Control method and control system for sensor protection device, and sensor protection device

Abstract

The embodiment of the invention provides a control method and system of a sensor protection device and the sensor protection device. The method comprises the steps that environment data of the environment where a vehicle is located currently are obtained, and working state data of multiple sensors in the vehicle are obtained; in response to the condition that the particulate matter concentration represented by the environmental data is greater than a concentration threshold value, identifying at least one target sensor in a deactivated state from the plurality of sensors based on the working state data; based on the driving state data of the vehicle, a control strategy of a protection device of the target sensor is determined, the driving state data is used for representing a driving mode adopted by the vehicle, and the control strategy is used for representing a rule for closing the protection device; and controlling the protection device according to the control strategy so as to perform protection operation on the target sensor. The technical problem that the sensor in the vehicle cannot be effectively protected is solved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, in particular, to a control method and system of a protective device of a sensor, and the protective device of the sensor. BACKGROUND

[0002] With the rapid development of automatic driving technology, the number of sensors carried by vehicles has increased rapidly, especially high-precision optical sensors such as cameras and LiDARs, which have become an indispensable part of realizing environmental perception, path planning, and obstacle detection functions. However, the optical interfaces (such as lenses and detection windows) of these sensors are extremely sensitive and easily affected by harsh environmental conditions, especially particle wear and pollution.

[0003] In related technologies, a fixed protective cover is usually used to protect the sensor, however, such a protective cover needs to be manually opened and closed, and the operation is unchanged. In the intelligent driving scenario where the sensor needs to work frequently, the automatic protection of the sensor cannot be realized, and there is a technical problem that the sensor in the vehicle cannot be effectively protected.

[0004] At present, there is no good solution to the technical problem that the sensor in the vehicle cannot be effectively protected. SUMMARY

[0005] Embodiments of the present application provide a control method and system of a protective device of a sensor, and the protective device of the sensor, to at least solve the technical problem that the sensor in the vehicle cannot be effectively protected.

[0006] According to an aspect of embodiments of the present application, a control method of a protective device of a sensor is provided, the method comprising: obtaining environment data of an environment in which a vehicle currently locates, and respectively obtaining working state data of a plurality of sensors in the vehicle, wherein the environment data is used to represent a concentration of particles in the environment, and the working state data is used to represent that a sensor corresponding to the working state data is in a working state or a deactivated state; in response to the concentration of particles represented by the environment data being greater than a concentration threshold, identifying at least one target sensor in the deactivated state from the plurality of sensors based on the working state data; determining a control strategy of the protective device of the target sensor based on driving state data of the vehicle, wherein the driving state data is used to represent a driving mode adopted by the vehicle, and the control strategy is used to represent a rule of closing the protective device; and controlling the protective device according to the control strategy to perform a protection operation on the target sensor.

[0007] Optionally, the control strategy of the protective device of the target sensor is determined based on the driving state data of the vehicle, including: in response to the driving mode represented by the driving state data being a first driving mode, determining the control strategy to be a first control strategy, wherein the first control strategy is used to control the driving motor of the protective device to drive the protective device to close at a first rotating speed, and the first driving mode is used to represent that the driving speed of the vehicle is greater than or equal to a preset speed threshold; and in response to the driving mode represented by the driving state data being a second driving mode, determining the control strategy to be a second control strategy, wherein the second control strategy is used to control the driving motor of the protective device to drive the protective device to close at a second rotating speed, and the second driving mode is used to represent that the driving speed of the vehicle is less than the preset speed threshold, and the first rotating speed is greater than the second rotating speed.

[0008] Optionally, the protective device is controlled according to the control strategy, including: determining the working mode of the protective device, wherein the working mode is at least an open mode or a closed mode; and in response to the working mode being the open mode, sending a control instruction to the driving motor of the protective device according to the control strategy, so that the driving motor drives the protective device to close under the control instruction.

[0009] Optionally, after the protective device is controlled to close, the method further includes: in response to receiving an enabling signal of the target sensor, controlling the electromagnetic valve of the target sensor to spray cleaning liquid to the optical interface of the target sensor; in response to completion of the spraying of the cleaning liquid, controlling the stepping motor of the target sensor to drive the wiper to wipe the optical interface of the target sensor; and in response to completion of the wiping of the optical interface, controlling the driving motor to drive the protective device to open.

[0010] Optionally, during the process of controlling the protective device, the method further includes: detecting an opening and closing state signal of the protective device, wherein the opening and closing state signal is used to indicate that the protective device is in the open mode or the closed mode; in response to detecting the opening and closing state signal within a preset time length, controlling the driving motor to stop working; or in response to not detecting the opening and closing state signal within the preset time length, controlling the driving motor to reset and triggering a warning signal, wherein the warning signal is used to represent that the protective device is abnormal.

[0011] Optionally, the method further includes: in response to the particulate matter concentration represented by the environmental data being less than or equal to a concentration threshold, controlling the working mode of the plurality of sensors to remain unchanged.

[0012] According to another aspect of the embodiments of the present application, a control system of a protection device of a sensor is also provided. The control system comprises: an environment detection module configured to acquire environment data of an environment in which a vehicle currently locates, wherein the environment data is used to represent a concentration of particulate matters in the environment in which the vehicle currently locates; a sensor state detection module configured to acquire working state data of a plurality of sensors in the vehicle respectively, wherein the working state data is used to represent that a sensor corresponding to the working state data is in an active state or a deactivated state; a vehicle state detection module configured to acquire driving state data of the vehicle, wherein the driving state data is used to represent a driving mode adopted by the vehicle; and a control module configured to: in response to the concentration of particulate matters represented by the environment data being greater than a concentration threshold, identify at least one target sensor in a deactivated state from the plurality of sensors based on the working state data; determine a control strategy of the protection device of the target sensor based on the driving state data, wherein the control strategy is used to represent a rule of turning off the protection device; and control the protection device according to the control strategy to perform a protection operation on the target sensor.

[0013] According to another aspect of the embodiments of the present application, a control device of a protection device of a sensor is also provided. The device comprises: an acquisition unit configured to acquire environment data of an environment in which a vehicle currently locates and acquire working state data of a plurality of sensors in the vehicle respectively, wherein the environment data is used to represent a concentration of particulate matters in the environment, and the working state data is used to represent that a sensor corresponding to the working state data is in an active state or a deactivated state; an identification unit configured to: in response to the concentration of particulate matters represented by the environment data being greater than a concentration threshold, identify at least one target sensor in a deactivated state from the plurality of sensors based on the working state data; a determination unit configured to determine a control strategy of the protection device of the target sensor based on driving state data of the vehicle, wherein the driving state data is used to represent a driving mode adopted by the vehicle, and the control strategy is used to represent a rule of turning off the protection device; and a control unit configured to control the protection device according to the control strategy to perform a protection operation on the target sensor.

[0014] According to another aspect of the embodiments of the present application, a vehicle is also provided. The vehicle comprises: a memory configured to store an executable program; and a processor configured to run the program, wherein the program is executed to perform the method in the embodiments of the present application when the program is run.

[0015] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided. The computer readable storage medium comprises a stored executable program, wherein the computer readable storage medium is controlled to perform the method in the embodiments of the present application when the executable program is run.

[0016] According to a further aspect of the embodiments of the present application, a computer program product is provided, which includes a computer program, and the computer program, when executed by a processor, implements the method in any of the embodiments of the present application.

[0017] According to a further aspect of the embodiments of the present application, a computer program product is provided, which includes a non-volatile computer readable storage medium, and the non-volatile computer readable storage medium stores a computer program, and the computer program, when executed by a processor, implements the method in any of the embodiments of the present application.

[0018] According to a further aspect of the embodiments of the present application, a computer program is provided, and the computer program, when executed by a processor, implements the method in any of the embodiments of the present application.

