Method for controlling cleaning assembly of external sensor module

Abstract

The invention relates to a method for controlling a cleaning assembly of an external sensor module (3) of a roof (1) of a vehicle. The method comprises receiving (301) a contamination signal; it is assessed (302) whether a trigger threshold (403, 404, 405) is triggered to initiate a cleaning cycle, and when the trigger threshold is triggered, a cleaning cycle comprising at least one cleaning action is initiated (303) by providing an activation signal to the cleaning assembly (11). The evaluation (302) of the trigger threshold comprises at least one of the following: evaluating a location (305) of contamination on the shutter to meet a correlation condition; and / or evaluating a size (306) of the contamination to meet a surface condition; and / or evaluating the vehicle speed (307) to meet the speed condition. The invention further relates to an external sensor module and to a vehicle roof equipped with such a sensor.

Description

Technical Field

[0001] The present invention relates to a vehicle roof module for a sensor such as a Light Detection and Ranging (LiDAR) sensor or other photosensitive sensors. In particular, the present invention relates to a method for controlling a cleaning assembly of such an external sensor module. Furthermore, the present invention relates to an external sensor module. Background Art

[0002] To support further goals of vehicle driving assistance and vehicle autonomous driving, sensors for object distance measurement and image object recognition (e.g., image object recognition of roads and traffic signs) are installed on such vehicles. Additionally, the sensors can be placed in a sensor housing at the top of the vehicle roof to provide a wide field of view; and are elevated compared to sensors located, for example, in vehicle bumpers. The sensor housing will have a front barrier or shield to provide an unobstructed field of view for photosensitive sensors such as LiDAR sensors. Like any other vehicle barrier or shield facing the external environment (such as headlights or the front windshield), dirt and dust may accumulate on the shield over time. To ensure proper operation and maintain a clear field of view, it may be necessary to clean the shield over time. In particular, since these sensors are designed to operate with a high level of reliability, additional precautions are required compared to, for example, ultrasonic-based parking sensors.

[0003] Some of these sensors may not be easily adjustable to focus simultaneously on both the far field and the near field, and to support the driving assistance system, these sensors are typically configured for the far field. Therefore, such sensors may have difficulty distinguishing whether there is an object nearby that may cause driving interference or whether there is contamination on the shield. Each of these situations may cause the sensor to indicate an unclear field of view and hinder driving assistance. Therefore, a device for cleaning such sensors is needed that supports the context operation of driving assistance. Such a system may need to determine appropriate cleaning actions, such as spraying fluid or wiping. Additionally, the cleaning actions performed on the shield of the sensor itself may interfere with the sensor's field of view or operation. Summary of the Invention

[0004] An object of the present invention is to address the need for a more advanced method of controlling a cleaning assembly for a roof module.

[0005] The object is achieved in the method according to claim 1.

[0006] In one aspect, the present invention relates to a method for controlling a cleaning assembly of an external sensor module for a vehicle roof. The method includes receiving a contamination signal; evaluating whether a trigger threshold is triggered to initiate a cleaning cycle, and when the trigger threshold is triggered, initiating a cleaning cycle including at least one cleaning action by providing an activation signal to the cleaning assembly. Here, evaluating the trigger threshold includes at least one of the following: evaluating the location of the contamination on the shield to meet a relevance condition; and / or evaluating the size of the contamination to meet a surface condition; and / or evaluating the vehicle speed to meet a speed condition.

[0007] The method further includes generating a release signal. Wherein, the release signal can be generated when the trigger threshold is not triggered, when the cleaning cycle is completed, when a prediction threshold indicating prevention of the cleaning cycle is triggered, or when a repetition limit set for the cleaning cycle and / or the cleaning actions of the cleaning cycle is reached.

[0008] In another aspect, the present invention relates to a method that further includes partitioning the shield by dividing the surface area of the shield into at least two regions based on partition information. And further setting a corresponding trigger threshold for each region.

[0009] In another aspect, the present invention relates to a method that further includes prioritizing the cleaning actions of the cleaning cycle of the cleaning assembly.

[0010] In another aspect, the present invention relates to an external sensor module that includes a sensor housing having a shield and a cleaning assembly. Wherein, the cleaning assembly includes a nozzle assembly arranged to apply and / or spray fluid on the shield and / or a wiper assembly arranged to wipe the shield. The module further includes a control unit configured to control the cleaning assembly, in particular its nozzle assembly and / or wiper assembly. And wherein the control unit is configured to execute a method for controlling the cleaning assembly.

