.

[0007] According to the present invention, this object is achieved by a method, a computing device, a computer-readable storage medium, a temperature-regulable sensor cover system and a vehicle having the features described in the independent claims. Advantageous developments of the present invention are specified in the dependent claims.

[0008] A method for preprocessing a temperature-regulable sensor cover for a vehicle's ambient sensor according to the present invention includes determining a route area, which describes an area of the vehicle's future surroundings along a predetermined route. Furthermore, the method according to the present invention includes receiving ambient data, which includes data related to precipitation deposition on the sensor cover within the route area. Finally, the method according to the present invention includes outputting a heating signal for preprocessing the temperature-regulable sensor cover, wherein the heating signal is output based on the ambient data.

[0009] The method can be executed, for example, by means of a computing device. The computing device can, for example, be designed as at least one electronic controller of the vehicle, which includes one or more programmable processors. Furthermore, the computing device can have a computer-readable storage medium on which a computer program is stored. In order to execute the corresponding method steps, such as determining the route area, the computer program can be executed on the computing device.

[0010] Therefore, the method according to the present invention is for preprocessing a temperature-regulable sensor cover of a vehicle's ambient sensor. By means of the method according to the present invention, the sensor cover is temperature-regulated before precipitation deposition occurs, so that the probability of precipitation deposition occurring is reduced in advance. The present invention is based on the concept of analyzing the vehicle's future surroundings, for example, by means of weather data and / or by means of fleet data.

[0011] For this purpose, the route area is first determined. The route area can hereby describe an area of the vehicle's future surroundings along a predetermined route. The predetermined route can, for example, be a route pre-given by a navigation system. It is conceivable that the predetermined route is the route most likely to be traveled. The area of the vehicle's future surroundings can, for example, be a section of the predetermined route. It can also be the surrounding area of the predetermined route.

[0012] For example, the route range can be the next 5, 10, 20 or 30 kilometers of a predefined route. Alternatively or additionally, the route area can also be the lane along the next 5, 10, 20 or 30 kilometers. It is also conceivable that the route area is the surrounding area of the subsequent 5, 10, 20 or 30 kilometers of the route. However, this does not necessarily have to be the immediate 5, 10, 20 or 30 kilometers. For example, it is also conceivable that the route area describes the future surrounding environment from 5 kilometers to, for example, 30 kilometers (i.e., a length exceeding 25 kilometers). Generally, the route area can be freely defined here. Therefore, the examples just listed are not exhaustive. The numerical values of the route area are for reference only.

[0013] It can also be advantageous to determine the route area based on the outside temperature and / or the vehicle speed. For example, a lower outside temperature may require a longer pre-treatment time. Similarly, a higher vehicle speed, due to an increased flow rate of the sensor cover, may require a longer pre-treatment time. Therefore, it may be necessary to provide the surrounding environment data earlier. In the case of a higher vehicle speed and / or a lower outside temperature, the route area can have a larger spatial extension scale. In addition, in the case of a higher vehicle speed and / or a lower outside temperature, the route area may be located further away from the vehicle. Thus, it can be ensured that there is always sufficient time available for the temperature regulation or pre-treatment of the sensor cover.

[0014] When receiving the surrounding environment data, data related to the route area can be received. The relevant data can be, for example, weather data from an online database, a warning service, etc. It is also conceivable that the relevant data is data from a fleet or at least one other vehicle.

[0015] Therefore, the data related to precipitation deposition within the determined route area can be data describing the precipitation, temperature or general weather data within the route area. Additionally or alternatively, the fleet data can also represent data related to precipitation deposition within the route area. For example, if it is recognized that precipitation has deposited on the sensor covers of other vehicles, or their surrounding environment sensors emit a clogging signal, or other vehicles perform temperature regulation on their sensor covers, this can represent extremely important information.

[0016] Based on the received surrounding environment data, the sensor cover of the vehicle's surrounding environment sensor can be pre-treated. Thereby, a heating signal can be output to the heating element of the sensor cover. Thus, the sensor cover can be prepared for the upcoming precipitation deposition. Therefore, the probability of precipitation deposition in the route area can be reduced. Therefore, the sensor availability can be improved. Therefore, an assistance system for the driver / user of the vehicle using the surrounding environment sensor data can be provided more reliably and effectively.