[0019] In the embodiments of the present application, the environment data of the environment where the vehicle currently locates is acquired, and the working state data of the plurality of sensors in the vehicle is respectively acquired, wherein the environment data is used to represent the concentration of particulate matters in the environment, and the working state data is used to represent that the sensor corresponding to the working state data is in a working state or a deactivated state; in response to the concentration of particulate matters represented by the environment data being greater than a concentration threshold, at least one target sensor in the deactivated state is identified from the plurality of sensors based on the working state data; the control strategy of the protection device of the target sensor is determined based on the driving state data of the vehicle, wherein the driving state data is used to represent the driving mode adopted by the vehicle, and the control strategy is used to represent the rule of closing the protection device; and the protection device is controlled according to the control strategy to perform the protection operation on the target sensor. That is, in the embodiments of the present application, by acquiring the particulate matter concentration data of the environment where the vehicle currently locates and the working state data of the sensors in real time, the particulate matter concentration in the environment where the vehicle currently locates can be accurately identified, and then in the case that the particulate matter concentration in the environment where the vehicle currently locates is large, the target sensor in the deactivated state in the vehicle is protected in combination with the driving state data of the vehicle, so as to avoid the target sensor in the deactivated state from being damaged by the particulate matters, to realize the accurate protection of the sensors in the vehicle, and to improve the protection effect of the sensors in the vehicle, thereby solving the technical problem that the sensors in the vehicle cannot be effectively protected. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application. In the drawings:

[0021] Figure 1 is a flowchart of the control method of the protection device of the sensor according to the embodiments of the present application;

[0022] Figure 2is a schematic diagram of a control system of a protective device of a sensor according to an embodiment of the application;

[0023] Figure 3 is a schematic diagram of a protective device of a sensor according to an embodiment of the application;

[0024] Figure 4 is a hardware block diagram of a control system of a protective device of a sensor according to an embodiment of the application;

[0025] Figure 5 is a structural schematic diagram of a protective device of a sensor according to an embodiment of the application;

[0026] Figure 6 is a schematic diagram of a power device of a protective device according to an embodiment of the application;

[0027] Figure 7 is a flow chart of a control method of another protective device of a sensor according to an embodiment of the application;

[0028] Figure 8 is a schematic diagram of a control device of a protective device of a sensor according to an embodiment of the application. DETAILED DESCRIPTION

[0029] In order to make the personnel in the art better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without creative labor should belong to the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] According to the embodiment of the present application, an embodiment of a control method of a protection device of a sensor is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from here.

[0032] In the embodiment, a control method of a protection device of a sensor is provided, Figure 1 is a flowchart of the control method of the protection device of the sensor according to the embodiment of the present application, as Figure 1 shown, the flow includes the following steps:

[0033] In step S101, environment data of an environment in which a vehicle currently locates is acquired, and working state data of a plurality of sensors in the vehicle is respectively acquired.

[0034] In the technical solution provided in step S101 of the present application, the environment data is used to represent the concentration of particulate matter in the environment in which the vehicle currently locates, for example, the concentration of sand dust; and the working state data is used to indicate that the sensor corresponding to the working state data is in a working state or a deactivated state.

[0035] In this embodiment, the environment data of the environment in which the vehicle currently locates can be acquired by an environment detection module in the vehicle, and the working state data of the plurality of sensors in the vehicle can be acquired by a sensor state detection module.

[0036] Optionally, the environment detection module can include a particulate matter detection sensor, for example, a sand dust detection sensor. The particulate matter detection sensor can be deployed at a plurality of positions outside the vehicle, so as to comprehensively detect the concentration of particulate matter in the environment around the vehicle, and capture the distribution of the particulate matter in the environment in which the vehicle currently locates in real time. Then, the detected concentration of particulate matter is taken as the environment data in the environment in which the vehicle currently locates, and is transmitted to a control unit of the vehicle through a vehicle-mounted network, wherein the vehicle-mounted network can include a Controller Area Network (CAN) bus or a Local Interconnect Network (LIN) bus. Wherein, the acquisition of the environment data is a key factor to determine whether to start the protection measure of the sensor. If the concentration of particulate matter represented by the environment data exceeds a preset safety threshold, it means that the optical interface of the sensor in the vehicle faces a high risk of damage, in which case, a corresponding protection strategy can be taken to protect the sensor in the vehicle.

[0037] Optionally, the sensor state detection module can be configured to acquire sensor working state data of a plurality of sensors in the vehicle. For example, the sensor state detection module can track and record the working state data of the plurality of sensors in the vehicle in real time, which can be used to represent that the sensors are currently in a use state or a non-use state. In addition, the working state data can also be used to represent the current operation mode of the sensors, wherein the operation mode can at least include a low light mode or a strong light mode, etc. The sensor state detection module establishes a connection with the sensors through a vehicle-mounted network, such as a CAN bus, Ethernet, etc., to collect the working state data of the sensors, and transmits the collected working state data to the control unit of the vehicle by communicating with the control unit of the vehicle.

[0038] In this step, by acquiring the environment data of the environment in which the vehicle is currently located, and respectively acquiring the working state data of a plurality of sensors in the vehicle, not only the environmental conditions of the environment in which the vehicle is currently located can be perceived, but also the working states of the plurality of sensors in the vehicle can be understood, thereby providing a reliable data basis for subsequent determination of the protection strategy of the protection device of the sensors.

[0039] In step S102, in response to the particulate matter concentration represented by the environment data being greater than the concentration threshold, at least one target sensor in a non-use state is identified from the plurality of sensors based on the working state data.

[0040] In the technical solution provided in the above step S102 of the present application, after obtaining the environment data of the environment in which the vehicle is currently located, it can be determined whether the particulate matter concentration in the environment in which the vehicle is currently located is greater than the concentration threshold according to the environment data, and in the case that the particulate matter concentration in the environment in which the vehicle is currently located is greater than the concentration threshold, at least one target sensor in a non-use state is identified from the plurality of sensors according to the working state data of the sensors in the vehicle.

[0041] In this embodiment, if the particulate matter concentration in the environment in which the vehicle is currently located is greater than the concentration threshold, it indicates that the particulate matter concentration in the environment in which the vehicle is currently located is relatively large, which can cause damage to the sensors in the vehicle. In this case, at least one target sensor in a non-use state in the vehicle can be further identified, and the target sensor can be protected, so as to protect the target sensor in the vehicle without affecting the normal operation of the intelligent driving system of the vehicle, and to avoid damage to the optical interface of the target sensor by the particulate matter.

[0042] In this step, in the case that the particulate matter concentration in the environment in which the vehicle is currently located is relatively large, the working state data of the plurality of sensors in the vehicle can be used to accurately identify the unused sensors, and targeted protection can be performed to avoid excessive protection and protection errors.

[0043] In step S103, a control strategy of the protective device of the target sensor is determined based on the driving state data of the vehicle.

[0044] In the technical solution provided in step S103 above, the driving state data is used to represent the driving mode of the vehicle; the protective device is a protective device for the target sensor (such as a camera or a laser radar), which is used to physically protect the target sensor in harsh environments (such as sandstorms or rainy and snowy weather) or in specific vehicle working conditions (such as high-speed driving or stationary state), so as to avoid damage to the optical interface of the target sensor and ensure the stability of the target sensor and the accuracy of data acquisition. One target sensor corresponds to one protective device. The control strategy is used to represent the rule for closing the identified protective device of the target sensor, so as to achieve the purpose of protecting the sensor in the inactive state in the vehicle through the protective device when the concentration of particulate matter in the environment where the vehicle is located is high.

[0045] In this embodiment, after identifying at least one target sensor in the inactive state in the vehicle, the control strategy for controlling the protective device of the target sensor can be further determined in combination with the driving state data of the vehicle.

[0046] Optionally, the driving state data of the vehicle includes but is not limited to the driving speed of the vehicle, the gear state of the vehicle, the driving mode of the vehicle (such as manual driving mode, assisted driving mode, and automatic driving mode), and the driving position of the vehicle, etc. The driving state information of the vehicle can be transmitted to the control unit of the vehicle in real time through the vehicle-mounted network (such as CAN bus) to provide a comprehensive perspective of the current driving of the vehicle.

[0047] Optionally, after obtaining the driving state data of the vehicle, the driving mode of the vehicle can be determined according to the driving state data of the vehicle, and then the control strategy of the protective device of the target sensor can be determined according to the driving mode of the vehicle.

[0048] For example, if the current driving mode of the vehicle is the first driving mode (e.g., high-speed information mode), it indicates that the current driving speed of the vehicle is relatively fast, and the impact of wind resistance and external particles is relatively large. In this case, the protection operation of the protective device of the target sensor needs to be quickly and accurately performed, thereby minimizing the time for which the optical interface of the target sensor is exposed to the harsh environment. In this case, the control strategy of the protective device of the target sensor can be determined as a first control strategy, which can control the driving motor of the target sensor to operate at a first relatively high speed, so that the protective device of the target sensor can be quickly closed to provide immediate protection for the target sensor. The relatively high speed means a faster response speed and closing time, thereby reducing the risk of damage that the target sensor may suffer during high-speed driving.

