Sensor system for a vehicle and cleaning method for a sensor system for a vehicle

Abstract

The invention relates to a sensor system (200) for a vehicle (10), comprising: a housing (210) having a transparent region (212); an environment sensing device (220), which is arranged in the housing (210); a camera module (230), which is arranged in the housing (210), in which the camera module (230) is configured to at least partially detect a transparent region (212) of the housing (210) and to output corresponding detection data (ED); and at least one processor module (240) configured for identifying a cover on the outside of the housing (210) in the transparent area (212) based on the detection data (ED).

Description

Technical Field

[0001] The present disclosure relates to a sensor system for a vehicle, a vehicle having such a sensor system, a cleaning method for a sensor system for a vehicle, and a storage medium for executing the cleaning method. In particular, the present disclosure relates to detecting coverings on secondary surfaces of a sensor for autonomous driving. Background Art

[0002] Driver assistance systems for automated driving are gaining increasing importance. Automated driving can be performed at different levels of automation. Exemplary levels include assisted driving, partially automated driving, conditionally automated driving, highly automated driving, or fully automated driving. These five levels correspond to SAE Levels 1 to 5 according to the SAE J3016 standard (SAE - Society of Automotive Engineers), as of April 30, 2021.

[0003] In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task in every lane and environmental condition, which are also controlled by the human driver.

[0004] Driver assistance systems for automated driving use environmental sensing devices. These devices use vision to perceive the environment, both within the range visible to humans and within the range invisible to humans. These devices can be, for example, cameras, radar, and / or lidar. Accurate environmental perception requires that the environmental sensing devices have an unobstructed view of the surroundings. If dirt or coverings, such as snow or ice, are present on or in the field of view of the environmental sensing devices, environmental perception can be limited, and in the case of severe dirt or coverings, environmental perception may even be impossible. Summary of the Invention

[0005] The present disclosure is directed to providing a sensor system for a vehicle, a vehicle having such a sensor system, a cleaning method for the sensor system of a vehicle, and a storage medium for executing the cleaning method, which enable an unobstructed view of the surrounding sensor system. In particular, the present disclosure is directed to ensuring accurate environmental perception during autonomous driving.

[0006] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are given in the dependent claims.

[0007] According to an independent aspect of the present disclosure, a sensor system for a vehicle, in particular a motor vehicle, is provided. The sensor system includes: a housing having a transparent area; an environment sensor device disposed in the housing; a camera module disposed in the housing, wherein the camera module is configured to at least partially detect the transparent area of ​​the housing and output corresponding detection data; and at least one processor module configured to identify a covering on an outer side of the housing in the transparent area based on the detection data.

[0008] According to the present invention, a camera module is provided in the housing of the sensor system for monitoring the state of the housing's outer surface. The housing may be subject to environmental influences, such as ice formation on the housing's exterior. The camera module can detect such formations, particularly their type and / or amount. Based on this knowledge, appropriate countermeasures can be taken, such as de-icing the housing's exterior. This prevents damage to the environmental sensing system's detection of the surroundings, enabling accurate environmental perception during autonomous driving.

[0009] Preferably, the camera module includes or is an optical camera, such as a video camera. The optical camera may be configured to generate image data in a visible wavelength range.

[0010] Preferably, the camera module includes an infrared camera or is an infrared camera. The infrared camera can be configured to generate image data in an infrared wavelength range.

[0011] Preferably, the camera module is arranged outside the field of view or detection range of the environment sensor device. In particular, the camera module can be arranged so that it does not interfere with or hinder the environment detection by the environment sensor device.

[0012] Preferably, the environmental sensing device includes two or more environmental sensing device modules. The camera module may be one of these two or more environmental sensing device modules. In other words, the camera module can be configured for various applications, namely, detecting coverings on the outer side of the housing and performing environmental monitoring for the operation of a driver assistance system (e.g., a driver assistance system for autonomous driving).