[0017] According to the present invention, the ambient sensor can be designed here as a camera, radar, lidar or ultrasonic sensor. Accordingly, the sensor cover can be a disk, radome, lidar cover or lidar dome, etc. Here, the sensor cover can be integrated into the vehicle's outer shell or into the corresponding decorative components of the vehicle (such as windshield, bumper, radiator grille, etc.).

[0018] Advantageously, a precipitation deposition index is additionally determined based on the ambient data, which describes the probability of precipitation deposition on the temperature-regulatable sensor cover in the route area, and a heating signal is output according to the precipitation deposition index. The precipitation deposition index can be particularly advantageous when the ambient data includes a large amount of data related to precipitation deposition on the sensor cover in the route area (which data may come from different sources). This is also advantageous if the ambient data itself only contains information of a general nature (such as temperature, precipitation probability, etc.) but does not contain actual information on impending precipitation deposition.

[0019] The precipitation deposition index can also be interpreted as the precipitation deposition probability. However, different from the probability, the precipitation deposition index can be non-standardized, have a negative sign and / or be unrestricted. For example, if weather data is received as the ambient data, the precipitation deposition probability and thus the precipitation deposition index can be determined based on the weather data. For example, if the precipitation deposition index exceeds a predetermined threshold, a heating signal can be output according to the precipitation deposition index exceeding the threshold.

[0020] Furthermore, it may be advantageous if credibility data is additionally received from at least one sensor of the vehicle, where the credibility data describes parameters characterizing precipitation in the vehicle's current surroundings, and a heating signal is output according to the credibility data. Using the additional credibility data can improve the preprocessing of the sensor cover. With the credibility data, incorrect ambient data can be identified, or the output of a heating signal due to incorrect ambient data can be prevented. This can additionally improve energy efficiency. In other words, unnecessary preprocessing can be prevented. Parameters such as cloud cover, air humidity, ambient brightness, etc. can be considered as the characterizing parameters.

[0021] In this case, it can be advantageous if the credibility data includes image data from a vehicle camera, where the image data depicts at least one region of the sky and / or the ambient brightness. For example, it can be identified in the image data whether there is cloud cover in the sky. Cloud cover in the sky may indicate impending precipitation here. Additionally, cloud cover in the sky also causes a decrease in ambient brightness. If the sky darkens due to cloud cover, this may signal impending precipitation, which may cause precipitation to deposit on the sensor cover. This information can be used to verify the credibility of the ambient data. Additionally, such information can be used to preprocess the temperature-adjustable sensor cover before outputting a heating signal.

[0022] Additionally or alternatively, the credibility data can also include data from a light sensor of the vehicle, where the data from the light sensor depicts the ambient brightness. Modern vehicles now include rain-light sensors, which are used to adjust the windshield wipers of the vehicle. Additionally, a rain-light sensor or a light sensor can be used to control vehicle lighting. Therefore, it is proposed to use the data from such a light sensor of the vehicle as credibility data. A decrease in ambient brightness may indicate impending precipitation or current precipitation here.

[0023] Furthermore, the credibility data can additionally or alternatively include temperature data from a temperature sensor of the vehicle, where the temperature data depicts the outside temperature of the current surroundings of the vehicle. The outside temperature of the current surroundings of the vehicle can be one of the most important characteristic parameters for tempering the radome. For future precipitation deposition on the hood within the route area, the outside temperature can be an important credibility characteristic parameter. For example, it can be envisaged that the ambient data includes precipitation data. Whether the precipitation described by the precipitation data deposits on the sensor cover within the route area may especially depend on the outside temperature. Therefore, the temperature data can be considered for credibility verification before outputting a heating signal. If precipitation deposition is unlikely due to the credibility data, the output of the heating signal may be suppressed. The output of the heating signal can also be suppressed especially when preprocessing of the sensor cover based on the ambient data would be desirable.

[0024] It can also be advantageous if the ambient data includes weather data describing the current weather within the route area. For example, weather data describing the current weather within the route area can be retrieved from an online weather database. For example, if it is determined from the weather data that it is snowing within the route area, the sensor cover can be preprocessed or already tempered before reaching the route area to prevent precipitation or snow deposition in advance or to reduce the impact of precipitation deposition in advance.