[0049] For another example, if the current driving mode of the vehicle is the second driving mode (e.g., low-speed driving mode), it indicates that the current driving speed of the vehicle is relatively slow, and the impact of wind resistance and environmental particles on the optical interface of the sensor in the vehicle during driving is relatively small. In this case, the protection strategy of the target sensor can be determined as a second control strategy, which can control the driving motor of the target sensor to operate at a second relatively low speed to control the protective device of the target sensor to be closed. The relatively low speed means a more stable movement and less mechanical wear, and at the same time, the noise generated during movement is also reduced, thereby improving the user experience. This strategy is more suitable for protection operation during low-speed driving, and ensures the safety of the target sensor.

[0050] In this step, the control strategy of the protective device of the target sensor is dynamically determined according to the driving state data of the vehicle, which allows different control strategies to be adopted for protection operation of the target sensor in different driving modes, thereby achieving effective protection of the target sensor.

[0051] In step S104, the protective device is controlled according to the control strategy to perform protection operation on the target sensor.

[0052] In the technical solution provided in step S104 of the present application, after the control strategy for protecting the target sensor is determined, the protective device of the target sensor can be controlled according to the control strategy to perform protection operation on the target sensor, thereby avoiding the optical interface of the target sensor from being impacted by particles in the environment and being damaged.

[0053] In this embodiment, after determining the control strategy of the protective device of the target sensor, the control instruction of the protective device of the target sensor can be generated according to the control strategy, and then the control instruction is sent to the driving motor of the protective device of the target sensor. After receiving the control instruction, the driving motor can drive the protective device of the target sensor to close to perform the protection operation on the target sensor.

[0054] Optionally, the driving motor can drive the protective device of the target sensor to move to the closed position through a gear rack or a worm gear mechanism to shield the optical interface of the target sensor, thereby performing the protection operation on the target sensor. Conversely, if the target sensor needs to be enabled, the driving motor can drive the protective device of the target sensor to move away to ensure normal use of the target sensor.

[0055] In steps S101-S104, by acquiring the particulate matter concentration data of the environment where the vehicle currently locates and the working state data of the sensor in real time, the particulate matter concentration in the environment where the vehicle currently locates can be accurately identified, and then in the case that the particulate matter concentration in the environment where the vehicle currently locates is large, the target sensor in the vehicle in the inactivated state is protected in combination with the driving state data of the vehicle, so as to avoid damage of the target sensor in the inactivated state by the particulate matter, to achieve accurate protection of the sensor in the vehicle, thereby improving the protection effect of the sensor in the vehicle, and solving the technical problem that the sensor in the vehicle cannot be effectively protected.

[0056] The control method of the protective device of the sensor in the present application will be further introduced below.

[0057] As an optional implementation, in step S103, the control strategy of the protective device of the target sensor is determined based on the driving state data of the vehicle, including: in response to the driving mode represented by the driving state data being a first driving mode, determining the control strategy to be a first control strategy, wherein the first control strategy is used to control the driving motor of the protective device to drive the protective device to close at a first rotating speed, and the first driving mode is used to represent that the driving speed of the vehicle is greater than or equal to a preset speed threshold; in response to the driving mode represented by the driving state data being a second driving mode, determining the control strategy to be a second control strategy, wherein the second control strategy is used to control the driving motor of the protective device to drive the protective device to close at a second rotating speed, the second driving mode is used to represent that the driving speed of the vehicle is less than the preset speed threshold, and the first rotating speed is greater than the second rotating speed.

[0058] In this embodiment, the first driving mode refers to a driving mode in which the driving speed of the vehicle is greater than or equal to a preset speed threshold, which can also be referred to as a high-speed driving mode. The second driving mode refers to a driving mode in which the driving speed of the vehicle is less than the preset speed threshold, which can also be referred to as a low-speed driving mode.

[0059] Optionally, when determining the control strategy of the protective device of the target sensor according to the driving state data of the vehicle, the driving mode of the vehicle can be determined according to the driving state data of the vehicle first. If the driving mode of the vehicle is the first driving mode, it indicates that the vehicle is driving at a relatively high speed and is subjected to a relatively large impact force of particulate matter in the environment. In this case, it is necessary to quickly control the protective device of the target sensor to close in order to protect the unused sensor in the vehicle. Therefore, the control strategy of the protective device of the target sensor can be determined as the first control strategy, wherein the first control strategy is used to control the driving motor of the protective device to drive the protective device to close at a first rotating speed. The first rotating speed is usually set to be relatively high, which aims to complete the protection action in a short time and reduce the time for which the target sensor is exposed to a harsh environment, thereby reducing the risk of damage to the optical interface of the target sensor. The first strategy is suitable for the case where the vehicle is in a high-speed driving environment and can quickly respond to environmental changes to provide immediate protection.

[0060] Optionally, if the driving mode of the vehicle is the second driving mode, it indicates that the vehicle is driving at a relatively slow speed and is subjected to a relatively small impact force of particulate matter in the environment. In this case, the control strategy of the protective device of the target sensor can be determined as the second control strategy, wherein the second control strategy is used to control the driving motor of the protective device to drive the protective device to close at a second rotating speed. The second rotating speed is lower than the first rotating speed, which aims to balance the need for protection and avoid mechanical wear and noise interference caused by a large rotating speed.

[0061] In this step, through real-time analysis of the driving state data of the vehicle, the driving mode in which the vehicle is currently located can be intelligently judged, and the control strategy of the protective device of the target sensor can be adjusted accordingly. This dynamic adjustment mechanism enables the vehicle to adopt the most suitable protection strategy according to the actual driving environment, which not only ensures that the target sensor is protected when needed, but also avoids unnecessary energy consumption and mechanical damage, thereby embodying the flexibility of the protection operation of the sensor.

[0062] As an optional implementation, the step S104 of controlling the protective device according to the control strategy comprises: determining a working mode of the protective device, wherein the working mode is at least an open mode or a closed mode; and in response to the working mode being the open mode, sending a control instruction to the driving motor of the protective device according to the control strategy, so that the driving motor drives the protective device to close under the control instruction.

[0063] In this embodiment, after determining the control strategy of the protective device of the target sensor in the deactivated state in the vehicle, the working mode of the protective device of the target sensor can be further determined, wherein the working mode is at least an open mode or a closed mode. The open mode is used to represent that the protective device of the target sensor is in an open state, i.e., the optical interface of the target sensor is completely exposed, and the protective device does not physically shield the target sensor. The closed mode is used to represent that the protective device of the target sensor is in a closed state, i.e., the protective cover or cover plate of the protective device of the target sensor has accurately covered the optical interface of the target sensor, and the target sensor is physically protected.

[0064] Optionally, after determining the working mode of the protective device of the target sensor, if the working mode is the open mode, a control instruction can be sent to the driving motor of the protective device of the target sensor according to the control strategy, so that the driving motor drives the protective device of the target sensor to close under the control instruction.

[0065] Optionally, the protective device of the target sensor is equipped with a Hall position sensor for real-time detection of the state (e.g., fully open / fully closed / stuck) of the protective device. During the process of driving the protective device of the target sensor to close, whether the protective device of the target sensor is in a fully closed state can be determined according to the state information of the protective device of the target sensor detected by the Hall position sensor, and then the driving motor is controlled to stop operating when the protective device of the target sensor is in the fully closed state.

[0066] Optionally, if the protective device of the target sensor is in a stuck state during the process of driving the protective device of the target sensor to close according to the state information of the protective device of the target sensor detected by the Hall position sensor, an alarm signal can be generated and sent to the control unit of the vehicle through the CAN bus / LIN bus. After receiving the alarm information, the control unit can send fault information to the vehicle cabin system, and the vehicle cabin system can issue a warning sound and display a fault code, such as “Exxxx-sensor protective device stuck”, on the central control screen of the vehicle.

[0067] Optionally, if the working mode of the protective device of the target sensor is already in the closed mode, the protective device of the target sensor can not be controlled in this case, so as to prevent mechanical damage to the protective device of the target sensor when the protective device of the target sensor is already in the closed mode and the protective device of the target sensor is still operated to close.

[0068] In this step, after determining the control strategy of the protective device of the target sensor, the protective device of the target sensor can be controlled according to the working mode of the protective device of the target sensor to achieve the protection operation of the target sensor, while causing mechanical damage to the protective device.

[0069] As an optional implementation, after the protective device is controlled to close, the method further comprises: in response to receiving an enable signal of the target sensor, controlling the electromagnetic valve of the target sensor to spray cleaning liquid to the optical interface of the target sensor; in response to completion of the spraying of the cleaning liquid, controlling the stepping motor of the target sensor to drive the wiper to wipe the optical interface of the target sensor; and in response to completion of the wiping of the optical interface, controlling the driving motor to drive the protective device to open.

[0070] In this embodiment, when the protective device of the target sensor is in the closed mode, if an enable signal of the target sensor is received, it indicates that the target sensor is to enter the use state, and in this case, the protective device of the target sensor can be controlled to open to avoid the protective device from causing obstruction to the optical interface of the target sensor.