[0013] In some embodiments, the two or more environment sensing device modules include a camera module and also include a lidar module and / or a radar module and / or an ultrasonic module. These modules can provide environmental data (also referred to as "surrounding environment data") that reflects the area surrounding the vehicle and is used, for example, for autonomous driving of the vehicle.

[0014] In other embodiments, the camera module may not be a component of the surroundings sensor system, but rather an additional camera module which is provided solely for detecting coverings on the outer side of the housing.

[0015] Preferably, the sensor system further comprises at least one light source, which is arranged in the housing. The at least one light source can be a vehicle light, such as a headlight.

[0016] The housing accommodates an environmental sensor system, a camera module, and optionally at least one light source within its interior. The housing can, in particular, be substantially waterproof, preventing moisture from penetrating the interior. This prevents damage to the environmental sensor system and the camera module. Optionally, the humidity of the air within the interior of the housing can be controlled by an active or passive humidity control device.

[0017] The outer side or outer surface of the housing is at least partially exposed to the outside on the vehicle. In other words, the outer side or outer surface of the housing is subject to environmental influences, so that, for example, due to weather conditions, a covering (such as condensation, snow, ice, dirt, etc.) may form on the outer side or outer surface of the housing.

[0018] The housing can be a secondary housing. In other words, the surroundings sensor system, the camera module, and optionally the at least one light source can each have their own primary housing, which in turn is surrounded by a secondary housing.

[0019] Preferably, the housing, in particular the transparent region of the housing, is transparent or translucent for light in the visible range and / or infrared range, in particular for the wavelength of the at least one light source, so that light from the at least one light source can be emitted outwards.

[0020] Preferably, the housing, and in particular the transparent region of the housing, is transparent to radar wavelengths and / or laser light. In particular, the housing may be transparent to the wavelength of the environmental sensing device. For example, the environmental sensing device may include a radar module, and the housing may be transparent to the corresponding radar wavelength. In another example, at least one environmental sensing device may include a lidar module, and the housing may be transparent to the corresponding laser wavelength.

[0021] Preferably, the housing, in particular the transparent region of the housing, is opaque in the visible wavelength spectrum, thereby preventing elements present in the housing from being visible from the outside.

[0022] Preferably, the covering is selected from the group consisting of condensation (especially condensed moisture), ice, snow and dirt (such as leaves, road dirt etc.), or consists thereof.

[0023] Preferably, at least one processor module is configured to determine the type and / or amount of the covering based on the detection data of the camera module. By determining the type and / or amount of the covering, targeted countermeasures can be taken to quickly and effectively remove the covering from the housing.

[0024] Preferably, at least one processor module is configured to recognize or determine the covering, in particular the type and / or amount of the covering, using a recognition algorithm. The recognition algorithm can be, for example, a recognition algorithm trained using machine learning and specifically for recognizing coverings.

[0025] Alternatively, the at least one processor module can be configured to determine the covering, in particular the type and / or amount of the covering, by using pixels of the camera module as brightness sensors and ascertaining brightness changes at monitored transparent areas of the housing.

[0026] Preferably, at least one additional vehicle sensor may be used to verify the analysis result of the detection data of the camera module by the at least one processor module. The at least one additional vehicle sensor may include, for example, an external camera, a temperature sensor, etc.

[0027] Preferably, the sensor system further comprises a cleaning device configured to remove the covering. When a covering is detected on the outer side of the housing, the at least one processor module can be configured to actuate the cleaning device to remove the covering.

[0028] In some embodiments, at least one processor module can be configured to activate the cleaning device to remove the covering when the level (e.g., amount) of covering reaches or exceeds a first threshold. This can avoid activating the cleaning device even when the covering is low and / or when there is no or only minimal impairment to the quality of environmental monitoring. As a result, resources such as energy and / or cleaning agents can be saved. The first threshold can, for example, be a first reference amount of covering, which is compared to the actual amount of covering obtained from the detection data of the camera module.