[0025] However, it is also conceivable that the ambient data includes weather prediction data describing the predicted weather within the route area. This can be particularly advantageous if the route area does not describe the area directly in front of the vehicle, but rather the future surroundings, for example, at a distance of 10 kilometers from the vehicle. For example, if the vehicle is moving at an average speed of 50 kilometers per hour, it will take approximately 12 minutes for the vehicle to reach the route area. During this time, the weather can change significantly. Therefore, it can be beneficial to consider not only the current weather in the route area, but also, for example, the predicted weather in the route area 12 minutes later. Overall, the preprocessing of the sensor cover can be further improved.

[0026] If the route area extends over a corresponding distance, ambient data including weather prediction data can also be beneficial. For example, if the spatial extent of the route area is 20 kilometers and the vehicle is traveling at a speed of 60 kilometers per hour, the vehicle will remain within the route area for 20 minutes. Therefore, precipitation can accumulate during this time, which is why the weather prediction for the next 20 minutes can also be relevant to the precipitation accumulation in the route area.

[0027] Finally, it can also be beneficial if the ambient data includes fleet data describing the heating strategy of at least one other vehicle and / or fleet within the route area. Nowadays, vehicles from various manufacturers are anyway in continuous communication with the so-called backend and exchange a large amount of data through the backend. Through the additional replacement of the active heating, heating capacity, and / or heating strategy of the sensor cover, the vehicle can be informed early about the need to thermally condition the sensor cover in the route area. Due to the fleet data, the sensor cover can be preprocessed before reaching the route area.

[0028] In addition to communication through the backend, it is also conceivable that the vehicle communicates with at least one other vehicle, for example, through vehicle-to-vehicle communication (technically known as V2V communication). If another vehicle passes by this vehicle, the heating strategy for the last few minutes or kilometers and within the route area can be transmitted to this vehicle. Based on the heating strategy transmitted in this way, a decision can be made as to whether the hood needs to be preprocessed. It is also conceivable here that these data can be used additionally or alternatively as credibility data.

[0029] Generally, it is also conceivable that the heating strategy transmitted in this way is averaged across other vehicles. If, for example, 80% of the vehicles in the route area have thermally conditioned their sensor covers, the sensor cover of the vehicle can be preprocessed. Generally, when a predetermined proportion of other vehicles within the predetermined route area have thermally conditioned their sensor covers, the sensor cover of the vehicle can be preprocessed.

[0030] The computing device for a vehicle according to the present invention is designed to execute the method according to the present invention and its advantageous configurations. For example, the computing device can be designed as an electronic controller including one or more programmable processors.

[0031] A computer-readable storage medium according to the present invention includes instructions which, when executed by a computing device, cause the computing device to execute the method according to the present invention and its advantageous configurations.

[0032] The temperature-adjustable sensor cover system for a vehicle ambient sensor according to the present invention includes a computing device according to the present invention, a sensor cover for the ambient sensor, and a heating element for temperature-adjusting or pre-treating the sensor cover. The heating element can be designed here, for example, as a heating foil and / or a heating wire. In the case of a radar sensor as the ambient sensor, the heating wire of the heating element preferably extends substantially orthogonally to the polarization of the electromagnetic radiation of the radar sensor.

[0033] A vehicle according to the present invention includes a temperature-adjustable sensor cover system according to the present invention. The vehicle can in particular be designed as a passenger car.

[0034] Another aspect of the present invention relates to a computer program which includes instructions that, when the program is executed by a computing device, cause the computing device to execute the method according to the present invention and its advantageous embodiments.

[0035] The preferred embodiments and their advantages proposed with reference to the method according to the present invention correspondingly apply to the computing device according to the present invention, the computer-readable storage medium according to the present invention, the temperature-adjustable radome system according to the present invention, and the vehicle. In addition, the preferred embodiments and their advantages proposed with reference to the method according to the present invention also apply to the computer program according to the present invention.