[0071] Optionally, before the protective device of the target sensor is controlled to open, a control instruction can be sent to the electromagnetic valve in the cleaning module of the sensor in the vehicle to control the electromagnetic valve to open and quantitatively spray cleaning liquid to the optical interface of the target sensor. After the spraying of the cleaning liquid is completed, the stepping motor of the target sensor can be controlled to drive the wiper to wipe the optical interface of the target sensor to remove the dust and cleaning liquid residue attached to the optical interface of the target sensor, so as to ensure the dryness and clarity of the optical interface of the target sensor.

[0072] Optionally, after the wiping operation of the optical interface of the target sensor is completed, it can be determined whether the optical interface of the target sensor has been completely cleaned. For example, a sensor (such as an optical sensor or a contact sensor) integrated in the protective device of the target sensor can be used to achieve this, so as to ensure that the cleaning effect of the optical interface of the target sensor reaches a predetermined standard. After it is confirmed that the cleaning and wiping of the optical interface of the target sensor are completed, the driving motor of the protective device of the target sensor can be further controlled to drive the protective device of the target sensor to open.

[0073] For example, a control instruction can be sent to the driving motor of the protective device of the target sensor to control the driving motor to reverse rotation, and the protective device is accurately controlled to open through a transmission assembly (such as a gear rack or a worm gear). The process is monitored by a Hall position sensor to ensure that the protective device is completely opened and any obstruction to the line of sight of the sensor is avoided.

[0074] In this step, after receiving the enable signal of the target sensor, the optical interface of the target sensor is first cleaned to ensure that the optical interface is clear when in use, thereby ensuring that the target sensor can provide high-quality sensing data when in use.

[0075] As an optional implementation, in the process of controlling the protective device, the method further includes: detecting an opening and closing state signal of the protective device, wherein the opening and closing state signal is used to indicate that the protective device is in an open mode or a closed mode; in response to detecting the opening and closing state signal within a preset time length, controlling the driving motor to stop working; or, in response to not detecting the opening and closing state signal within the preset time length, controlling the driving motor to reset and triggering a warning signal, wherein the warning signal is used to represent an abnormality of the protective device.

[0076] In this embodiment, in the process of controlling the protective device, the opening and closing state signal of the protective device can also be detected, wherein the opening and closing state signal is used to indicate that the protective device is in an open mode or a closed mode.

[0077] Optionally, in order to detect the position state of the protective device of the sensor in real time, a Hall position sensor is provided for the protective device of each sensor in the vehicle, which can detect the position information of the protective device of the sensor and generate an opening and closing state signal and send it to the control unit of the vehicle. Based on this, in the process of controlling the protective device of the target sensor, the opening and closing state signal of the protective device of the target sensor can be detected by the Hall position sensor. If the opening and closing state signal is detected within a preset time length in the process of controlling the protective device of the target sensor to be closed, it indicates that the protective device of the target sensor has been in a closed state, and in this case, the driving motor of the protective device of the target sensor can be controlled to stop working.

[0078] Optionally, if the opening and closing state signal is detected within a preset time length in the process of controlling the protective device of the target sensor to be opened, it indicates that the protective device of the target sensor has been in an open state, and in this case, the driving motor of the protective device of the target sensor can be controlled to stop working.

[0079] Optionally, if the opening and closing state signal is not detected within a preset time length in the process of controlling the protective device of the target sensor to be closed or opened, it indicates that the protective device is in an abnormal state, such as a protective cover stuck, a motor failure, etc. In this case, in order to avoid greater risks, the control unit will immediately execute a protection mechanism to control the driving motor to reset reversely, trying to restore the protective cover to an initial state or an opposite opening and closing position, which helps to reduce potential damage caused by the failure. At the same time, an alarm signal can also be generated to remind the driver and passengers in the vehicle.

[0080] In this step, in the process of controlling the protective device of the target sensor, by detecting the opening and closing state signal of the protective device in real time, the driving motor of the protective device can be automatically controlled to stop working when the protective device is in the expected position, thereby avoiding excessive driving and unnecessary energy consumption, and also helping to prolong the service life of the motor and the transmission assembly. When the protective device is detected to be in an abnormal state, the corresponding abnormal situation is timely handled, which can enhance the self-diagnosis capability of the protective device of the sensor and improve the operation safety of the protective device.

[0081] As an optional implementation, the method further includes: in response to the particulate matter concentration represented by the environmental data being less than or equal to the concentration threshold, the working mode of the plurality of sensors remains unchanged.

[0082] In this embodiment, if it is determined in step S102 that the particulate matter concentration represented by the environmental data of the environment in which the vehicle is currently located is less than or equal to the concentration threshold, the working mode of the plurality of sensors remains unchanged.

[0083] Optionally, when it is confirmed that the particulate matter concentration in the environment in which the vehicle is currently located is less than or equal to the concentration threshold, it is considered that the particulate matter in the environment in which the vehicle is currently located will not cause obvious damage to the optical interface of the sensor. In this case, the closing action of the protective device of the sensor will not be started, and the sensor will continue to remain in the current working mode unchanged, whether it is in a normal use state or a standby state. This means that the optical interface of the sensor can receive environmental information without being blocked, thereby ensuring the real-time perception and response of the intelligent driving system to environmental changes.

[0084] In this step, when the particulate matter concentration in the environment in which the vehicle is currently located is low, the working mode of the plurality of sensors in the vehicle can be controlled to remain unchanged, thereby avoiding unnecessary protective operation under good environmental conditions, reducing possible noise and visual interference, and improving the overall experience of the driver and passengers.

[0085] According to an embodiment of the present application, an embodiment of a control system of a protective device of a sensor is provided, Figure 2 is a schematic diagram of a control system of a protective device of a sensor according to an embodiment of the present application, as Figure 2 shown, the control system of the protective device of the sensor 200 includes an environmental detection module 201, a sensor state detection module 202, a vehicle state detection module 203, and a control module 204.

[0086] The environmental detection module 201 is configured to obtain environmental data of an environment in which a vehicle is currently located, wherein the environmental data is used to represent a particulate matter concentration in the environment in which the vehicle is currently located.

[0087] In this embodiment, the environment data of the current environment where the vehicle is located can be acquired by the environment detection module. The environment detection module can include a particulate matter detection sensor, such as a sand detection sensor. The particulate matter detection sensor can be deployed at multiple positions outside the vehicle to comprehensively detect the concentration of particulate matter in the environment around the vehicle, capture the distribution of particulate matter in the current environment where the vehicle is located in real time, and then transmit the detected particulate matter concentration as the environment data in the current environment where the vehicle is located to the control unit of the vehicle through the vehicle network. The acquisition of the environment data is a key factor for determining whether to start the sensor protection measure. If the particulate matter concentration represented by the environment data exceeds the preset safety threshold, it means that the optical interface of the sensor in the vehicle faces a high risk of damage, and in this case, appropriate protection strategies can be taken to protect the sensor in the vehicle.

[0088] The sensor state detection module 202 is configured to acquire working state data of a plurality of sensors in the vehicle, wherein the working state data is used to represent that the sensor corresponding to the working state data is in a working state or a disabled state.

[0089] In this embodiment, the sensor state detection module can be used to acquire the sensor working state data of a plurality of sensors in the vehicle. The sensor state detection module can track and record the working state data of a plurality of sensors in the vehicle in real time, and the working state data can be used to represent that the sensor is currently in a use state or a disabled state. In addition, the working state data can also be used to represent the current operation mode of the sensor, wherein the operation mode can include at least a low light mode or a strong light mode. The sensor state detection module establishes a connection with the sensor through a vehicle network such as a CAN bus, Ethernet, etc., to collect the working state data of the sensor, and communicates with the control unit of the vehicle to transmit the collected working state data to the control unit of the vehicle.

[0090] The vehicle state detection module 203 is configured to acquire driving state data of the vehicle, wherein the driving state data is used to represent a driving mode adopted by the vehicle.

[0091] In this embodiment, the vehicle state detection module can be used to acquire the driving state data of the vehicle, which includes but is not limited to the driving speed of the vehicle, the gear state of the vehicle, the driving mode of the vehicle (such as manual driving mode, assisted driving mode, and automatic driving mode), and the driving position of the vehicle. The driving state information of the vehicle can be transmitted to the control unit of the vehicle in real time through a vehicle network (such as a CAN bus) to provide a comprehensive perspective of the current driving of the vehicle.