[0011] In another aspect, the present invention relates to a computer program product that includes instructions for executing the method for controlling the cleaning assembly of the external sensor module.

[0012] In yet another aspect, the present invention relates to a vehicle roof or roof assembly for a vehicle that includes an external sensor module having a control unit configured to control the cleaning assembly of the roof module.

[0013] In another aspect, the present invention relates to a vehicle roof comprising a roof assembly having a roof opening and a roof panel arranged to open and close the roof opening.

[0014] The disclosed devices and methods allow for adapting cleaning actions to environmental conditions. This can include, for example, preventing unnecessary actions in the case of false positives or limiting excessive repetitive actions, both of which can interfere with sensor operation. In this way, a device for cleaning a sensor is provided that allows for adapting to the conditions during operation, thus enabling context-aware operation.

[0015] With reference to the accompanying drawings, other objects, aspects, effects, and details of specific embodiments of the present invention are described in the following detailed description of several exemplary embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By way of example only, embodiments of the present disclosure will be described with reference to the accompanying drawings, in which:

[0017] Figure 1 A perspective view of a vehicle roof showing an example of a vehicle roof module according to the present invention;

[0018] Figure 2 Shown in more detail Figure 1 the vehicle roof module;

[0019] Figure 3A A method for operating a cleaning assembly according to the present invention is shown;

[0020] Figure 3B A method for operating a cleaning assembly according to the present invention is shown;

[0021] Figure 4 An example of an operation flowchart of a cleaning assembly according to the present invention is shown;

[0022] Figure 5 Another example of an operation flowchart of a cleaning assembly according to the present invention is shown;

[0023] Figure 6 Yet another example of an operation flowchart of a cleaning assembly according to the present invention is shown;

[0024] Figure 7 Still another example of an operation flowchart of a cleaning assembly according to the present invention is shown;

[0025] Figure 8 Shows Figure 4 , 5 and a combined example of the flowcharts of 6;

[0026] Figure 9 Shows Figure 4 ,5 Example combinations of flowcharts of and 7;

[0027] Figure 10 Show Figure 4 、 6 and example combinations of flowcharts of 7; and

[0028] Figure 11 Show Figure 4-10 Example combinations of the flowchart of. Detailed Description

[0029] Refer to Figure 1 and schematically show a perspective view of an example of a vehicle roof 1. In this embodiment, the roof includes two roof panels 2a, 2b. The vehicle front window 4, side windows 5, and side mirrors 6 are further shown. The general direction of forward movement is indicated by arrow D. At the top of the vehicle roof 1, a vehicle roof module 3, also referred to as an external sensor module, is shown. In this example, module 3 encloses a lidar sensor. Such an external sensor module 3 may include a wiper system and a fluid injection system. Other examples may not include such a wiper system or injection system, or it may include additional fluid systems, such as for air or cleaning fluid. It should be noted that the shown vehicle roof 1 corresponds to a passenger vehicle. However, the present invention is not limited to passenger vehicles. Any other type of vehicle that can be provided with an external sensor module is also contemplated. For example, a vehicle having a roof assembly consisting of a roof opening and a roof panel arranged to open and close the roof opening.

[0030] Refer to Figure 2 and show in more detail Figure 1 the vehicle roof module 3. Module 3 includes a sensor housing 7 having a shield or barrier 8 disposed at the front side of the housing relative to the forward travel movement of the vehicle (indicated by arrow D). The sensor housing 7 encloses a sensor 9 having a schematically shown field of view 10 that is aligned with the viewing portion of the shield 8. This alignment ensures that targets within the field of view 10 can be detected by the sensor 9. The sensor itself may have a shield, or it may rely only on the shield of the housing. The roof module is further provided with a cleaning assembly 11 that includes a wiper assembly 12 that can move along a wiping track 13. The cleaning assembly 11 is arranged to move the wiper along the shield 8 so that the shield 8 can be wiped. The cleaning assembly 11 may further include a nozzle assembly 15 for spraying fluids, such as air or liquid. The cleaning assembly 11 may also include other cleaning devices, such as an ultrasonic assembly for acting on the shield, or an actuator capable of transmitting vibrations to the shield.