[0029] In some embodiments, at least one processor module can be configured to control the cleaning device to terminate the cleaning process when the level (e.g., amount) of the covering reaches or falls below a second threshold, or when the covering is no longer detected. This can prevent the cleaning device from remaining activated for longer than necessary. As a result, resources such as energy and / or cleaning agents can be saved. The second threshold can, for example, be a second reference amount of covering, which is compared to the actual amount of covering obtained from the detection data of the camera module.

[0030] Preferably, at least one processor module can be configured to determine the degree of degradation of the sensor functionality of the environmental sensing device. For example, the degree of degradation of the sensor functionality of the environmental sensing device can be classified using a recognition algorithm. This allows for more precise and energy-efficient control of the cleaning device.

[0031] Preferably, the cleaning device is selected from the group comprising heating means, spraying means, de-icing agents and combinations thereof, or consists of them. However, the cleaning device is not limited to these examples and other cleaning devices that enable removal of the covering from the outside of the housing can be used.

[0032] The heating device can be configured to at least partially heat the exterior of the housing. This allows, for example, for the removal of condensation, ice, and / or snow. In some embodiments, the heating device can be embedded in the housing material or mounted on the interior of the housing to at least partially heat the exterior of the housing. For example, the heating device can include a plurality of heating wires that can be printed on the interior of the housing and / or arranged within the housing structure (e.g., between two plates).

[0033] The spraying device can be configured to at least partially spray the outside of the housing with a cleaning fluid. The cleaning fluid can, for example, include air, water, cleaning fluid, and combinations thereof. This can, for example, remove dirt (e.g., leaves, road grime, etc.), ice, and / or snow. In some embodiments, the spraying device can include at least one nozzle located on or near the housing to at least partially spray the outside of the housing with the cleaning fluid.

[0034] The de-icing agent can be configured to remove ice and / or snow from the exterior of the housing. In some embodiments, the de-icing agent can include the aforementioned heating device and / or spraying device. However, the de-icing agent is not limited to these examples, and other suitable de-icing devices, such as mechanical devices, can be used in addition to or in lieu of these.

[0035] In some embodiments, at least one processor module can be configured to operate the cleaning device to remove the covering based on the type and / or amount of the covering. In particular, the type and / or intensity of the cleaning process can be adapted, for example, proportionally to the type and / or amount of the covering, so that the covering can be removed from the housing quickly and efficiently.

[0036] In one example, the heating device can be activated when condensation, ice, or snow is detected. Optionally, the intensity or strength and / or duration of the heating process can be adjusted based on the amount of covered material detected. In particular, the more condensation, ice, or snow is detected, the more intense the heating device can be adjusted.

[0037] In another example, a spraying device may be used when leaves and / or road dirt are detected. Optionally, the intensity or severity and / or duration of the spraying process may be adjusted based on the amount of detected cover. In particular, the more leaves and / or road dirt are detected, the more intense and / or prolonged the spraying process may be.

[0038] According to another independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is provided. The vehicle comprises a sensor system according to an embodiment of the present disclosure.

[0039] The term "vehicle" includes passenger cars, trucks, buses, RVs, motorcycles, etc., which are used to transport people, goods, etc. In particular, the term "vehicle" includes motor vehicles used to transport people.

[0040] Preferably, the vehicle includes a driver assistance system for automated driving. The automated vehicle autonomously steers, brakes, and / or accelerates based on a driving strategy. The driving strategy may be determined based on environmental data from an environmental sensor, road conditions, traffic conditions, weather conditions, and the like. The determined driving strategy is implemented by the driver, steering, and / or brakes.

[0041] Within the scope of this document, "automated driving" is understood to mean driving with automatic longitudinal and / or lateral guidance. For example, automated driving can be driving for longer periods on a highway or driving for a limited time in the area of ​​parking. The term "automated driving" includes automated driving with any level of automation. Exemplary levels of automation include assisted driving, partially automated driving, conditionally automated driving, highly automated driving and fully automated driving (with increasing levels of automation in each case). The five aforementioned levels of automation correspond to SAE levels 1 to 5 according to the SAE J3016 standard (SAE - Society of Automotive Engineers) as of April 30, 2021.

