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

Abstract

The present disclosure relates to a sensor system (200) for a vehicle, comprising an at least partially transparent housing (210); at least one environmental sensor (220) arranged in the housing (210); at least one light source (230) arranged in the housing (210); at least one sensor module (240) arranged in the housing (210), wherein the at least one sensor module (240) is configured for detecting light (RL) reflected by the at least one light source (230) on the housing (210); and at least one processor module (250) configured for identifying a covering (B) on the outer side (212) of the housing (210) based on the intensity of the light (RL) detected by the at least one sensor module (240).

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 sensors that perceive the environment based on vision, both within the range visible to humans and within the range invisible to humans. Environmental sensors can be, for example, cameras, radar, and / or lidar. Accurate environmental perception requires that the environmental sensors 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 sensors, 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 surroundings sensor. 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 an at least partially transparent housing; at least one environment sensor disposed in the housing; at least one light source disposed in the housing; at least one sensor module disposed in the housing, wherein the at least one sensor module is configured to detect light reflected by the at least one light source at the housing; and at least one processor module configured to identify a surface condition of an outer side of the housing, in particular a covering on the outer side of the housing, based on the intensity of the light detected by the at least one sensor module.

[0008] According to the present invention, an additional measuring component is provided in the housing of the sensor system to determine the state of the housing's exterior. The housing may be subject to environmental influences, such as ice formation on the exterior. This covering reduces light transmission through the transparent housing, while increasing reflectivity through the covering allows identification of the covering, particularly its type and / or amount. This knowledge allows for appropriate countermeasures, such as de-icing the exterior of the housing. Consequently, impairment of environmental sensing by the environmental sensors can be prevented, enabling precise environmental perception during autonomous driving.

[0009] Preferably, the at least one sensor module includes a photometer and / or a radiometer. However, the at least one sensor module is not limited to these examples, and other sensor modules capable of measuring light intensity or light amount may be used.

[0010] Preferably, the covering is selected from the group consisting of condensation (especially condensed moisture), ice, snow and dirt (eg leaves, road dirt etc.) or consists thereof.

[0011] In the absence of a cover, the at least one sensor module receives a (e.g., constant) characteristic intensity of light reflected on or from the housing by at least one light source arranged in the same housing as the at least one sensor module. If a cover is then formed on the outside of the housing, light from the at least one light source is reflected by the cover, causing the intensity of the reflected light measured at the at least one sensor module to increase.

[0012] Preferably, the at least one processor module is configured to determine the type and / or amount of the covering based on the intensity of light detected by the at least one sensor module. In particular, the intensity of the reflected light measured at the at least one sensor module can be indicative of the type and / or amount of the covering. For example, within the context of sensor system development, it can be empirically determined which types and / or amounts of coverings result in which intensities at the at least one sensor module. Determining the type and / or amount of the covering allows for targeted countermeasures to be taken to quickly and effectively remove the covering from the housing.

[0013] Preferably, the sensor system further comprises a cleaning device configured to remove the covering. The at least one processor module may be configured to actuate the cleaning device to remove the covering when the covering is detected on the outer side of the housing.

[0014] In some embodiments, at least one processor module can be configured to control the cleaning device to remove the covering when the extent (e.g., amount) of the 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 be defined, for example, based on the intensity of light detected by the at least one sensor module.

[0015] In some embodiments, at least one processor module can be configured to control the cleaning device to terminate the cleaning process when the extent (e.g., quantity) 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 longer than necessary. As a result, resources such as energy and / or cleaning agents can be saved. The second threshold can be defined, for example, based on the intensity of light detected by the at least one sensor module.

[0016] Preferably, the cleaning device is selected from the group consisting of a heating device, a spraying device, a de-icing agent 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 cover from the outside of the housing can be used.

[0017] The heating device can be configured to at least partially heat the exterior of the housing. This can, for example, remove 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).

[0018] 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 a cleaning fluid.