[0031] The control unit 14 is schematically shown, and the control unit 14 is operatively coupled to the cleaning assembly of the roof module 3. The control unit 14 can be any kind of processing unit, or a software-controlled processing unit, or a dedicated processing unit, such as an ASIC, as is well known to those skilled in the art. The control unit 14 can be an independent control unit, or it can be operatively connected to another control unit, such as a multi-purpose general vehicle control unit. In yet another embodiment, the control unit 14 can be embedded in or be part of such a general vehicle control unit. In essence, the control unit 14 can be implemented by any control unit suitable for, capable of, and configured to perform the operations of the cleaning assembly 11, and thus perform cleaning actions on the visor 8. As part of the cleaning cycle, one or more cleaning actions can be performed together or consecutively. These cleaning actions can be the same cleaning actions or different cleaning actions, or a combination of cleaning actions, where earlier actions can be repeated.

[0032] Reference Figure 3A , an example of a method for controlling a cleaning assembly of an external sensor module is shown. The method includes receiving a contamination signal 301 and evaluating whether to trigger a trigger threshold to initiate a cleaning cycle 302. When the trigger threshold is triggered, i.e., a positive evaluation of meeting or conforming to the trigger threshold, the cleaning cycle is initiated 303. The method further includes generating 304 a release signal, which can be done when the cleaning cycle is completed or in the case of a negative evaluation of the trigger threshold without a cleaning cycle. The contamination signal can be provided by the electronic control unit ECU of the vehicle. Such an ECU can determine that potential contamination hinders the operation of the sensor, or it can receive an indication from the sensor. Then, the ECU can authorize cleaning by generating a contamination signal.

[0033] The received 301 contamination signal can include blocking data or be a blocking data signal. Such blocking data can include position data to indicate at which position or positions on the visor one or more alleged blocking objects are detected or at least suspected. The blocking data can also include the size and / or confidence level of one or more objects. The blocking data can also include such parameters for each segment, or a measure indicating the degradation of the entire field of view FoV. In other embodiments, the control unit 14 of the roof module can be configured to determine such size and / or position based on the blocking data. As mentioned, the contamination signal can be provided by the control unit of the sensor, or by an image processing unit, or by the vehicle control system, or by any other control system capable of detecting alleged contamination on the visor.

[0034] The evaluation 302 of the trigger threshold may include evaluating multiple thresholds or conditions for compliance. Depending on the time required to evaluate one or more thresholds or conditions, it may be that the satisfaction of a first threshold causes the initiation 303 of a cleaning cycle and the performance of an initial cleaning action, such as blowing air through a nozzle, while further conditions are still being evaluated. These further conditions may cause the initiated cleaning cycle to include further cleaning actions, which may be prioritized 308 in a certain order of effectiveness.

[0035] The initiation 303 of the cleaning cycle may include at least one cleaning action, such as ejecting a fluid or moving a wiper by providing a start signal to the cleaning assembly 11. In this example, the method further includes generating a release signal 304. The generated release signal may be provided to the control unit of the sensor or more generally to the vehicle or its control unit to indicate that the cleaning cycle has been completed or that the trigger threshold has not been met or that the cleaning cycle is considered unnecessary. In other examples, to be further explained below, the triggering of a prediction threshold indicating that the cleaning cycle is unnecessary or redundant may generate a release signal. A release signal may also be generated to conserve cleaning fluid or other resources to prevent their depletion. Additionally, a repetition limit may be set for the number of repeated cleaning actions and / or cleaning cycles, and reaching the limit will generate a release signal. In any case, the release signal 304 will indicate that the cleaning assembly has not performed a cleaning action that may interfere with the operation of the sensor. In other examples, instead of waiting for a release signal, the control unit of the sensor or the vehicle may generally wait for a specific period of time to determine that operation can be resumed, or may determine that operation can be resumed when processing the image data signal from the sensor itself.

[0036] Reference Figure 3B , shows in more detail Figure 3A the method of. Here, the evaluation 302 of the trigger threshold may include at least one of the following: evaluating the location 305 of the contamination on the shield to meet a relevance condition, and / or evaluating the size 306 of the contamination to meet a surface condition, and / or evaluating the vehicle speed 307 to meet a speed condition. The method may further include prioritizing 308 one or more cleaning actions that are part of the cleaning cycle.