[0042] In Assisted Driving (SAE Level 1), the system performs longitudinal or lateral steering in specific driving situations. In Partially Automated Driving (SAE Level 2), the system takes over longitudinal and lateral steering in specific driving situations, where, as in Assisted Driving, the driver must continuously monitor the system. In Conditionally Automated Driving (SAE Level 3), the system takes over longitudinal and lateral steering in specific driving situations, without the driver having to continuously monitor the system; however, the driver must be able to take over vehicle steering within a certain period of time when requested by the system. In Highly Automated Driving (SAE Level 4), the system takes over vehicle control in specific driving situations, even if the driver does not respond to a request to intervene, eliminating the driver as a backup level. In Fully Automated Driving (SAE Level 5), all aspects of the dynamic driving task that are also under the control of a human driver can be performed by the system under every road and environmental condition.

[0043] Furthermore, within the scope of this document, the term "at least partially automated driving or maneuvering" is understood to include partially automated driving, conditionally automated driving, highly automated driving, and fully automated driving. In other words, the term "at least partially automated driving" is understood to include automation levels of SAE Level 2 and above.

[0044] According to another independent aspect of the present disclosure, a cleaning method for a sensor system of a vehicle, particularly a motor vehicle, is provided. The cleaning method includes: detecting a transparent area of ​​the housing by a camera module disposed in the housing and outputting corresponding detection data, the transparent area being within a field of view of a surroundings sensor device disposed in the housing; identifying a covering on the exterior of the housing based on the detection data; and actuating a cleaning device to remove the covering from the exterior of the housing.

[0045] The cleaning methods may be implemented with various aspects of the sensor systems described in this document.

[0046] According to another independent aspect of the present disclosure, a software (SW) program is provided that can be configured to be executed on one or more processors and to thereby perform the cleaning method for a sensor system of a vehicle described in this document.

[0047] According to another independent aspect of the present disclosure, a storage medium is provided. The storage medium may include a software program configured to be executed on one or more processors and to thereby perform the cleaning method for a sensor system of a vehicle described in this document.

[0048] According to another independent aspect of the present disclosure, software with program code is provided. When the software is run on one or more software-controlled devices, the software is configured to perform a cleaning method for a sensor system of a vehicle.

[0049] According to another independent aspect of the present disclosure, a system for a vehicle is provided. The system includes one or more processors and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to perform the cleaning method for a sensor system for a vehicle described in this document.

[0050] A processor or processor module is a programmable computing unit, i.e., a machine or electronic circuit that controls other components according to transmitted instructions and thereby executes an algorithm (process). The processor can be integrated into or connected to at least one sensor in order to control the removal of the covering depending on the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Embodiments of the present disclosure are shown in the accompanying drawings and described in detail below. The accompanying drawings show:

[0052] Figure 1 Schematically illustrates a vehicle having a driving assistance system for autonomous driving according to an embodiment of the present disclosure;

[0053] Figure 2schematically illustrates a sensor system according to an embodiment of the present disclosure; and

[0054] Figure 3 A flowchart illustrating a cleaning method for a sensor system of a vehicle according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0055] Unless otherwise indicated, identical elements and elements having the same effect are provided with the same reference numerals below.

[0056] Figure 1 A vehicle 10 having a driving assistance system 100 for automated driving according to an embodiment of the present disclosure is schematically shown.

[0057] Vehicle 10 includes a driver assistance system 100 for automated driving. During automated driving, vehicle 10 is automatically guided longitudinally and / or laterally. Driver assistance system 100 thus takes over vehicle guidance. To this end, driver assistance system 100 controls drive 20, transmission 22, hydraulic service brakes 24, and steering 26 via an intermediate unit (not shown).

[0058] To plan and execute automated driving, driver assistance system 100 receives environmental information from environmental sensing devices observing the vehicle's environment. Specifically, vehicle 10 may include at least one environmental sensing device 12 configured to collect environmental data indicative of the vehicle's environment. The at least one environmental sensing device 12 may include, for example, one or more lidar systems, one or more radar systems, one or more ultrasonic sensors, and / or one or more cameras.

