Vehicle-mounted camera and radar self-cleaning system and control method thereof

Abstract

The invention discloses a vehicle-mounted camera and radar self-cleaning system and a control method thereof.The vehicle-mounted camera and radar self-cleaning system comprises a fluid storage module, a sensor module, an execution module and a control module, and the fluid storage module is provided with a gas storage unit used for storing cleaning gas and a liquid storage unit used for storing cleaning liquid; the execution module comprises a fluid switching device with multiple working states, a control valve assembly and a heating device arranged at a camera and / or a radar, the sensor module is used for collecting environmental parameter signals, and the control module controls the fluid switching device according to the environmental parameter signals and vehicle state information. The fluid switching device is controlled to be switched between an air injection cleaning mode and a liquid injection cleaning mode, and heating auxiliary cleaning is started under the low-temperature or easy-to-dew working condition, so that self-adaptive cleaning of the camera and the radar in various polluted environments is achieved, and the stability and reliability of the sensing performance of the camera and the radar are guaranteed.

Description

Technical Field

[0001] This application relates to the field of vehicle sensor self-cleaning technology, and in particular to a self-cleaning system and control method for an in-vehicle camera and radar. Background Technology

[0002] With the development of intelligent driving technology, vehicles are widely equipped with environmental perception sensors such as cameras and lidar. Their working status directly affects the vehicle's perception accuracy and driving safety. These sensors are mostly installed on the exterior of the vehicle body and are easily affected by pollutants such as rain, dust, mud, ice, snow, and condensation during driving or parking, which can lead to lens obstruction, reduced recognition ability, and even malfunctions in intelligent driving functions.

[0003] Existing technologies for cleaning vehicle cameras and radars mainly include wiper or blade cleaning, high-pressure gas blowing, and replaceable lens glass solutions. Among these, wiper cleaning has a complex structure, can easily obstruct the field of vision during cleaning, and the blade may abrade the lens surface; high-pressure gas blowing has limited cleaning capacity and is difficult to handle complex conditions such as viscous contaminants and snow cover; while replaceable lens glass solutions require additional replacement and cleaning mechanisms, resulting in a large and complex system with insufficient capacity to handle immediate contamination. Summary of the Invention

[0004] The purpose of this application is to overcome the above-mentioned problems and provide a self-cleaning system for vehicle cameras and radars, a control method thereof, a storage medium, and an electronic device thereof.

[0005] The technical solution of this application provides a self-cleaning system for vehicle-mounted cameras and radar, including a fluid storage module, a sensor module, an execution module, and a control module; The fluid storage module includes a gas storage unit for storing clean gas and a liquid storage unit for storing clean liquid. The execution module includes a fluid switching device, a control valve assembly, and a heating device for placement at the camera and / or radar. The input end of the fluid switching device is connected to the gas storage unit and is configured to have at least two operating states: In the first operating state, the fluid switching device delivers the gas exported from the gas storage unit to the injection port, which is directed toward the camera and / or the radar arrangement; In the second working state, the fluid switching device delivers the gas exported from the gas storage unit to the liquid storage unit, and delivers the liquid in the liquid storage unit to the injection port; The sensor module is used to collect environmental parameter signals; The control valve assembly is arranged between the fluid storage module and the injection port, and is used to control the flow of fluid. The control module is communicatively connected to the sensor module, the fluid switching device, the control valve assembly, and the heating device.

[0006] Furthermore, the fluid switching device includes a first channel and a second channel; In the first working state, the input end of the first channel is connected to the gas storage unit, and the output end of the first channel is connected to the injection port through the first gas supply pipe; In the second operating state, the input end of the second channel is connected to the gas storage unit, the output end of the second channel is connected to the input end of the liquid storage unit through the second gas supply pipe, and the output end of the liquid storage unit is connected to the injection port through the water supply pipe.

[0007] Furthermore, the control valve assembly includes an air jet valve and a water jet valve; The jet valve is located inside the first air supply pipe, and the water spray valve is located inside the water supply pipe; The jet valve and the water spray valve are respectively connected to the control module in communication.