[0037] Evaluating the location 305 of contamination on the shield to meet the relevance condition may include determining whether it is located in the region at the center of the field of view of the shield's blocking sensor, or whether it is closer to its edge. Such a partitioning 309 of the shield may be set in advance and / or may be set according to the guidelines or requirements of the manufacturer providing the sensor. Such a partitioning may also take into account the effective cleaning area, such as the spray cone of the nozzle or other elements used for cleaning. Depending on the partitioning setting, the location of the alleged blocking object may be considered relevant and a cleaning cycle may be required. This also applies to other thresholds or conditions that may be considered relevant to the partitioning setting. Or the location of the alleged blocking object may be considered irrelevant or less relevant, thus allowing for a postponement or prioritization 308 of the cleaning cycle or the cleaning actions that are part of it. The location condition may include a range of predefined thresholds or continuous thresholds, enabling the prioritization of cleaning actions within the cleaning cycle. In particular, in the case of multiple alleged blocking objects, these objects may be processed in order of relevance.

[0038] Evaluating the size 306 of the contamination to meet the surface condition may include determining whether the size of the blocking object exceeds a predefined surface threshold. It may also include determining whether the size of the blocking object is below a threshold or between thresholds, or a combination thereof. Additionally, the surface condition may include a minimum value, a maximum value, a range, and / or any combination thereof. For example, whether dispersed or not, the alleged object may be smaller than the size of the droplets remaining after spraying, in which case a cleaning action with fluid may result in increased interference. Therefore, in such a case, another alternative cleaning action would be preferred. Additionally, at the corresponding speed of the vehicle, the size threshold or surface condition may be different. As mentioned, when determining whether the surface threshold is met, not only the size of the object but also the aggregate surface of multiple objects may be evaluated in comparison to the remaining droplets. Additionally, the cleaning action may be adapted to the aggregate surface, for example, by the amount of fluid applied or by the pressure level during nozzle operation. The surface condition may be set as a minimum surface threshold and / or as multiple surface thresholds related to the vehicle speed.

[0039] Evaluating the size 306 may also include classifying the contamination based on its size to determine appropriate actions based on classifications such as "leaf", "bug", or "droplet". Using machine learning, such a classification process may be enhanced over time, for example, by ensuring a feedback loop or other learning loop that improves the classification process based on the successful outcomes of the cleaning actions.

[0040] Evaluating the vehicle speed 307 to meet speed conditions can include receiving a speed signal from the vehicle (e.g., from its control unit) and determining whether the speed complies with a predetermined speed threshold or aerodynamic conditions related to the vehicle speed. For example, the vehicle speed may be too low such that droplets generated by the ejected liquid during a cleaning action cannot be blown away from the shield by the air flow; then the ejection can be determined as undesirable to prevent increased blockage. On the other hand, for applying air or ejecting liquid, the vehicle speed may be too high, so different cleaning actions (such as wiping the shield or vibrating the shield) need to be prioritized 308. Or, if an increase or decrease in the vehicle speed is expected, such as when accelerating after the vehicle stops at a traffic light or when decelerating when approaching a curve on a highway or leaving a highway, a pause can be observed. The setting of each of these speed conditions of course depends on the aerodynamic characteristics of the specific vehicle on which the roof module is installed. Therefore, these speed conditions can be predetermined and / or set during the setting process. In some examples, these speed conditions can even be subject to and trained by a machine learning process.

[0041] Based on the evaluation results of various conditions, various cleaning actions can be performed as part of starting the cleaning cycle 303. Therefore, different cleaning actions can be prioritized 308. In addition, a first positive evaluation of a condition can trigger a trigger threshold and thus result in starting the cleaning cycle 303 and performing a first cleaning action. While other conditions can be positively evaluated and result in further cleaning actions. Some cleaning actions can even be immediately performed upon receiving the 301 contamination signal, for example, if these cleaning actions can be performed without disturbing the operation of the shield. Therefore, the cleaning cycle may already have been started upon receiving the 301 contamination signal. To achieve this, a default condition for the trigger threshold is set for activation and thus trigger the trigger threshold. For example, in the case where the roof module is provided with an air nozzle, blowing air can be immediately performed as an initial cleaning action as part of starting the cleaning cycle.

[0042] To further improve the performance of the cleaning assembly and the efficiency of the cleaning cycle, the disclosed method may further include partitioning 309 of the shielding plate. This can help distinguish critical and relevant portions of the shielding plate and help prioritize 308 cleaning actions for these areas. Thus, based on the partitioning information, the shielding plate can be partitioned by dividing it into at least two regions. The partitioning information can be predetermined and can be provided, for example, by the sensor manufacturer or the vehicle manufacturer and includes details of the sensor such as the field of view of the sensor, the wavelength of the light used, or other operating parameters. For example, the surface regions of the shielding plate corresponding to the center of the field of view and the peripheral edge surrounding the center of the field of view. In another embodiment, the partitioning can divide the surface area of the shielding plate into three parts: the left, right, and middle regions of the shielding plate. The method further includes providing a corresponding trigger threshold for each region. The trigger thresholds can be set to be different or can be set to be the same under a predetermined condition. For example, when on a highway, the trigger thresholds are set to be different, while when in a crowded urban block, the trigger thresholds are set to be the same. Thus, the partitioning can depend on the vehicle speed and / or the vehicle environment.