[0059] Accurate environmental perception requires that at least one environmental sensing device 12 have an unobstructed view of the surrounding environment. If there is dirt or covering, such as snow or ice, in the field of view of at least one environmental sensing device 12, environmental perception may be limited and even impossible in the case of severe dirt or covering. Embodiments of the present disclosure can identify such coverings and take appropriate countermeasures, as described below with reference to Figure 2 and Figure 3 Just as described.

[0060] Figure 2 A sensor system 200 according to an embodiment of the present disclosure is schematically shown.

[0061] The sensor system 200 includes a shell 210 having a transparent area 212; an environmental sensing device 220, which is arranged in the shell 210; a camera module 230, which is arranged in the shell 210, wherein the camera module 230 is configured to at least partially detect the transparent area 212 of the shell 210 and output corresponding detection data ED; and at least one processor module 240, which is configured to identify a covering B on the outside of the shell 210 in the transparent area 212 based on the detection data ED.

[0062] At least one processor module 240 may be disposed within or outside the housing 210 and may be communicatively connected to at least the camera module 230 .

[0063] The camera module 230 may be an optical camera, such as a video camera. The optical camera may be configured to generate image data in the visible wavelength range. Alternatively, the camera module 230 may be an infrared camera. The infrared camera may be configured to generate image data in the infrared wavelength range.

[0064] The camera module 230 is arranged outside the field of view or detection range of the environment sensing device 220. In particular, the camera module 230 can be arranged so that it does not interfere with or hinder the environment detection by the environment sensing device 220.

[0065] In some embodiments, camera module 230 may be part of an environmental sensing device. In other words, camera module 230 may be configured for various applications, including identifying cover B on the exterior of housing 210 and performing environmental monitoring for operation of a driver assistance system, such as a driver assistance system for autonomous driving. The environmental sensing device may also include a lidar module, a radar module, and / or an ultrasonic module.

[0066] In other embodiments, the camera module 230 may not be a component of the environment sensor device, but an additional camera module that is only used to detect the cover B on the outside of the housing 210. However, in some embodiments, the camera module 230 can also be used as an additional environment sensor device.

[0067] Preferably, the sensor system 200 further includes at least one light source 250, which is arranged in the housing 210. The at least one light source 250 may be a vehicle lamp, such as a headlamp, which emits light L outward.

[0068] Housing 210 accommodates an environment sensor device 220, a camera module 230, and optionally at least one light source 250 in its interior space 216. Housing 210 can be, in particular, a substantially waterproof housing that prevents moisture from penetrating into its interior space. This prevents damage to environment sensor device 220, camera module 230, and at least one light source 250.

[0069] The outer side or outer surface of the housing 210 is at least partially exposed to the outside of the vehicle. In other words, the outer side or outer surface of the housing 210 is subject to environmental influences, such that a covering B may form on the outer side or outer surface of the housing 210 due to weather conditions, for example.

[0070] Preferably, the housing 210, in particular the transparent region 212 of the housing 210, is permeable or transparent to light in the visible range and / or in the infrared range, in particular to the wavelength of the at least one light source 250. Thus, the light L of the at least one light source 250 can be emitted outward.

[0071] Additionally or alternatively, housing 210 , in particular transparent region 212 of housing 210 , may be transparent to radar wavelengths and / or laser light. In particular, housing 210 may be transparent to the wavelength of surroundings sensor device 220 .

[0072] Preferably, the covering B can be, for example, condensation (in particular condensed air moisture), ice, snow and / or dirt (for example leaves, road dirt etc.).

[0073] In some embodiments, the at least one processor module 240 can be configured to determine the type and / or amount of the covering B based on the detection data ED from the camera module 230. The type and / or amount of the covering B can be determined, for example, using a recognition algorithm. The recognition algorithm can be, for example, a recognition algorithm trained using machine learning and specifically trained for covering recognition. In another embodiment, the type and / or amount of the covering B can be determined by using pixels of the camera module 230 as brightness sensors and determining brightness changes on the monitored transparent area 212 of the housing 210.