[0019] 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 thereof.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The housing accommodates at least one environmental sensor, at least one light source, and at least one sensor module within its interior. The housing may, in particular, be substantially waterproof, preventing moisture from penetrating the interior. This prevents damage to the at least one environmental sensor, the at least one light source, and the at least one sensor module.

[0024] The outer side 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, a covering may be formed on the outer side or outer surface of the housing due to weather conditions.

[0025] The housing can be a secondary housing. In other words, the at least one ambient sensor, the at least one light source, and the at least one sensor module can each have their own primary housing, which in turn is surrounded by a secondary housing.

[0026] Preferably, the housing is transmissive or transparent to light in the visible light range, in particular to the wavelength of the at least one light source. Therefore, the light of the at least one light source can be emitted outward.

[0027] Preferably, the housing is transparent to radar wavelengths and / or laser light. In particular, the housing is transparent to the wavelength of at least one environmental sensor. For example, the at least one environmental sensor may be a radar sensor, and the housing may be transparent to the corresponding radar wavelength. In another example, the at least one environmental sensor may be a lidar sensor, and the housing may be transparent to the corresponding laser wavelength.

[0028] Preferably, the housing is a vehicle lamp housing, such as a headlamp housing. The at least one light source may be a vehicle lamp, such as a headlamp.

[0029] Preferably, the at least one environmental sensor comprises at least one lidar system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system. The at least one environmental sensor can provide environmental data (also referred to as "surrounding environment data") that reflect the area surrounding the vehicle and are used, for example, for autonomous driving of the vehicle.

[0030] 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.

[0031] 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.

[0032] Preferably, the vehicle includes a driver assistance system for autonomous driving. The autonomous vehicle autonomously steers, brakes, and / or accelerates based on a driving strategy. The driving strategy may be determined based on environmental data from environmental sensors, road conditions, traffic conditions, weather conditions, and the like. The determined driving strategy is implemented by the driver, steering, and / or brakes.

[0033] The environmental sensor here comprises at least one environmental sensor of the sensor system according to the invention.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] According to another independent aspect of the present disclosure, a method for cleaning a sensor system for a vehicle, particularly a motor vehicle, is provided. The cleaning method includes: emitting light via at least one light source disposed in an at least partially transparent housing; detecting light reflected from the housing by the light source via at least one sensor module disposed in the housing; identifying a covering on the outer side of the housing based on the intensity of the light detected by the at least one sensor module; and actuating a cleaning device to remove the covering from the outer side of the housing.

[0038] The cleaning methods may be implemented with various aspects of the sensor systems described in this document.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] A processor or a processor module is a programmable computing unit, ie a machine or an electronic circuit which controls other elements according to transmitted instructions and thereby carries out an algorithm (process). BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Embodiments of the present disclosure are shown in the accompanying drawings and described in detail below. The accompanying drawings show:

[0045] Figure 1 Schematically illustrates a vehicle having a driving assistance system for autonomous driving according to an embodiment of the present disclosure;

[0046] Figure 2 schematically illustrates a sensor system according to an embodiment of the present disclosure; and

[0047] 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

[0048] Unless otherwise indicated, identical elements and elements having the same effect are provided with the same reference numerals below.

[0049] 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.

[0050] 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).

[0051] To plan and execute automated driving, driver assistance system 100 receives environmental information from environmental sensors observing the vehicle's environment. Specifically, vehicle 10 may include at least one environmental sensor 12 configured to collect environmental data indicative of the vehicle's environment. For example, at least one environmental sensor 12 may include one or more lidar systems, one or more radar systems, one or more ultrasonic sensors, and / or one or more cameras.

[0052] Accurate environmental perception requires that at least one environmental sensor 12 have an unobstructed view of the surrounding environment. If dirt or coverings, such as snow or ice, are present in the field of view of at least one environmental sensor 12, environmental perception may be limited and, in the case of severe dirt or coverings, may even be impossible. 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.

[0053] Figure 2 A sensor system 200 according to an embodiment of the present disclosure is schematically shown.