[0092] The control module 204 is configured to, in response to the particulate concentration represented by the environment data being greater than the concentration threshold, identify at least one target sensor in the inactivated state from the plurality of sensors based on the working state data; determine a control strategy of the protective device of the target sensor based on the driving state data, wherein the control strategy is used to represent a rule for closing the protective device; and control the protective device according to the control strategy to perform the protection operation on the target sensor.

[0093] In this embodiment, as described above, the environment data of the environment in which the vehicle is currently located is used to represent the particulate concentration in the environment in which the vehicle is currently located. Based on this, after obtaining the environment data of the environment in which the vehicle is currently located, it can be determined whether the particulate concentration in the environment in which the vehicle is currently located is greater than the concentration threshold according to the environment data. If the particulate concentration in the environment in which the vehicle is currently located is greater than the concentration threshold, at least one target sensor in the inactivated state is further identified from the plurality of sensors according to the working state data of the plurality of sensors in the vehicle.

[0094] Optionally, after the target sensor is identified, a control strategy of the protective device of the target sensor can be further determined according to the current driving state data of the vehicle, wherein the control strategy is used to represent a rule for closing the protective device.

[0095] For example, after obtaining the driving state data of the vehicle, the driving mode of the vehicle can be determined according to the driving state data of the vehicle, and then the control strategy of the protective device of the target sensor can be determined according to the driving mode of the vehicle. For example, the current driving mode of the vehicle is the first driving mode (e.g., high-speed driving mode), which indicates that the current driving speed of the vehicle is relatively fast, and the impact of wind resistance and external particulate matter is relatively large. In this case, the protection operation of the protective device of the target sensor needs to be quickly and accurately performed, thereby minimizing the time for which the optical interface of the target sensor is exposed to the harsh environment. Therefore, the control strategy of the protective device of the target sensor can be determined as a first control strategy, which can control the driving motor of the target sensor to operate at a relatively high first rotating speed, so that the protective device of the target sensor can be quickly closed to provide immediate protection for the target sensor. The relatively high rotating speed means a faster response speed and closing time, thereby reducing the risk of damage that the target sensor may suffer during high-speed driving.

[0096] For example, if the current driving mode of the vehicle is the second driving mode (e.g., low-speed driving mode), it indicates that the current driving speed of the vehicle is slow, and the impact force of the wind resistance and the particles in the environment on the optical interface of the sensor in the vehicle is small during driving. In this case, the protection strategy of the target sensor can be determined as the second control strategy, which can control the driving motor of the target sensor to operate at a second lower speed to control the protection device of the target sensor to close. The lower speed means more stable movement and less mechanical wear, and at the same time, the noise generated during movement is also reduced, improving the user experience. This strategy is more suitable for protection operation at low speed, which ensures the safety of the target sensor.

[0097] Optionally, after determining the control strategy of the protection device of the target sensor, a control instruction can be generated according to the control strategy, and then the control instruction is sent to the driving motor of the protection device of the target sensor, so that the driving motor drives the protection device of the target sensor to close according to the control instruction.

[0098] In the control system of the protection device of the sensor, the particle concentration data of the environment where the vehicle currently locates is obtained in real time through the environment detection module, and the working state data of the plurality of sensors in the vehicle is obtained in real time through the sensor state detection module, so that the particle concentration in the environment where the vehicle currently locates can be accurately identified, and then in the case that the particle concentration in the environment where the vehicle currently locates is large, the protection device of the target sensor in the vehicle in the inactivated state is controlled in combination with the current driving state data of the vehicle to perform protection operation on the target sensor, so as to avoid the damage of the target sensor in the inactivated state caused by the particles, to achieve accurate protection of the sensor in the vehicle, thereby improving the protection effect of the sensor in the vehicle, and solving the technical problem that the sensor in the vehicle cannot be effectively protected.

[0099] The control system of the protection device of the sensor in the present application will be further introduced below.

[0100] As an optional implementation, the control module is further configured to: in response to receiving the activation signal of the target sensor, control the driving motor of the protection device to drive the protection device to open.

[0101] In this embodiment, if the protection device of the target sensor is in the closed mode, in this case, if the activation signal of the target sensor is received, the driving motor of the protection device of the target sensor can be controlled to drive the protection device to open.

[0102] Optionally, after receiving the enable signal of the target sensor, the control module can send a control instruction to the driving motor of the protective device of the target sensor to control the driving motor to drive the protective device of the target sensor to open.

[0103] For example, the control module can send a control instruction to the driving motor of the protective device, instructing the driving motor to open the protective device. After receiving the control instruction, the driving motor can accurately drive the opening and closing mechanism (such as a gear rack or worm gear structure) of the protective device to act according to the preset rotation speed and stroke parameters, until the protective device is completely opened, exposing the optical interface of the target sensor.

[0104] As an optional embodiment, the control system further comprises a cleaning module, configured to clean the optical interface of the target sensor before the protective device is opened.

[0105] In this embodiment, when the target sensor is switched from the inactive state to the active state, i.e., needs to start collecting data, the activation of the cleaning module becomes the key to ensuring the cleanliness of the optical interface of the sensor and improving the quality of data collection.

[0106] Optionally, when the control module receives the enable signal of the target sensor, the cleaning module can be activated to prepare for the cleaning work of the optical interface of the target sensor.

[0107] Optionally, when the cleaning module cleans the optical interface of the target sensor, the micro electromagnetic valve in the cleaning module will be opened for a certain period of time to allow a preset amount of cleaning liquid (such as a special cleaning agent or water) to be accurately sprayed onto the optical interface of the target sensor through the nozzle. After the cleaning liquid is sprayed, the stepping motor of the target sensor will drive the silicone or polyurethane wiper to wipe the optical interface at a specific frequency and trajectory to remove dust, rainwater and other particulate matter, ensuring the transparency and cleanliness of the optical interface of the target sensor, wherein the movement of the wiper needs to be matched with the shape and size of the sensor to achieve full coverage.

[0108] Optionally, after receiving the enable signal of the target sensor, the cleaning module can be activated to clean the optical interface of the target sensor before the protective device of the target sensor is opened, ensuring that the optical interface of the target sensor is in the best state when it is activated, effectively avoiding the influence of pollutants on the optical interface, which can improve the clarity and accuracy of data collection of the target sensor, and further improve the perception ability and decision-making level of the vehicle intelligent driving system.

[0109] As an optional implementation, the control system further comprises a feedback module configured to detect the opening and closing state information of the protective device and feed the opening and closing state information back to the control module; and the control module is configured to control the drive motor of the protective device to reset and trigger a warning signal when the duration of the received opening and closing state information is greater than a preset duration, wherein the warning signal is used to represent the abnormality of the protective device.

[0110] In this embodiment, the feedback module is configured to detect the opening and closing state information of the protective device of the target sensor. The feedback module can accurately detect whether the protective device is in the expected open or closed state through the Hall sensor installed near the joint of the protective device of the target sensor.

[0111] Optionally, after the drive motor of the protective device receives the control instruction, the feedback module starts to continuously record the opening and closing state of the protective device and generates the opening and closing state information in real time according to the opening and closing state of the protective device and transmits the opening and closing state information to the control module. This process is not only limited to the confirmation of the initial state, but more importantly, it continuously monitors the state change of the protective device during the entire opening and closing period to ensure the integrity of the operation.

[0112] Optionally, after receiving the opening and closing state information provided by the feedback module, the control module analyzes the opening and closing state information to determine whether the opening and closing action of the protective device is normal and whether the expected final state is reached.

[0113] Optionally, if the control module detects that the duration of the received opening and closing state information is greater than a preset duration threshold, it indicates that the protective device encounters a problem during the execution of the opening and closing action, which may be caused by the failure of opening and closing due to jamming, mechanical failure, motor overload, etc. In this case, the control module will immediately take action: control the drive motor of the protective device to reset and trigger a warning signal.

[0114] For example, the control module can send a reverse instruction to the drive motor of the protective device to restore the protective device to the initial position, avoiding the protective device staying in the half-opened or half-closed state due to the failure state, which may cause further damage to the target sensor or pose a threat to the safety of driving. At the same time, the control module will start the warning mechanism and send a warning signal to the warning system in the cockpit to prompt the driver or system maintenance personnel to pay attention to the abnormal state of the protective device. The warning signal can be an audible and visual alarm, a warning message on the central control display screen, or a fault notification sent through a remote monitoring platform to ensure that the problem can be discovered and handled in a timely manner.

[0115] In the control system of the protective device of the sensor, the integrated feedback module can ensure the normal operation of the protective device, thereby ensuring the overall performance and safety of the sensor and the intelligent driving system. The feedback module detects the opening and closing state of the protective device of the sensor in real time, resets and warns in time when the protective device is in an abnormal state, and effectively prevents the sensor from being damaged or the normal operation of the intelligent driving system from being affected due to the failure of the protective device.