[0008] Furthermore, the gas storage unit is provided with a gas filling port, and the gas filling port is provided with a gas replenishment check valve; The liquid storage unit is equipped with a liquid filling port and a pressure relief port. The liquid filling port is equipped with a liquid replenishment check valve, and the pressure relief port is equipped with a pressure relief valve.

[0009] Furthermore, the gas storage unit is equipped with a gas pressure sensor, which is communicatively connected to the control module.

[0010] The technical solution of this application also provides a control method for a self-cleaning system of an in-vehicle camera and radar as described above, including: The system acquires environmental parameter signals collected by the sensor module and pollution detection signals collected by the camera / radar. Based on the current vehicle status information, the environmental parameter signals, and the pollution detection signals, the target cleaning mode is determined. Control commands are sent according to the target cleaning mode to execute the cleaning operation.

[0011] Furthermore, the current vehicle status information includes the vehicle start status and the vehicle driving status; The pollution detection signal includes the area obscured by the pollutant; The determination of the target cleaning mode based on the current vehicle status information, the environmental parameter signals, and the pollution detection signals specifically includes: If the pollutant blocking area is greater than or equal to a preset blocking area threshold, the target cleaning mode is determined based on the current vehicle status information and environmental parameter signals. If the current vehicle status information indicates that the vehicle is started, then the target cleaning mode is determined based on the environmental parameter signals. If the current vehicle status information is in vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signals and vehicle driving information.

[0012] Furthermore, the environmental parameter signals include the current temperature and the current humidity; The vehicle driving information includes the current vehicle speed; If the current vehicle status information indicates that the vehicle is in a running state, then the target cleaning mode is determined based on the environmental parameter signals, specifically including: If the current humidity is greater than the first humidity threshold, then the target cleaning mode is the heating mode; If the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is a liquid spraying and air spraying combination mode; If the current vehicle status information indicates a vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signals and the vehicle driving information, specifically including: If the current humidity is greater than the first humidity threshold, and the decrease in temperature compared to the previous detection period is greater than the first temperature change threshold, and the increase in humidity compared to the previous detection period is greater than the first humidity change threshold, then the target cleaning mode is the heating mode. If the contaminant type is droplets, then the target cleaning mode is jet cleaning mode; If the contaminant type is not droplet-type, and the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is the spray mode.

[0013] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform a control method for a self-cleaning system for an in-vehicle camera and radar as described above.

[0014] The technical solution of this application also provides an electronic device, including at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform a control method for a self-cleaning system of an in-vehicle camera and radar as described above.

[0015] The above technical solution has the following beneficial effects: This application discloses a self-cleaning system and control method for vehicle-mounted cameras and radars, comprising a fluid storage module, a sensor module, an execution module, and a control module. The fluid storage module includes a gas storage unit for storing cleaning gas and a liquid storage unit for storing cleaning liquid. The execution module includes a fluid switching device with multiple operating states, a control valve assembly, and a heating device disposed at the camera and / or radar. The sensor module is used to collect environmental parameter signals. The control module controls the fluid switching device to switch between air jet cleaning and liquid spray cleaning modes based on the environmental parameter signals and vehicle status information, and activates heating-assisted cleaning in low-temperature or condensation-prone conditions to achieve adaptive cleaning of the camera and radar in various polluted environments, ensuring the stability and reliability of their sensing performance. Attached Figure Description

[0016] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of the self-cleaning system of the vehicle camera and radar in the first working state according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the self-cleaning system of the vehicle camera and radar in the second working state according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the self-cleaning system of the vehicle camera and radar in the first working state in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of the self-cleaning system of the vehicle camera and radar in the second working state in another embodiment of this application; Figure 5 This is a schematic diagram of the installation positions of the vehicle-mounted camera and radar in one embodiment of this application; Figure 6 This is a flowchart illustrating the control method of a self-cleaning system for an in-vehicle camera and radar according to an embodiment of this application. Figure 7 This is a flowchart of the control method for a self-cleaning system of an in-vehicle camera and radar in another embodiment of this application; Figure 8 This is a schematic diagram of the hardware structure of an electronic device in one embodiment of this application.