[0074] In some embodiments, the sensor system 200 further includes a cleaning device 260 configured to remove the covering B. The cleaning device 260 may be located in, on, or outside the housing 210. The at least one processor module 240 may be communicatively connected to the cleaning device 260 so as to operate the cleaning device 260 to remove the covering B when the covering B is identified on the outside of the housing 210.

[0075] In some embodiments, the at least one processor module 240 can be configured to operate the cleaning device 260 to remove the covering B or to operate the cleaning process when the level (e.g., amount) of the covering B reaches or exceeds a first threshold. Furthermore, the at least one processor module 240 can be configured to operate the cleaning device 260 to terminate the cleaning process when the level (e.g., amount) of the covering B reaches or falls below a second threshold or when the covering B is no longer detected. This can result in the conservation of resources, such as energy and / or cleaning agents. The first and / or second thresholds can, for example, be a reference amount of covering, which is compared to the actual amount of covering obtained from the detection data ED of the camera module 230.

[0076] In some embodiments, the cleaning device 260 includes a heating device configured to at least partially heat the outer side of the housing 210, in particular the transparent area 212. This allows, for example, condensation, ice, and / or snow to be removed. In some embodiments, the heating device can be embedded in the material of the housing 210 or mounted on the inner side 214 of the housing 210 to at least partially heat the outer side of the housing 210. For example, the heating device can include a plurality of heating wires that can be printed on the inner side 214 of the housing 210 and / or arranged within the housing structure (e.g., between two plates).

[0077] Additionally or alternatively, the cleaning device 260 includes a spraying device configured to at least partially spray the outer side 212 of the housing 210 with a cleaning fluid. The cleaning fluid may include, for example, air, water, cleaning fluid, and combinations thereof. This may allow, for example, the removal of dirt (e.g., leaves, road grime, etc.), ice, and / or snow. In some embodiments, the spraying device may include at least one nozzle located on or near the housing 210 to at least partially spray the outer side of the housing 210 with the cleaning fluid.

[0078] In some embodiments, the at least one processor module 240 can be configured to control the cleaning device 260 to remove the covering B based on the type and / or amount of covering B. In particular, the type and / or intensity of the cleaning process can be adapted, for example, proportionally to the type and / or amount of covering, so that the covering B can be removed from the housing quickly and effectively.

[0079] For example, a heating device may be used when condensation, ice, or snow is detected. Optionally, the intensity, intensity, and / or duration of the heating process may be adjusted proportionally to the amount of detected cover. In another example, a spraying device may be used when leaves and / or road dirt are detected. Optionally, the intensity, intensity, and / or duration of the spraying process may be adjusted proportionally to the amount of detected cover.

[0080] Figure 3The flowchart of a cleaning method 300 for a sensor system of a vehicle according to an embodiment of the present disclosure is schematically shown. The cleaning method 300 may be implemented by corresponding software, which can be executed by one or more processors (eg, CPU).

[0081] The cleaning method includes in box 310: detecting a transparent area of ​​the shell by a camera module arranged in the shell and outputting corresponding detection data, wherein the transparent area is located within the field of view of an environmental sensing device arranged in the shell; in box 320: identifying a covering on the outside of the shell based on the detection data; and in box 330: manipulating the cleaning device to remove the covering from the outside of the shell.

[0082] According to the present invention, a camera module is provided in the housing of the sensor system to monitor the state of the housing's outer surface. The housing can be subject to environmental influences, such as ice formation on the housing's exterior. The camera module can detect such formations, particularly their type and / or amount. Based on this knowledge, appropriate countermeasures can be taken, such as de-icing the housing's exterior. This prevents damage to the environment detected by the environmental sensor system and enables precise environmental perception, for example, during autonomous driving.