[0116] According to the embodiment of the present application, a protective device of a sensor is provided, Figure 3 is a schematic diagram of a protective device of a sensor according to the embodiment of the present application, as Figure 3 shown, the protective device of the sensor 300 comprises a protective cover 301 and a sealing structure 302.

[0117] The protective cover 301 is connected with the sensor and is used for protecting the sensor in the closed mode.

[0118] In this embodiment, the protective cover 301 is the core physical component in the protective device of the sensor, and its main function is to physically shield the sensor in the closed mode of the protective device, so as to protect the optical interface of the sensor from being damaged by external environmental factors (such as sand, water, foreign matter impact, etc.).

[0119] Optionally, the protective cover 301 is usually made of high-strength and high-transparency material, such as polycarbonate (PC), to ensure that sufficient strength is provided to resist external impact while maintaining good optical transmittance, without affecting the data acquisition quality of the sensor. The shape and size of the protective cover need to be accurately matched with the optical interface of the sensor, and common shapes include circular (suitable for laser radar) and rectangular (suitable for camera).

[0120] Optionally, the opening and closing speed of the protective cover directly affects the working response time of the sensor and the overall efficiency of the protective system. Therefore, the selection of the driving motor and the transmission mechanism needs to ensure that the protective cover can be opened and closed in a short time to meet the instantaneous enabling requirements of the intelligent driving system for the sensor.

[0121] The sealing structure 302 is connected with the protective cover and is used for sealing and fitting with the edge structure of the sensor when the protective cover is in the closed mode.

[0122] In this embodiment, the sealing structure 302 is used to form a tight sealing fit with the edge of the sensor when the protective cover 301 is in the closed mode, so as to prevent external environmental factors from invading the inside of the sensor and protect the optical interface of the sensor from being contaminated or damaged.

[0123] Optionally, the design of the sealing structure mainly focuses on the following points: sealing material, design form, and adaptability. For the sealing material, materials with good elasticity and weather resistance, such as silicone rubber or fluororubber, are often used to make the sealing structure. These sealing materials can ensure stable sealing performance under different temperature and humidity conditions. For the design form, the sealing structure is usually designed as an O-ring or other shaped sealing strip, which is embedded in the contact surface between the protective cover 301 and the sensor housing, and tightly fits through compression deformation. For adaptability, considering the differences in the shapes of different sensors, the size and form of the sealing structure 302 should have high flexibility and adaptability to ensure the universal protection effect on various sensors.

[0124] In the protective device of the sensor, the protective cover 301 and the sealing structure 302 work together to form the external defense line of the sensor optical interface. Through the double protection of the protective cover and the sealing structure, the sensor is protected from damage in harsh environments, effectively prolonging the service life of the sensor and reducing maintenance and replacement costs.

[0125] The above technical solutions of the embodiments of the present application will be further described with reference to the preferred embodiments of the present application.

[0126] With the development of intelligent driving technology, more and more sensors are equipped on vehicles, such as cameras, LiDARs, etc. These sensors obtain external environmental information through their optical interfaces (such as lenses, cover glasses, etc.), which are key components for the intelligent driving system to realize environmental perception.

[0127] In areas with a lot of sand (such as deserts, construction sites, etc.), the optical interface of the sensor is easily damaged by flying sand and stone when the vehicle is driving or parked, which leads to a decrease in the quality of information collected by the sensor, affecting the judgment accuracy of the intelligent driving system, and in severe cases, may cause the sensor to fail, causing safety hazards.

[0128] In related technologies, some vehicles are equipped with fixed protective covers for sensors, but these protective covers need to be manually operated, which is inconvenient to use. Some automatic protective devices only close all protective covers when the vehicle is turned off, and cannot be flexibly controlled according to the real-time use state of the sensor and the environmental conditions. When the intelligent driving system is running but some sensors are not in use, these unused sensors are still exposed to the sand environment and cannot be effectively protected.

[0129] However, embodiments of this application provide a control method for a protective device for a vehicle's sensors. This method acquires environmental data of the vehicle's current environment and operational status data of multiple sensors within the vehicle. The environmental data characterizes the particulate matter concentration in the environment, and the operational status data characterizes whether the corresponding sensor is in a working or disabled state. In response to a particulate matter concentration greater than a concentration threshold, at least one target sensor in a disabled state is identified from among the multiple sensors based on the operational status data. A control strategy for the protective device of the target sensor is determined based on the vehicle's driving status data, where the driving status data characterizes the vehicle's driving mode, and the control strategy characterizes the rules for closing the protective device. The protective device is then controlled according to the control strategy to perform protective operations on the target sensor. In other words, in this embodiment of the application, by acquiring real-time particulate matter concentration data of the vehicle's current environment and sensor operating status data, the particulate matter concentration in the vehicle's current environment can be accurately identified. Then, when the particulate matter concentration in the vehicle's current environment is high, combined with the vehicle's current driving status data, protective operations can be performed on the target sensors in the vehicle that are not in use, to avoid damage to the target sensors in the inactive state from particulate matter, thereby achieving precise protection of the sensors in the vehicle, improving the protection effect of the sensors in the vehicle, and thus solving the technical problem of not being able to effectively protect the sensors in the vehicle.

[0130] Figure 4 This is a hardware block diagram of a control system for a sensor protection device according to an embodiment of this application, such as... Figure 4 As shown, the control system includes a control unit 401 and a protective cover system 402. The control unit 401 serves as the core of the system and employs an Electronic Control Unit (ECU) / System on a Chip (SoC). The power management module is used to supply power to each circuit module through the control unit. The storage unit is used to store sand and dust concentration thresholds, protection strategy parameters, and fault logs.

[0131] like Figure 4As shown, the control unit 401 is connected to the Advanced Driver Assistance Systems (ADAS) domain control through CAN / Ethernet, and real-time information such as the enable / disable state, data transmission rate, and working mode (e.g., low light / high light mode) of the front-view camera, surround-view camera, laser radar, and millimeter-wave radar is obtained. The control unit is connected to the cabin domain control through CAN / Ethernet, and real-time local environmental weather information from the cloud is obtained to provide early warning information for environmental monitoring, or vehicle environmental monitoring information can be uploaded to the cloud server.

[0132] Optionally, the environmental monitoring module uses an infrared scattering type sand dust sensor, which is installed at three external monitoring points of the vehicle, such as the front bumper, below the rearview mirror, etc. The sand dust concentration data is transmitted to the control unit through the CAN / LIN bus.

[0133] Optionally, the vehicle state monitoring module obtains information such as vehicle speed (e.g., 0-250 km / h), gear position (e.g., P / R / N / D gears), driving mode (e.g., manual / assisted driving / automatic driving), and vehicle location from the vehicle ECU through the CAN bus, to provide a basis for adjusting the protection strategy.

[0134] Optionally, the driving mechanism driving module uses a motor driving chip to receive the pulse width modulation signal (PWM) from the control unit to drive the DC speed reduction motor to operate. The transmission assembly of the sensor protective cover uses a rack and pinion (linear opening and closing) or worm and gear (flipping opening and closing) structure according to the sensor installation position to achieve precise opening and closing of the protective cover of the sensor.

[0135] Optionally, the cleaning module sends a signal to the body control module (BCM) through the CAN / LIN bus by the control unit, and the BCM controls the micro electromagnetic valve and micro water pump to realize quantitative injection of cleaning liquid (e.g., windshield washer fluid). At the same time, the step motor drives the silicone wiper to complete the wiping action of the optical interface of the sensor.

[0136] Optionally, the feedback and warning module detects the state of each protective cover through a Hall position sensor. Each protective cover is equipped with two Hall position sensors installed at the opening and closing limit positions to detect the state of the protective cover (e.g., fully open / fully closed / stuck) in real time. When stuck or motor failure occurs, the feedback and warning module sends a warning signal to the control unit through the CAN / LIN bus, and the control unit sends the fault information to the cabin system through the CAN / Ethernet. The vehicle cabin system issues a warning sound and displays the fault code on the central control screen, such as "Exxxx-front-view camera protective cover stuck".

[0137] In the control system of the protective device of the sensor, each module is connected through a standardized communication protocol to form a cooperative closed-loop control system, which realizes effective protection and intelligent management of the optical interface of the sensor, prolongs the service life of the sensor, and ensures stable operation of the intelligent driving system under various environmental conditions.