[0017] Reference table for attached figures: Fluid storage module 1: gas storage unit 11, gas filling port 111, gas replenishment check valve 112, gas pressure sensor 113, liquid storage unit 12, liquid filling port 121, pressure relief port 122, liquid replenishment check valve 123, pressure relief valve 124; Sensor module 2; Execution module 3: fluid switching device 31, first channel 311, second channel 312, first air supply pipe 313, second air supply pipe 314, water supply pipe 315, control valve assembly 32, jet valve 321, water spray valve 322, heating device 33; Control module 4; 5. Camera; 6. Radar; 7. Jet nozzle. Detailed Implementation

[0018] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0019] It is readily understood that, based on the technical solution of this application, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of the application.

[0020] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meanings of the above in this application according to the specific circumstances.

[0022] like Figures 1-4 As shown, a self-cleaning system for a vehicle-mounted camera and radar according to one embodiment of this application includes a fluid storage module 1, a sensor module 2, an execution module 3, and a control module 4. The fluid storage module 1 includes a gas storage unit 11 for storing clean gas and a liquid storage unit 12 for storing clean liquid. The execution module 3 includes a fluid switching device 31, a control valve assembly 32, and a heating device 33 for being installed at the camera 5 and / or radar 6. The input terminal of the fluid switching device 31 is connected to the gas storage unit 11 and is configured to have at least two operating states: In the first working state, the fluid switching device 31 delivers the gas discharged from the gas storage unit 11 to the injection port 7, which is arranged toward the camera 5 and / or the radar 6. In the second working state, the fluid switching device 31 delivers the gas discharged from the gas storage unit 11 to the liquid storage unit 12, and delivers the liquid in the liquid storage unit 12 to the injection port 7. The sensor module 2 is used to collect environmental parameter signals; The control valve assembly 32 is arranged between the fluid storage module 1 and the injection port 7, and is used to control the flow of fluid. The control module 4 is communicatively connected to the sensor module 2, the fluid switching device 31, the control valve assembly 32, and the heating device 33.

[0023] In this embodiment, a self-cleaning system for a vehicle-mounted camera and radar includes a fluid storage module 1, a sensor module 2, an execution module 3, and a control module 4. The fluid storage module 1 includes a gas storage unit 11 and a liquid storage unit 12. The gas storage unit 11 is used to store cleaning gas, and the liquid storage unit 12 is used to store cleaning liquid. The execution module 3 includes a fluid switching device 31, a control valve assembly 32, and a heating device 33. The heating device 33 is disposed at the camera 5 and / or radar 6 and is used to heat the surface of the camera 5 and / or radar 6 under low temperature or condensation-prone conditions. The input end of the fluid switching device 31 is connected to the gas storage unit 11 and has at least two operating states. In the first operating state, the fluid switching device 31 delivers the clean gas in the gas storage unit 11 to the injection port 7 arranged towards the camera 5 and / or radar 6 via the control valve assembly 32 to achieve gas cleaning. In the second operating state, the fluid switching device 31 uses the gas exported from the gas storage unit 11 to drive the liquid storage unit 12, and delivers the clean liquid in the liquid storage unit 12 to the injection port 7 via the control valve assembly 32 to achieve liquid cleaning. The sensor module 2 is used to collect environmental parameter signals. The control module 4 is communicatively connected to the sensor module 2, the fluid switching device 31, the control valve assembly 32, and the heating device 33, respectively, and controls the cleaning method and heating state according to the environmental parameter signals, thereby achieving adaptive cleaning of the vehicle-mounted camera 5 and radar 6.

[0024] This embodiment can select between air jet cleaning, liquid cleaning, or even a combination of both, depending on different environmental conditions. When the pollution level is light, air cleaning is used to reduce liquid residue; in environments with viscous pollution such as mud and oil, or high humidity, liquid cleaning is used to improve decontamination resistance. In low-temperature, frosty, or condensation-prone conditions, a heating device 33 provides auxiliary treatment, effectively overcoming the limitations of a single cleaning method. Compared to wiper or blade-type cleaning solutions, this system eliminates the need for mechanical scraping structures, avoiding obstruction and wear on the camera 5 or radar 6 mirrors. Compared to simple high-pressure gas purging or replaceable lens glass solutions, this system achieves a balance between structural complexity and real-time response capability, enabling it to promptly address various pollution scenarios.