[0043] In Figure 3B an embodiment, the partitioning is performed before any other operation. For example, when activating the sensor. In other embodiments, the partitioning can be performed in response to receiving a contamination signal. For example, this will allow the partitioning to be adjusted in response to environmental conditions. Or for example, for the relevance level, urgency level, or confidence level indicated by the contamination signal.

[0044] Referring Figure 4 to Figure 3A and 3B shows an example flowchart that shows an embodiment of the disclosed method with respect to

[0045] Other condition thresholds or trigger inputs can include the status of the vehicle rain sensor, a timestamp (e.g., within a few seconds after the vehicle is unlocked or the engine is started), or temperature. Regarding temperature, for example, in the case of freezing conditions, even if an antifreeze (such as alcohol) is present in the cleaning fluid, the cleaning fluid may still freeze because the alcohol may evaporate during the spraying process. Or the wiper may freeze to the shield. In such a case, defrosting can be started first, for example, via heating. Another trigger input that can be considered is the operation of the washer system of the main front window and the use of the cleaning fluid and the wiper, which may cause rainwater or the cleaning fluid to reach the shield of the sensor.

[0046] As explained with respect to Figure 3B As explained, the evaluation 302 of the trigger threshold 402 can include evaluating dimensions 403, speed 404, and position 405 to meet the corresponding conditions. A first positive evaluation can trigger the trigger threshold 402 and thus cause the start of the cleaning cycle 406 and the execution of the first cleaning action. Similarly, if the default condition is set to be active, this will trigger the trigger threshold 402. For example, in the case where the roof module is provided with an air nozzle, as part of the cleaning cycle 406, air is blown.

[0047] Referring to Figure 5 , an example flowchart is shown, which shows another embodiment of the disclosed method. Figure 5 The flowchart of Figure 4 differs from the flowchart of Figure 4 in that it is extended with an efficiency condition or threshold 407. Thus, the elements corresponding to the elements of Figure 4corresponds to the operations explained. The additional efficiency condition 407 fine-tunes the method by determining whether the efficiency condition is met. Determining whether the efficiency condition 407 is met involves comparing the evaluated size and / or position or area of the contamination or the alleged blocking object before the cleaning action with the size and / or position or area after the cleaning action for the efficiency condition or threshold. The condition may include a minimum reduction in size, which may optionally be defined differently for various positions. Or the condition may include an expected surface increase, which is caused, for example, by the amount and position of the liquid sprayed and the vehicle speed that causes its spread. Or the condition may include a minimum displacement in terms of position, which may optionally be defined differently for various sizes. Or the condition may even be an increase in spread, i.e., the contamination is spread more evenly and thus, for example, further diluted. Another condition may include the presence or state of a coating (such as a hydrophobic layer) on the shield. Such a coating may degrade over time, and thus its lifespan or state may affect the threshold condition. For example, for contamination in the central position of the field of view, the minimum reduction in the surface may be higher than the minimum reduction for contamination at the edge of the field of view. Thus, the efficiency condition or threshold may include at least one of a reduction in size and / or a displacement from a position. Additionally, a maximum increase may be set, for example, due to insect disintegration, which results in a surface increase but is dispersed or displaced from the relevant position in the direction of one edge of the field of view.

[0048] The method may further include, based on the comparison 407, terminating the cleaning cycle if the efficiency threshold is met. Or, if not met, performing further cleaning actions as indicated by the "repeat" signal in the flowchart when the efficiency threshold is not met. The method may further include determining whether the wiper or wiper blade is dirty, for example, due to streak formation caused by blocking spread or blocking accumulation at the start or end of the wiper movement. Additionally, for example, as a measure to conserve the cleaning fluid or to prevent fluid deterioration, the method may set a limit on the number of steps of the repeated cleaning actions.