[0138] Figure 5 is a structural schematic diagram of a protective device of a sensor according to an embodiment of the present application, as Figure 5 shown, respectively, the opening state and the closing state of the protective device of the sensor are shown. Figure 6 is a schematic diagram of a power device of a protective device, showing the layout and connection mode of the power device (such as a motor or a gas cylinder) in the protective device, which is the core driving force of the opening and closing action of the protective cover, and the position design and mechanical connection determine the response speed and operation accuracy of the protective device.

[0139] Optionally, the protective cover body of the protective device of the sensor adopts a three-layer composite structure, the outer layer is a 3mm thick polycarbonate (PC) plate material with impact strength (≥60kJ / m²) and light transmittance (≥90%); the middle layer is a silica dioxide wear-resistant coating with a hardness of H level, which can resist sandstone scratching; the inner layer is embedded with a silicone sealing ring with an O-shaped cross section (diameter 5mm), when the protective cover is closed, the sealing ring is tightly fitted with the laser radar shell, with high sealing level, preventing sand and dust from entering.

[0140] Optionally, the driving motor of the protective device adopts a direct current motor with a planetary reducer, with stable output torque; in the gear and rack transmission mechanism, the rack is designed in one body with the protective cover body, the gear is keyed connected with the motor output shaft, with transmission accuracy ±0.1mm, ensuring smooth opening and closing of the protective cover without jamming; a dust cover is provided on the outside of the transmission mechanism to avoid the influence of sand and dust on the transmission efficiency.

[0141] Optionally, the mounting and positioning structure of the protective device adopts aluminum alloy material, which is fixed with the vehicle body frame through four bolts, and the surface of the base is anodized for rust prevention; the protective cover is provided with guide rails (stainless steel material) on both sides, which cooperate with the sliding blocks on the base to limit the movement trajectory of the protective cover, ensuring the centering of the sensor optical interface during opening and closing (deviation ≤0.5mm).

[0142] Optionally, for different types of optical sensors (such as cameras / laser radars), the shape of the protective cover body can be customized as circular (for laser radars) or rectangular (for cameras), and the transmission mechanism can be selected as linear type (for vehicle head plane installation) or flip type (for rearview mirror side installation) according to the installation space, to realize unified protection of multiple sensors of the whole vehicle.

[0143] Figure 7 is a flowchart of a control method of a protection device of another sensor according to an embodiment of the present application, as shown, the method comprises the following steps. Figure 7

[0144] Step S701, system initialization power-on.

[0145] In this embodiment, when the vehicle starts or the system is woken up, the intelligent protection system of the vehicle starts to power on and enters the initialization state. At this stage, the system is ready for subsequent self-checking and other operations.

[0146] Step S702, judge whether the self-checking is passed.

[0147] In this embodiment, after the system is powered on, self-checking will be performed to check whether all key hardware components (such as microcontrollers, sensors, drive motors, etc.) are working normally. If the self-checking is passed, the system is ready to run and can perform step S707; if any fault is detected, the system will not continue to perform the subsequent steps and may enter a degraded mode or directly shut down to prevent potential risks.

[0148] Step S703, sensor enable signal.

[0149] In this embodiment, when the intelligent driving system needs to use a specific sensor (such as a camera or a laser radar), an enable signal will be sent. The enable signal is issued by the master control unit to remind the intelligent protection system of the vehicle which sensors are about to be enabled.

[0150] Step S704, open the corresponding protective cover.

[0151] In this embodiment, after receiving the sensor enable signal, the control unit sends instructions to the drive mechanism of the protective cover of the corresponding sensor to drive the protective cover to open, so that the sensor can normally receive external signals.

[0152] Step S705, clean the optical interface.

[0153] In this embodiment, before the sensor is enabled, a cleaning program can be started to use a micro water pump and a solenoid valve to spray cleaning liquid, and then use a silicone blade to wipe the optical interface of the sensor to ensure that the optical interface of the sensor is clean and clear, and improve the accuracy of data collection.

[0154] Step S706, the sensor works normally.

[0155] In this embodiment, after the protective cover is completely opened and cleaned, the sensor starts to work normally and collects the required environmental information.

[0156] Step S707, start the data collection thread in parallel.​

[0157] In this embodiment, the system starts a data collection thread in parallel to collect the sand concentration data in the environment where the vehicle is currently located, the working state data of the sensors in the vehicle, and the driving state data of the vehicle for subsequent analysis and processing.

[0158] Step S708, data preprocessing.

[0159] In this embodiment, the data collected in step S707 can be preprocessed, for example, the sand concentration data is filtered, the sensor state data is sorted, and the vehicle state data is preprocessed.

[0160] Step S709, determine whether the sand concentration exceeds the concentration threshold.

[0161] In this embodiment, according to the filtered sand concentration data, it can be determined whether the sand concentration in the environment where the vehicle is currently located exceeds the concentration threshold. If it exceeds, step S710 is executed, and if it does not exceed, step S711 is executed.

[0162] Step S710, determine whether there is an unused sensor.

[0163] In this embodiment, if the sand concentration in the environment where the vehicle is currently located exceeds the concentration threshold, it can be checked which sensors are in an unused state at present to perform a protection operation on the unused sensors to prevent the unused sensors from being damaged by sand.

[0164] Step S711, maintain the current state of the protective cover.

[0165] In this embodiment, if the sand concentration in the environment where the vehicle is currently located does not exceed the concentration threshold, or all sensors are in use, the existing protective cover state does not change and no further action is needed.

[0166] Step S712, quickly screen the unused sensors.

[0167] In this embodiment, after determining the sensors in the unused state, the unused sensors can be quickly screened from the multiple sensors of the vehicle.

[0168] Step S713, drive the corresponding protective cover to close in parallel.

[0169] In this embodiment, after screening the unused sensors, the protective cover of the unused sensors can be driven to close in parallel to perform a protection operation on the unused sensors.

[0170] Step S714, determine whether the protective cover is successfully closed.

[0171] In this embodiment, after the protective cover of the unused sensor is closed in parallel driving, it can be further judged whether the protective cover of the unused sensor is closed successfully. If closed successfully, step S715 is executed, and if not closed successfully, step S716 is executed.

[0172] In step S715, the state of the protective cover is recorded.

[0173] In this embodiment, if the protective cover is closed successfully, the state information of the protective cover, including the position, closing time, etc., is recorded for subsequent maintenance.

[0174] In step S716, automatic repair is attempted and an alarm is issued.

[0175] In this embodiment, if the protective cover is not closed successfully, automatic repair is attempted, for example, the driving motor of the protective cover is reversed to try to disengage the jam. At the same time, an alarm is issued through the warning module to inform the driver or maintenance personnel that the system has a fault and needs to be handled in time.

[0176] In the above steps S701 to S716, when the vehicle self-check is passed and the sensors in the vehicle are in a normal working state, a plurality of sensors are driven in parallel to perform data acquisition operations, and the collected data is preprocessed, and then when the dust concentration of the current environment of the vehicle exceeds the concentration threshold, the unused sensors in the vehicle are protected to prevent the unused sensors from being affected by the harsh environment, thereby improving the protection effect of the sensors in the vehicle.

[0177] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0178] According to an embodiment of the present application, an embodiment of a control device of a protective device of a sensor is provided. It should be noted that the device can be used to execute the above-mentioned control method of the protective device of the sensor.

[0179] Figure 8 is a schematic diagram of a control device of a protective device of a sensor according to an embodiment of the present application, as shown in Figure 8 The control device 800 of the protective device of the sensor includes an acquisition unit 801, an identification unit 802, a determination unit 803 and a control unit 804.

[0180] The acquisition unit 801 is configured to acquire environment data of an environment in which a vehicle currently locates, and acquire working state data of a plurality of sensors in the vehicle respectively, wherein the environment data is used to represent a concentration of particulate matters in the environment, and the working state data is used to represent that a sensor corresponding to the working state data is in an active state or a deactivated state.

[0181] The identification unit 802 is configured to, in response to the concentration of particulate matters represented by the environment data being greater than a concentration threshold, identify at least one target sensor in the deactivated state from the plurality of sensors based on the working state data.

[0182] The determination unit 803 is configured to determine a control strategy of a protection device of the target sensor based on driving state data of the vehicle, wherein the driving state data is used to represent a driving mode adopted by the vehicle, and the control strategy is used to represent a rule of closing the protection device.

[0183] The control unit 804 is configured to control the protection device according to the control strategy to perform a protection operation on the target sensor.