[0025] like Figures 1-4 As shown, in another embodiment, the fluid switching device 31 includes a first channel 311 and a second channel 312; In the first working state, the input end of the first channel 311 is connected to the gas storage unit 11, and the output end of the first channel 311 is connected to the injection port 7 through the first gas supply pipe 313. In the second working state, the input end of the second channel 312 is connected to the gas storage unit 11, the output end of the second channel 312 is connected to the input end of the liquid storage unit 12 through the second gas supply pipe 314, and the output end of the liquid storage unit 12 is connected to the injection port 7 through the water supply pipe 315.

[0026] In this embodiment, the fluid switching device 31 includes a first channel 311 and a second channel 312 for switching between gas and liquid cleaning. In the first operating state, the input end of the first channel 311 is connected to the gas storage unit 11, and the output end is connected to the injection port 7 through the first gas supply pipe 313, so that the cleaning gas in the gas storage unit 11 is directly injected onto the surface of the camera 5 and / or radar 6 to quickly blow away rainwater, dust, and light particulate matter. This gas cleaning method does not require physical contact with the sensor surface, effectively avoiding wear on the lens by scrapers or brushes, and can achieve multiple sprays in a short time, ensuring the continuous cleanliness of the sensor in complex driving environments, improving perception accuracy and vehicle driving safety.

[0027] In the second operating state, the input end of the second channel 312 is connected to the gas storage unit 11, and the output end is connected to the input end of the liquid storage unit 12 through the second gas supply pipe 314. The cleaning liquid output from the liquid storage unit 12 is transported to the spray nozzle 7 through the water supply pipe 315 to rinse the surface of the camera 5 and / or radar 6, effectively removing adhesive contaminants such as mud, rain stains, and snow cover. The high-pressure gas from the gas storage unit 11 directly applies pressure to the cleaning liquid in the liquid storage unit 12, transporting the liquid to the spray nozzle 7 through the water supply pipe 315 to clean the camera 5 and radar 6. This design eliminates the need for an additional independent liquid pump, simplifying the system structure, reducing space occupation and installation complexity, while also lowering costs and maintenance difficulty.

[0028] Combined with the heating device 33, the problem of frost or condensation under low temperature and humidity changes can be further solved, ensuring that the camera 5 and radar 6 can maintain a clear field of view under various environmental conditions. Through the dual-channel switching design of gas and liquid combination, a flexible and efficient self-cleaning function is realized, which significantly improves the reliability of vehicle sensors and the safety of intelligent driving assistance system.

[0029] In this embodiment, the fluid switching device 31 is a solenoid valve, which achieves rapid switching between gas and liquid fluids through electromagnetic control. The solenoid valve is connected to the inlet and outlet of the first channel 311 and the second channel 312 respectively. The opening and closing of the valve core is controlled by the electrical signal sent by the control module 4, thereby precisely controlling the flow direction and spraying time of the cleaning gas or cleaning liquid. The solenoid valve has a fast response speed and compact structure, and can realize high-frequency, multi-mode switching to meet the cleaning needs under different pollution conditions. At the same time, it reduces mechanical wear and system complexity, and improves the stability and reliability of the system.

[0030] like Figures 1-4 As shown, in one embodiment, the control valve assembly 32 includes a jet valve 321 and a water spray valve 322; The jet valve 321 is disposed inside the first air supply pipe 313, and the water spray valve 322 is disposed inside the water supply pipe 315; The jet valve 321 and the water spray valve 322 are respectively connected to the control module 4 for communication.

[0031] In this embodiment, the control valve assembly 32 includes an air jet valve 321 and a water jet valve 322. The air jet valve 321 is disposed inside the first air supply pipe 313, and the water jet valve 322 is disposed inside the water supply pipe 315. The air jet valve 321 and the water jet valve 322 are connected to the control module 4 through communication. They can automatically adjust to open or close based on the environmental parameter signals collected by the sensor module 2, vehicle status information, and pollution detection signals from the camera 5 / radar 6. This allows for flexible selection of air jet or water jet cleaning modes under different pollution types, coverage areas, and driving conditions. This not only avoids the risk of cross-influence or malfunction that may occur when a single valve body manages two media simultaneously, but also allows for more flexible execution of complex cleaning operations.