[0049] Reference Figure 6 , shows an example flowchart that shows another embodiment of the disclosed method. Figure 6 The flowchart of Figure 4 differs from the flowchart of Figure 4 in that it is extended with an optional adjustment 414 of the trigger threshold. Thus, the elements corresponding to the elements of Figure 4correspond to the operations explained. The disclosed method may further include adjusting a trigger threshold 414. This may be done in response to the execution of a cleaning action or in response to one or more cleaning actions as part of a cleaning cycle. As a first example, herein, adjusting the trigger threshold includes, when performing a cleaning action, adjusting the surface condition. This may be done, for example, by increasing the minimum surface threshold or by decreasing the surface threshold. Accordingly, this may depend on, for example, the number of nozzles activated, and / or the amount of nozzle activation time, and / or the amount of fluid applied. Additionally, this may also depend on the vehicle speed, and / or the location or area, and / or the size of the alleged contamination.

[0050] Since a cleaning cycle or its cleaning actions may, for example, due to wiping, result in residual droplets, dispersed or spread contamination, or even dried wiping, it may be desirable to prevent consecutive cleaning cycles from starting immediately after a previous cleaning cycle. This is to allow for the passage of a period of time to permit these residues to be removed by wind, air currents, rain, or other influential environmental factors or at least partially offset.

[0051] In particular, when removing the alleged contamination or blocking object due to the ejection of fluid, droplets remaining on the shield may trigger the trigger threshold and cause the initiation of another cleaning cycle. Thus, to prevent such triggering, the trigger threshold may be adjusted by increasing the minimum surface threshold when the cleaning cycle is completed.

[0052] As explained above, preferably the trigger threshold is adjusted temporarily. Additionally, the method may provide that, herein, adjusting the trigger threshold further includes: at the end of a time delay after a cleaning action, reversing the increase, thereby correspondingly decreasing the minimum surface threshold. The method may further include: when evaluating an increase in vehicle speed, decreasing the minimum surface threshold, and / or when evaluating a decrease in vehicle speed, increasing the minimum surface threshold.

[0053] Reference Figure 7 , shows an example flow chart, which shows another embodiment of the disclosed method. Figure 7 The flow chart of Figure 4 differs from the flow chart of Figure 4 in that it is extended with a prediction threshold 408. Thus, the elements corresponding to the elements of Figure 4 have the same markings, and the operations correspond to the operations explained with respect to Figure 7 . According to Figure 7 , the disclosed method may further include determining whether a prediction condition is met. As shown in the flow chart, when receiving a contamination signal 401, determining whether the trigger threshold is met may be performed in parallel with determining whether the prediction threshold is met. And the resulting determinations will be combined, i.e., combined 412, in order to initiate a cleaning cycle 406.

[0054] The prediction threshold 408 can be met if the alleged contamination can be tracked or predicted to follow a trajectory that will result in self-cleaning of the shield or at least a trajectory that does not require an active cleaning action. That is, at a high enough vehicle speed 409, the contamination will travel in an upward direction and be blown away, for example, due to airflow, rain, or other effects. Or, at a low enough vehicle speed 410, the contamination will travel downward due to gravity, rain, aerodynamics, or other effects. Or, alternatively or additionally, the contamination can disperse or spread 411 on the shield such that it will no longer be considered an obstructive object that interferes with the normal operation of image processing and / or sensors. Accordingly, the disclosed method can include predicting the contamination path. And / or the method can include tracking the contamination on the shield, for example, by processing obstruction data, which can be performed in real time.

[0055] The prediction threshold can be implemented as a set of predefined settings, predefined procedures, or preprocessors, i.e., continuously preprocessing the input of the conditional threshold. In such a case, as another embodiment, the prediction threshold can signal when receiving an input from the trigger threshold.

[0056] Accordingly, the prediction conditions, which can be considered tracking thresholds in some cases, can include that at the maximum low vehicle speed, the predicted downward path meets the prediction threshold. And / or at the minimum high vehicle speed, the predicted upward path meets the prediction threshold. And / or the minimum dispersion or spread of the contamination meets the prediction threshold.

[0057] Accordingly, the method can further include: stopping or at least pausing the initiation of the cleaning cycle based on the tracked path that meets the prediction conditions. Or preventing the initiation or termination of the cleaning cycle.

[0058] Reference Figure 8 , shows an example flowchart that shows another embodiment of the disclosed method. The flowchart combines the elements disclosed with respect to Figure 4 , 5 and 6. Accordingly, the elements corresponding to the elements of Figure 4-6 have the same markings, and the operations correspond to the operations explained with respect to Figure 4-6 . In this embodiment, after the cleaning cycle is initiated 406, a negative evaluation "no" of the efficiency threshold 407 can generate a repeating signal towards the trigger threshold 402. Accordingly, the trigger threshold 402 may have been adjusted 414 for the initiated cleaning cycle 406. Accordingly, the repetition of the evaluation of the trigger threshold 402 may result in a different result from the previous evaluation and thus may result in a different response, i.e., the cleaning action when initiating the next cleaning cycle 406.