[0036] Further features of the present invention result from the claims, the drawings, and the description of the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the drawings and / or shown individually in the drawings, can be used not only in the respectively specified combinations, but also in other combinations or individually, without departing from the scope of the present invention. Description of the Drawings

[0037] Now, the present invention will be explained in more detail based on preferred embodiments and with reference to the drawings. Shown here are:

[0038] Figure 1a a, b are schematic views of a vehicle including a temperature-adjustable sensor cover system for a vehicle ambient sensor,

[0039] Figure 2It is a schematic diagram of the route area, describing the future surrounding area of ​​the vehicle along the planned route.

[0040] Figure 3 is based on Figure 2 a schematic diagram of a route area, wherein surrounding environment data including fleet data of other vehicles is received,

[0041] Figure 4 is based on Figure 3 Schematic diagram of the route area where fleet data is exchanged via the backend. DETAILED DESCRIPTION

[0042] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0043] Figure 1a The schematic diagram shows a side view of a vehicle 1. The vehicle 1 is designed as a passenger car. The vehicle 1 comprises a temperature-controlled sensor cover system 2 for an ambient sensor 3, which in the following exemplary embodiment is shown as a temperature-controlled radome system 2 for a radar sensor 3 of the vehicle 1. The temperature-controlled radome system further comprises a computing device 4 and a radome 5. The temperature-controlled sensor cover system 2 or the temperature-controlled radome system 2 further comprises a heating element 6 for the sensor cover 5 for the ambient sensor 3 or for the radome 5 for the radar sensor 3. The computing device 4 is configured to determine a route area 7. The route area 7 may describe a future ambient area of ​​the vehicle along a predetermined route 8. The predetermined route may be predetermined, for example, by a road network or a navigation system.

[0044] The computing device 4 is also configured to receive ambient data. In the embodiment of FIG. 1 , the ambient data can be received, for example, by a receiving module 9. The receiving module 9 can, for example, receive weather data from an online database, fleet data from a backend, data from at least one other vehicle, etc. Finally, the computing device 4 is also configured to output a heating signal for preconditioning the thermostatic radome 5 or the thermostatic sensor cover 5. The heating signal can be output to a heating element 6 of the radome 5 or the sensor cover 5. With the aid of the heating signal, the thermostatic radome 5 or the thermostatic sensor cover 5 can be preconditioned. Preconditioning means preconditioning the radome 5 or the sensor cover to prevent future precipitation deposition 10 as much as possible.

[0045] Figure 1b The enlarged view shows Figure 1a The radar sensor 3 or surroundings sensor 3 of the vehicle 1 and the radar cover 5 or sensor cover 5 together with the heating element 6. In addition, Figure 1b 3 shows precipitation deposits 10 on radome 5 of radar sensor 3 or on sensor cover 5 of surroundings sensor 3. Such precipitation deposits 10 may occur, for example, in route region 7 due to precipitation.

[0046] Figure 2 Displays a schematic route area 7, which describes an area of the future surroundings of vehicle 1 along a predetermined route 8. The route area 7 can start in front of the vehicle 1 and extend over a predetermined distance. However, in Figure 2 the embodiment, the route area 7 only starts at a predetermined distance d. The predetermined distance d can be, for example, 5 kilometers. The route area 7 can extend, for example, a distance D. The route area 7 is displayed in Figure 2 the form of lanes along the future trajectory of vehicle 1.

[0047] The predetermined route 8 can be pre-given based on a target input by the driver of vehicle 1 in the navigation system of vehicle 1. However, the predetermined route 8 can also be determined based on the most likely traveled itinerary. For example, if vehicle 1 is located on a rural road, it can be assumed that it may follow the road direction for a long time.

[0048] Now, ambient data can be received for the route area 7. The ambient data includes data related to precipitation deposits within the route area 7, on the radome 5 or sensor cover 5 of vehicle 1, such as weather data, temperature data, etc. Based on this data related to precipitation deposits on the radome 5 of the radar sensor 3 or the sensor cover 5 of the ambient sensor 3, a precipitation deposit index can be determined, which describes the probability of precipitation deposits 10 on the radome 5 of the radar sensor 3 or the sensor cover 5 of the ambient sensor 3 within the route area 7. Therefore, a heating signal can be output to the heating element 6 according to the precipitation deposit index and / or according to the ambient data. As a result, the radome 5 or sensor cover 5 can be pre-treated or pre-conditioned.