[0054] The sensor system 200 includes a shell 210, at least one environmental sensor 220 arranged in the shell 210; at least one light source 230 arranged in the shell 210; at least one sensor module 240 arranged in the shell 210, wherein the at least one sensor module 240 is configured to detect light RL reflected by the at least one light source 230 on the shell 210; and at least one processor module 250, which is configured to identify the surface state of the outer side 212 of the shell 210, in particular the covering B on the outer side 212 of the shell 210, based on the intensity of the light RL detected by the at least one sensor module 240.

[0055] In some embodiments, the at least one environmental sensor 220 includes at least one lidar system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system. The housing 210 can be transparent to the wavelength of the at least one environmental sensor 220. For example, the at least one environmental sensor 220 can be a radar sensor, and the housing 210 can be transparent to the corresponding radar wavelength. In another example, the at least one environmental sensor 220 can be a lidar sensor, and the housing 210 can be transparent to the corresponding laser wavelength.

[0056] The at least one light source 230 may be a vehicle lamp, such as a headlamp. Preferably, the housing 210 is transmissive or transparent to light in the visible light range, in particular, to the wavelength of the at least one light source 230. Thus, the light of the at least one light source 230 can be emitted outward.

[0057] At least one sensor module 240 is provided in addition and separately from the at least one ambient sensor 220 and may, for example, include or be a photometer and / or a radiometer.

[0058] The at least one processor module 250 may be disposed within or outside the housing and may be communicatively connected to at least the at least one sensor module 240 .

[0059] In some embodiments, the housing 210 can be a substantially waterproof housing that prevents moisture from invading its interior space 216. This can prevent damage to the at least one environmental sensor 220, the at least one light source 230, and the at least one sensor module 240 located in the interior space 216 of the housing 210. Preferably, the housing 210 is a vehicle lamp housing, such as a headlamp housing.

[0060] The outer side 212 or outer surface of the housing 210 is at least partially exposed to the outside on the vehicle. In other words, the outer side 212 or outer surface of the housing 210 is subject to environmental influences, such that a covering B may form on the outer side 212 or outer surface of the housing 210 due to weather conditions, for example.

[0061] The covering B may, for example, include or be condensation (in particular condensed moisture), ice, snow and / or dirt (eg leaves, road dirt, etc.).

[0062] In the absence of a cover, the at least one sensor module 240 receives a (e.g., constant) characteristic intensity of light RL reflected on or from the housing by the at least one light source 230. If a cover B is now formed on the outer side 212 of the housing 210, the light from the at least one light source 230 is reflected by the cover B, causing the intensity of the reflected light RL measured at the at least one sensor module 240 to increase, while the intensity of the light TL emitted or transmitted outwardly decreases to the same extent.

[0063] In some embodiments, the at least one processor module 250 can determine the type and / or amount of the covering B based on the intensity of the light RL detected by the at least one sensor module 240. In particular, the intensity of the reflected light RL measured on the at least one sensor module 240 can be indicative of the type and / or amount of the covering B. By determining the type and / or amount of the covering B, targeted countermeasures can be taken to quickly and effectively remove the covering B from the housing 210.

[0064] Preferably, the sensor system 200 further includes a cleaning device 260 configured to remove the cover B. The cleaning device 260 may be located in, on, or outside the housing 210. The at least one processor module 250 may be communicatively connected to the cleaning device 260 so as to operate the cleaning device 260 to remove the cover B when the cover B on the outer side 212 of the housing 210 is identified.

[0065] In some embodiments, the at least one processor module 250 can be configured to operate the cleaning device 260 to remove the cover B or to operate the cleaning process when the level (e.g., amount) of the cover B reaches or exceeds a first threshold. Furthermore, the at least one processor module 250 can be configured to operate the cleaning device 260 to end the cleaning process when the level (e.g., amount) of the cover B reaches or falls below a second threshold or when the cover B is no longer detected. As a result, resources such as energy and / or cleaning agents can be conserved. The first and / or second thresholds can be defined, for example, based on the intensity of the light RL detected by the at least one sensor module 240.