[0059] ReferenceFigure 9 , showing an example flowchart that shows another embodiment of the disclosed method. The flowchart combines the elements disclosed with respect to Figure 4 , 5 and 7. Thus, the elements corresponding to the elements of Figure 4 , 5 and 7 have the same markings, and the operations correspond to the operations explained with respect to Figure 4 , 5 and 7. In this embodiment, similarly, after the cleaning cycle is initiated at 406, a negative evaluation of the efficiency threshold 407 can generate a repeating signal, now generating a repeating signal towards the trigger threshold 402 and the prediction threshold 408. Here, an affirmative evaluation "yes" of the prediction threshold indicating that the expected shield will self-clean or at least not require a cleaning action can result in the generation of a release signal. Thus, even if the efficiency threshold is not initially met, the prediction threshold allows for the prevention of unnecessary cleaning actions.

[0060] Refer to Figure 10 , showing an example flowchart that shows another embodiment of the disclosed method. The flowchart combines the elements disclosed with respect to Figure 4 , 6 and 7. Thus, the elements corresponding to the elements of Figure 4 , 6 and 7 have the same markings, and the operations correspond to the operations explained with respect to Figure 4 , 6 and 7. In this embodiment, after the cleaning cycle is initiated at 406, a threshold adjustment is performed. One or both of the trigger threshold 402 and the prediction threshold 408 can be adjusted. The manner of adjustment allows for optimizing the response to the next received contamination signal 401.

[0061] Refer to Figure 11 , showing an example flowchart that shows another embodiment of the disclosed method. The flowchart combines all of the elements disclosed in Figure 4-10 . Thus, the elements corresponding to the elements of Figure 4-10 have the same markings, and the operations correspond to the operations explained with respect to Figure 4-10 . It can be understood that the combined elements allow for a refined construction and operation of the cleaning assembly of the roof module. For example, in this embodiment, the threshold adjustment 414 can be performed after the cleaning cycle is initiated at 406. Or the threshold adjustment 414 can be performed after a negative evaluation "no" of the efficiency threshold 407. Or the initial threshold adjustment 414 after the cleaning cycle is initiated can be reversed or mitigated, for example, at the time of a negative evaluation of the efficiency threshold 407. Similarly, the threshold adjustment 414 can adjust the trigger threshold 402, the prediction threshold 408, or both.

[0062] Detailed embodiments of the present invention are disclosed herein; however, it should be understood that the disclosed embodiments are merely examples of the present invention, and the present invention may be embodied in various forms. Accordingly, the specific structural and functional details disclosed herein should not be construed as restrictive, but merely as a basis for the claims and as a representative basis for teaching one of ordinary skill in the art to utilize the present invention in any suitable specific structure in various ways. In particular, the features set forth and described in the individual dependent claims may be applied in combination, and thus any advantageous combination of such claims is disclosed.

[0063] Further, it is contemplated that structural elements may be generated by applying three-dimensional (3D) printing technology. Accordingly, any reference to a structural element is intended to encompass any computer-executable instructions that direct a computer to generate such a structural element by three-dimensional printing technology or similar computer-controlled manufacturing technology. Additionally, any such reference to a structural element is also intended to encompass a computer-readable medium that bears such computer-executable instructions.

[0064] Further, the terms and phrases used herein are not restrictive, but rather provide an understandable description of the present invention. As used herein, the term "a" is defined as one or more than one. As used herein, the term "plurality" is defined as two or more than two. As used herein, the term "another" is defined as at least a second or more. As used herein, the terms "comprising" and / or "having" are defined as including (i.e., open language). As used herein, the term "coupled" is defined as connected, but not necessarily directly.

[0065] Moreover, although the exemplary embodiments have been described above in some exemplary combinations of components and / or functions, it should be understood that alternative embodiments may be provided by different combinations of components and / or functions without departing from the scope of the present disclosure. Additionally, it is specifically contemplated that the specific features described separately or as part of an embodiment may be combined with other separately described features or other parts of other embodiments.