[0184] Optionally, the determination unit 803 is further configured to: in response to the driving mode represented by the driving state data being a first driving mode, determine the control strategy as a first control strategy, wherein the first control strategy is used to control a driving motor of the protection device to drive the protection device to close at a first rotating speed, and the first driving mode is used to represent that a driving speed of the vehicle is greater than or equal to a preset speed threshold; and in response to the driving mode represented by the driving state data being a second driving mode, determine the control strategy as a second control strategy, wherein the second control strategy is used to control the driving motor of the protection device to drive the protection device to close at a second rotating speed, the second driving mode is used to represent that the driving speed of the vehicle is less than the preset speed threshold, and the first rotating speed is greater than the second rotating speed.

[0185] Optionally, the control unit 804 is further configured to: determine a working mode of the protection device, wherein the working mode is at least an open mode or a closed mode; and in response to the working mode being the open mode, send a control instruction to the driving motor of the protection device according to the control strategy, so that the driving motor drives the protection device to close under the control instruction.

[0186] Optionally, the apparatus 800 is further configured to: in response to receiving an enabling signal of the target sensor, control an electromagnetic valve of the target sensor to spray a cleaning liquid to an optical interface of the target sensor; in response to completion of the spraying of the cleaning liquid, control a stepping motor of the target sensor to drive a wiper to wipe the optical interface of the target sensor; and in response to completion of the wiping of the optical interface, control the driving motor to drive the protection device to open.

[0187] Optionally, the apparatus 800 is further configured to: detect an opening and closing state signal of the protective device, wherein the opening and closing state signal is used to indicate that the protective device is in an opening mode or a closing mode; in response to detecting the opening and closing state signal within a preset time length, control the driving motor to stop working; or in response to not detecting the opening and closing state signal within the preset time length, control the driving motor to reset and trigger a warning signal, wherein the warning signal is used to represent an abnormality of the protective device.

[0188] Optionally, the apparatus 800 is further configured to: in response to the particulate matter concentration represented by the environmental data being less than or equal to the concentration threshold, control the working mode of the plurality of sensors to remain unchanged.

[0189] In the control apparatus of the protective device of the sensor described above, by acquiring the particulate matter concentration data of the environment in which the vehicle is currently located and the working state data of the sensor in real time, the particulate matter concentration in the environment in which the vehicle is currently located can be accurately identified, and then in the case that the particulate matter concentration in the environment in which the vehicle is currently located is large, the target sensor in the vehicle in the inactivated state is protected in combination with the driving state data of the vehicle, so as to avoid the target sensor in the inactivated state from being damaged by the particulate matter, to realize accurate protection of the sensor in the vehicle, thereby improving the protection effect of the sensor in the vehicle, and further solving the technical problem that the sensor in the vehicle cannot be effectively protected.

[0190] Embodiments of the present application also provide a vehicle, comprising: a memory storing an executable program; and a processor configured to execute the program, wherein the program performs the method in the embodiments of the present application when executed.

[0191] Embodiments of the present application also provide a computer readable storage medium, comprising a stored executable program, wherein the computer readable storage medium performs the method in the embodiments of the present application when the executable program is executed.

[0192] Embodiments of the present application also provide a computer program product, comprising a computer program, wherein the computer program performs the method in the embodiments of the present application when executed by a processor.

[0193] Embodiments of the present application also provide a computer program product, comprising a non-volatile computer readable storage medium, wherein the non-volatile computer readable storage medium is configured to store a computer program, and the computer program performs the method in the embodiments of the present application when executed by a processor.

[0194] Embodiments of the present application also provide a computer program, wherein the computer program performs the method in the embodiments of the present application when executed by a processor.

[0195] In the above-described embodiments of the present application, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0196] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-described device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0197] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0198] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0199] The integrated unit, if realized in the form of software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art that makes a contribution or the whole or part of the technical solutions can be embodied in the form of software product, which is stored in a storage medium and includes a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk and various program code storage media.

[0200] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A control method for a sensor protection device, characterized in that, include: The system acquires environmental data of the current environment of the vehicle and operational status data of multiple sensors in the vehicle. The environmental data is used to characterize the particulate matter concentration in the environment, and the operational status data is used to characterize whether the sensor corresponding to the operational status data is in an operational or disabled state. In response to the particulate matter concentration represented by the environmental data being greater than a concentration threshold, at least one target sensor in the deactivated state is identified from the plurality of sensors based on the operating status data. Based on the vehicle's driving status data, a control strategy for the protection device of the target sensor is determined, wherein the driving status data is used to characterize the driving mode adopted by the vehicle, and the control strategy is used to characterize the rules for closing the protection device. The protective device is controlled according to the control strategy to protect the target sensor.

2. The method according to claim 1, characterized in that, Based on the vehicle's driving status data, a control strategy for the protection device of the target sensor is determined, including: In response to the driving mode characterized by the driving state data being a first driving mode, the control strategy is determined to be a first control strategy, wherein the first control strategy is used to control the drive motor of the protective device to drive the protective device to close at a first speed, and the first driving mode is used to characterize the vehicle's driving speed as being greater than or equal to a preset speed threshold. In response to the driving mode characterized by the driving state data being a second driving mode, the control strategy is determined to be a second control strategy, wherein the second control strategy is used to control the drive motor of the protective device to drive the protective device to close at a second speed, and the second driving mode is used to characterize the vehicle's driving speed as being less than the preset speed threshold, and the first speed being greater than the second speed.

3. The method according to claim 2, characterized in that, Controlling the protective device according to the control strategy includes: The operating mode of the protective device is determined, wherein the operating mode is at least an on mode or an off mode; In response to the operating mode being the on mode, a control command is sent to the drive motor of the protective device according to the control strategy, so that the drive motor drives the protective device to close under the control command.

4. The method according to claim 3, characterized in that, After the protective device is shut down, the method further includes: In response to receiving an enable signal from the target sensor, the solenoid valve of the target sensor is controlled to spray cleaning fluid onto the optical interface of the target sensor; In response to the completion of the cleaning fluid spraying, the stepper motor of the target sensor is controlled to drive the scraper to wipe the optical interface of the target sensor; In response to the completion of wiping the optical interface, the drive motor is controlled to drive the protective device to open.

5. The method according to any one of claims 3 to 4, characterized in that, In the process of controlling the protective device, the method further includes: The opening / closing status signal of the protective device is detected, wherein the opening / closing status signal is used to indicate that the protective device is in the open mode or the closed mode; In response to detecting the opening / closing state signal within a preset time period, the drive motor is controlled to stop working; or, In response to the failure to detect the opening / closing state signal within the preset time period, the drive motor is controlled to reset and a warning signal is triggered, wherein the warning signal is used to indicate an abnormality of the protective device.

6. The method according to claim 1, characterized in that, The method further includes: In response to the particulate matter concentration characterized by the environmental data being less than or equal to the concentration threshold, the operating mode of the plurality of sensors is kept unchanged.

7. A control system for a sensor protection device, characterized in that, include: An environmental detection module is used to acquire environmental data of the current environment in which the vehicle is located, wherein the environmental data is used to characterize the particulate matter concentration in the current environment in which the vehicle is located; The sensor status detection module is used to acquire the working status data of multiple sensors in the vehicle, wherein the working status data is used to characterize whether the sensor corresponding to the working status data is in a working state or a deactivated state. The vehicle status detection module is used to acquire the driving status data of the vehicle, wherein the driving status data is used to characterize the driving mode adopted by the vehicle. A control module is configured to, in response to the particulate matter concentration, as characterized by the environmental data, being greater than a concentration threshold, identify at least one target sensor in the deactivated state from among the plurality of sensors based on the operating status data; determine a control strategy for a protective device of the target sensor based on the driving status data, wherein the control strategy characterizes a rule for shutting down the protective device; and control the protective device according to the control strategy to perform a protective operation on the target sensor.

8. A protective device for a sensor, characterized in that, include: Protective shield and sealing structure, The protective cover is connected to the sensor and is used to protect the sensor in the off mode; The sealing structure is connected to the protective cover and is used to seal and fit against the edge structure of the sensor when the protective cover is in the closed mode.

9. A control device for a sensor protection device, characterized in that, include: The acquisition unit is used to acquire environmental data of the current environment of the vehicle and to acquire the working status data of multiple sensors in the vehicle. The environmental data is used to characterize the particulate matter concentration in the environment, and the working status data is used to characterize whether the sensor corresponding to the working status data is in a working state or a deactivated state. The identification unit is configured to, in response to the particulate matter concentration represented by the environmental data being greater than a concentration threshold, identify at least one target sensor in the disabled state from among the plurality of sensors based on the operating status data. The determining unit is configured to determine a control strategy for the protection device of the target sensor based on the vehicle's driving state data, wherein the driving state data is used to characterize the driving mode adopted by the vehicle, and the control strategy is used to characterize the rule for closing the protection device. The control unit is used to control the protective device according to the control strategy to perform protective operations on the target sensor.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 6.

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