[0066] In some embodiments, the cleaning device 260 includes a heating device configured to at least partially heat the outer side 212 of the housing 210. This allows, for example, the removal of condensation, ice, and / or snow. 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 212 of the housing 210. For example, the heating device can include a plurality of heating wires that can be pressed against the inner side 214 of the housing 210 and / or arranged within the housing structure (e.g., between two plates).

[0067] 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, for example, include air, water, a cleaning solution, and combinations thereof. This may, for example, remove dirt (e.g., leaves, road grime, etc.), ice, and / or snow. In some embodiments, the spraying device may include at least one nozzle on or near the housing 210 to at least partially spray the outer side 212 of the housing 210 with the cleaning fluid.

[0068] In some embodiments, the at least one processor module 250 can be configured to manipulate the cleaning device 260 to remove the covering B based on the type and / or amount of the 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 the covering, so that the covering B can be removed from the housing quickly and efficiently.

[0069] 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 covered material detected. 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 covered material detected.

[0070] 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).

[0071] The cleaning method includes in box 310: emitting light through at least one light source arranged in an at least partially transparent shell; in box 320: detecting light reflected by the light source on the shell through at least one sensor module arranged in the shell; in box 330: identifying a covering on the outside of the shell based on the intensity of the light detected by the at least one sensor module; and in box 340: manipulating the cleaning device to remove the covering from the outside of the shell.

[0072] According to the present invention, an additional measuring component is provided in the housing of the sensor system to determine the condition of the housing's outer surface. The housing can be particularly susceptible to environmental influences, such as ice formation on the housing's exterior. Due to this covering, the transmittance of light through the transparent housing increases, while the reflectivity of the covering increases, making it possible to identify the covering, particularly its type and / or quantity. This knowledge allows for appropriate countermeasures, such as de-icing the exterior of the housing. As a result, environmental sensor detection can be prevented from being impaired, enabling accurate environmental perception during autonomous driving.

[0073] 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, comprising: a housing (210), the housing being at least partially transparent; at least one environmental sensor (220), the at least one environmental sensor being disposed in the housing (210); at least one light source (230), the at least one light source being disposed in the housing (210); at least one sensor module (240), the at least one sensor module being arranged in the housing (210), wherein the at least one sensor module (240) is configured to detect light (RL) reflected by the at least one light source (230) on the housing (210); and At least one processor module (250) is configured to identify a covering (B) on the outer side (212) of the housing (210) based on the intensity of light (RL) detected by the at least one sensor module (240).

2. The sensor system (200) of claim 1, wherein: The covering (B) is selected from the group consisting of condensation, ice, snow and dirt; and / or The at least one processor module (250) is configured to determine the type and / or amount of the covering based on the intensity of the light (RL) detected by the at least one sensor module (240).

3. The sensor system (200) according to claim 1 or 2, further comprising a cleaning device (260) configured to remove the cover (B), wherein the at least one processor module (250) is configured to, when the cover (B) is detected on the outer side (212) of the housing (210), actuate the cleaning device (260) to remove the cover (B), in particular wherein the at least one processor module (250) 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.

4. The sensor system (200) of claim 3, wherein the cleaning device (260) is selected from the group consisting of a heater, a spray device, a de-icing agent, and combinations thereof.

5. The sensor system (200) according to any one of claims 1 to 4, wherein: 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 range, in particular wherein the housing (210) is also transparent to radar wavelengths and / or laser light; and / or The at least one light source (230) is a vehicle light, in particular a headlight.

6. The sensor system (200) according to any one of claims 1 to 5, wherein: The at least one environmental sensor (220) comprises at least one lidar system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system.

7. The sensor system (200) according to any one of claims 1 to 6, wherein the at least one sensor module (240) comprises a photometer and / or a radiometer.

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: emitting (310) light via at least one light source disposed in an at least partially transparent housing; detecting (320) light reflected from the light source on the housing by at least one sensor module arranged in the housing; identifying (330) a covering on the outer side of the housing based on the intensity of light detected by the at least one sensor module; and A cleaning device is operated (340) 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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