Claims

1. A method for controlling a cleaning component of an external sensor module (3) of a roof (1) of a vehicle, the method comprising: Receive (301) a pollution signal; evaluating (302) whether a trigger threshold (403, 404, 405) is triggered to initiate a cleaning cycle; Wherein evaluating (302) the triggering threshold comprises at least one of the following: evaluating the location of contamination on the shield (305) to satisfy a relevance condition; and / or evaluating a size of the contamination (306) to satisfy a surface condition; and / or evaluating the vehicle speed (307) to satisfy a speed condition; as well as When the trigger threshold is triggered, a cleaning cycle including at least one cleaning action is started (303) by providing an activation signal to the cleaning component (11).

2. The method according to claim 1, further comprising: A (304) Release signal is generated when: When the trigger threshold is not triggered; or Upon completion of said cleaning cycle; or When a prediction threshold is triggered indicating that a cleaning cycle is prevented; or When a repetition limit set for a cleaning cycle or for a cleaning action of a cleaning cycle is reached.

3. The method according to claim 1 or 2, wherein: Cleaning actions include: activating a nozzle assembly (15) of the cleaning assembly (11), the nozzle assembly (15) comprising at least one nozzle; and / or A wiper assembly (12) of the cleaning assembly (12) is activated, wherein the wiper assembly (12) includes at least one wiper.

4. A method according to any one of the preceding claims, wherein: Evaluating (302) the trigger threshold further comprises: evaluating the satisfaction of activated default cleaning conditions; and When the default cleaning condition is met, the corresponding default cleaning action is performed.

5. The method according to any one of the preceding claims, further comprising: Determine whether the efficiency condition (407) is met, including: comparing the assessed size (306) and / or position (305) or area before the cleaning action with the size and / or position or area after the cleaning action for the efficiency condition (407); Based on the comparison, terminating the cleaning cycle if the efficiency condition (407) is met, or performing further cleaning actions if the efficiency condition (407) is not met; The efficiency condition (407) includes at least one of the following: reduction in size; and / or Distance from / to the relevant location or area; and / or Increased diffusion.

6. The method according to any one of the preceding claims, further comprising: The trigger threshold (402) is adjusted (414).

7. The method according to any one of the preceding claims, further comprising: The cleaning actions (308) of the cleaning cycle of the cleaning assembly (11) are prioritized.

8. The method according to claim 6, wherein: Adjusting the trigger threshold includes: When performing cleaning actions, adjust the surface conditions according to the following items: the number of nozzles activated; and / or The amount of time the nozzle is activated; and / or the amount of fluid applied; and / or vehicle speed; and / or Location; and / or Region; and / or size.

9. The method according to claim 6 or 7, wherein: Adjusting the trigger threshold includes: reducing the surface condition at the end of the time delay following the cleaning action; and / or reducing the minimum surface threshold when assessing an increase in vehicle speed; and / or Increased minimum surface threshold when evaluating reduction in vehicle speed.

10. The method according to any one of the preceding claims, further comprising: Determining whether the prediction condition is met (408) includes: predicting and / or tracking pollution paths; The prediction / tracking thresholds include: At a maximum low vehicle speed, the predicted downward path (410) satisfies a prediction threshold; and / or At a minimum high vehicle speed, the predicted upward path (409) satisfies a prediction threshold; and / or Minimum diffusion (411) meets the prediction threshold; Based on the tracked path satisfying the predicted condition ( 408 ), the cleaning cycle is stopped or started.

11. The method according to any one of the preceding claims, further comprising: Based on the partition information, partitioning the shield by dividing the shield into at least two areas (309); Setting a corresponding trigger threshold for each area (402); The partitioning depends on the vehicle speed and / or the vehicle environment.

12. A control unit for an external sensor module (3) for a vehicle roof (1), wherein: The control unit (14) is configured to perform the method according to any of the preceding claims 1-11.

13. An external sensor module (3) for a vehicle roof (1), comprising: A sensor housing (7) including a shield (8); A cleaning assembly (11) comprising: a nozzle assembly (15) arranged to apply a fluid to the shield (8); and / or a wiper assembly (12), the wiper assembly (12) being arranged to wipe the shield (8); A control unit (14), the control unit (14) being configured to control the cleaning assembly (11), in particular the nozzle assembly (15) and the wiper assembly (12); The control unit (14) is configured to execute the method according to any one of the preceding claims 1-11.

14. A computer program product comprising instructions, which, when a computer executes the program, cause the computer to perform the method according to any one of claims 1 to 11.

15. A roof (1) for a vehicle, comprising an external sensor module (3) according to claim 13.

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