[0083] Although the present invention has been illustrated and described in detail by means of preferred embodiments, the present invention is not limited to the examples disclosed and other variations may be derived therefrom by those skilled in the art without departing from the scope of protection of the invention. Therefore, it is obvious that there are a variety of possible variations. It is also obvious that the embodiments mentioned by way of example only constitute examples and should not be understood in any way as limiting the scope of protection, application possibilities or configuration of the invention. Rather, the foregoing description and the accompanying drawings enable those skilled in the art to implement the exemplary embodiments in detail, wherein, after being aware of the disclosed inventive concept, they may make various modifications, for example with respect to the function or arrangement of the various elements mentioned in the exemplary embodiments, without departing from the scope of protection defined by the claims and their legal equivalents, such as the further elaboration in the specification.

Claims

1. A sensor system (200) for a vehicle (10), comprising: a housing (210) having a transparent region (212); an environmental sensing device (220), the environmental sensing device being arranged in the housing (210); a camera module (230) disposed in the housing (210), wherein the camera module (230) is configured to at least partially detect a transparent area (212) of the housing (210) and output corresponding detection data (ED); and At least one processor module (240) is configured to identify a covering on the outside of the housing (210) in the transparent area (212) based on the detection data (ED).

2. The sensor system (200) according to claim 1, wherein the environmental sensing device (220) includes two or more environmental sensing device modules, wherein the two or more environmental sensing device modules include the camera module (230), and in particular, wherein the two or more environmental sensing device modules also include a lidar module and / or a radar module and / or an ultrasonic module.

3. The sensor system (200) according to claim 1 or 2, further comprising at least one light source (250), wherein the at least one light source is arranged in the housing (210), in particular wherein the at least one light source (250) is a vehicle light.

4. The sensor system (200) according to any one of claims 1 to 3, wherein: The camera module (230) is arranged outside the field of view of the environment sensing device (220); and / or The camera module (230) includes an optical camera and / or an infrared camera; and / or The housing (210) is a vehicle lamp housing, in particular a headlamp housing; and / or The housing (210) is transparent to light in the visible and / or infrared wavelength range, in particular the housing (210) is also transparent to radar wavelengths and / or laser light.

5. The sensor system (200) according to any one of claims 1 to 4, wherein: The covering (B) is selected from the group consisting of condensation covering, ice, snow and dirt; and / or The at least one processor module (240) is configured to determine the type and / or amount of the covering (B) based on the detection data (ED), in particular using a recognition algorithm or by using the pixels of the camera module (230) as brightness sensors and determining brightness changes on the monitored transparent area (212) of the housing (210).

6. The sensor system (200) according to any one of claims 1 to 5, further comprising a cleaning device (260) configured to remove the covering (B), wherein the at least one processor module (240) is configured to, when the covering (B) on the outer side of the housing (210) is detected, actuate the cleaning device (260) to remove the covering (B), in particular wherein the at least one processor module (240) is configured to: When the extent of the covering (B) reaches or exceeds a first threshold, operating the cleaning device (260) to remove the covering (B); and / or When the extent of the covering (B) reaches or falls below a second threshold value or when the covering (B) is no longer recognized, the cleaning device (260) is actuated to end the cleaning process.

7. The sensor system (200) according to claim 6, wherein the cleaning device (260) is selected from the group consisting of a heating device, a spraying device, a de-icing device, and a combination of the heating device, the spraying device, and the de-icing device.

8. A vehicle (10), in particular a motor vehicle, comprising a sensor system (200) according to any one of claims 1 to 7.

9. A method (300) for cleaning a sensor system for a vehicle, comprising: detecting (310) a transparent area of ​​the housing by a camera module arranged in the housing and outputting corresponding detection data, wherein the transparent area is located within a field of view of an environment sensing device arranged in the housing; identifying (320) a covering on an outer side of the housing based on the detection data; and A cleaning device is operated (330) to remove the covering from the outside of the housing.

10. A storage medium comprising a software program configured to be executed on one or more processors and to thereby perform the cleaning method (300) according to claim 9.

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