[0049] Figure 3 Shows a schematic diagram of the route area 7 according to Figure 2 In addition, Figure 3 shows additional vehicles F1, F2, F3. The additional vehicles F1, F2, F3 are approaching vehicle 1 head-on along the predetermined route 8. The additional vehicles F1, F2, F3 pass through the route area 7 or have passed through the route area 7. During travel 12, the additional vehicles F1, F2, F3 (taking vehicle F1 as an example here) can transmit ambient data to vehicle 1 via vehicle-to-vehicle communication 11. Therefore, the ambient data can include platoon data, which describes the heating strategy of at least one of the additional vehicles F1, F2, F3 within the route area 7. In the simplest case, a counter can be run in vehicle 1, which describes the percentage of vehicles with the heating element 6 activated. If the vast majority of the additional vehicles F1, F2, F3 in the route area 7 have to condition their sensor covers, the radome 5 or sensor cover 5 can be pre-treated.

[0050] Figure 4 A schematic diagram showing the route area 7 according to Figure 3 Compared with vehicle-to-vehicle communication according to the embodiment of Figure 3 , additional vehicles F2, F3 can change the heating strategy via the backend 13 by means of wireless communication 11'. Therefore, the ambient data of the route area 7 can include (possibly processed) platoon data.

Claims

1. A method for preprocessing a temperature - adjustable sensor cover (5) of a surrounding environment sensor (3) for a vehicle (1), the method comprises the following steps: - determining a route area (7) that describes an area of the future surrounding environment of the vehicle (1) along a predetermined route (8), - receiving surrounding environment data, the surrounding environment data including data related to precipitation deposition (10) on the sensor cover (5) within the route area (7), and - outputting a heating signal for preprocessing the temperature - adjustable sensor cover (5), wherein the heating signal is output according to the surrounding environment data.

2. The method according to claim 1, characterized in that - additionally determining a precipitation deposition index according to the surrounding environment data, the precipitation deposition index describing the probability of precipitation deposition (10) on the temperature - adjustable sensor cover (5) within the route area, and - outputting the heating signal according to the precipitation deposition index.

3. The method according to claim 1 or 2, characterized in that - additionally receiving credibility data from at least one sensor of the vehicle (1), wherein the credibility data describes parameters characterizing precipitation in the current surrounding environment of the vehicle (1), and - outputting the heating signal according to the credibility data.

4. The method according to claim 3, characterized in that the credibility data includes image data from a camera of the vehicle (1), wherein the image data describes at least one area of the sky and / or the surrounding environment brightness.

5. The method according to claim 3 or 4, characterized in that the credibility data includes data from a light sensor of the vehicle (1), wherein the data of the light sensor describes the surrounding environment brightness.

6. The method according to any one of claims 3 to 5, characterized in that the credibility data includes temperature data from a temperature sensor of the vehicle (1), wherein the temperature data describes the external temperature of the current surrounding environment of the vehicle (1).

7. The method according to any one of the preceding claims, characterized in that the surrounding environment data includes weather data describing the current weather within the route area (7).

8. The method according to any one of the preceding claims, characterized in that the surrounding environment data includes weather prediction data describing the predicted weather within the route area (7).

9. The method according to any one of the preceding claims, characterized in that the environmental data includes fleet data, the fleet data describing at least one additional vehicle (F1, F2, F3) and / or the heating strategy of the fleet within the route area (7).

10. A computing device (4) for a vehicle (1), the computing device being designed to execute the method according to any one of the preceding claims.

11. A computer - readable storage medium, comprising instructions which, when executed by a computing device (4), cause the computing device to execute the method according to any one of claims 1 to 9.

12. A temperature-adjustable sensor cover system (2) for a surrounding environment sensor (3) of a vehicle (1), comprising: - a computing device (4) according to claim 10, - a sensor cover (5) for the surrounding environment sensor (3), and - a heating element (6) for pre-treating the sensor cover (5).

13. A vehicle (1), in particular a passenger car, comprising a temperature-adjustable sensor cover system (2) according to claim 12.

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