[0032] Both the jet valve 321 and the water spray valve 322 are solenoid valves, enabling rapid response and high-precision control. This ensures that clean gas or clean liquid is delivered to the spray nozzle 7 as needed, while reducing unnecessary energy consumption and fluid waste. This structure not only improves the reaction speed and reliability of the self-cleaning system but also effectively prevents obstruction or recognition errors caused by rainwater, dust, mud, or snow contamination of the camera 5 and radar 6. This ensures the high-precision operation of the vehicle's environmental perception module and provides stable data support for intelligent driving functions.

[0033] like Figure 1-5 As shown, in one embodiment, the liquid storage unit 12 is provided with a first output port and a second output port, wherein the first output port is provided at the bottom of the liquid storage unit 12 and the second output port is provided at the top of the liquid storage unit 12. The first jet nozzle corresponding to the first output port is arranged facing the camera 5, and the second jet nozzle corresponding to the second output port is arranged facing the radar 6. The first gas supply pipe 313 is also connected in parallel with a third gas supply pipe. A parallel jet valve 321 is also provided at the connection between the first gas supply pipe 313 and the third gas supply pipe. The third gas supply pipe is used to connect the gas storage unit 11 and the second jet port.

[0034] In this embodiment, since the camera 5 is usually located at the bottom of the vehicle's exterior rearview mirror, while the radar 6, especially the lidar 6, is mostly located on the top or higher of the vehicle, there is a significant difference in their installation height and spatial position. Therefore, a first output port and a second output port are respectively provided on the liquid storage unit 12. The first output port is located at the bottom of the liquid storage unit 12, and its corresponding first spray nozzle is arranged facing the camera 5. By utilizing the combined effect of gravity and air pressure, the cleaning fluid can be stably delivered to the camera 5 located below at a lower pressure. The second output port is located at the top of the liquid storage unit 12, and its corresponding second spray nozzle is arranged facing the radar 6. The cleaning fluid is pushed upward by the gas pressure provided by the gas storage unit 11 to meet the cleaning needs of the high-position radar 6. By setting a third gas supply pipe in parallel with the first gas supply pipe 313, high-pressure gas can be supplied to the second spray nozzle separately when needed for pure air jet cleaning of the radar 6 surface or gas purging after liquid spraying, thereby enhancing the reliability and flexibility of cleaning the high-position radar 6 and avoiding insufficient cleaning effect due to height difference.

[0035] This embodiment provides adapted fluid output paths for sensing devices arranged at different heights, avoiding problems such as insufficient liquid supply to the high-level radar 6 or excessive liquid spraying by the low-level camera 5 due to a uniform liquid outlet design, thereby improving the stability and consistency of the cleaning process.

[0036] In one embodiment, the fluid storage module 1, sensor module 2, and execution module 3 can be centrally configured, with only one set of fluid storage module 1, sensor module 2, and execution module 3. These modules are connected to multiple cameras 5 and radars 6 located at different positions on the vehicle body via multiple pipelines and distribution interfaces, thereby achieving unified cleaning control of multiple sensing devices. This approach helps reduce the number of system components, lowers the overall vehicle cost, and facilitates centralized maintenance and management.

[0037] like Figure 5 As shown, in another embodiment, the fluid storage module 1, sensor module 2, and execution module 3 are arranged in a distributed, one-to-one correspondence manner. Based on the installation positions of the camera 5 and radar 6, independent fluid storage modules 1, sensor modules 2, and execution modules 3 can be set for each camera 5 and / or radar 6, enabling each sensing device to have an independent cleaning unit, thereby achieving more refined and non-interfering cleaning control. This system can flexibly adapt to different vehicle models, different numbers of sensors, and different arrangement forms, ensuring cleaning effectiveness while also considering system integration, cost control, and control flexibility.

[0038] like Figures 1-4 As shown, in another embodiment, the gas storage unit 11 is an independent high-pressure gas tank, and the liquid storage unit 12 is an independent liquid storage tank.

[0039] In this embodiment, a separate high-pressure gas tank is specifically used to store and maintain stable high-pressure air or inert gas; a separate liquid storage tank is specifically used to store cleaning fluid. Both are connected to the control center via pipelines and valves, and work collaboratively under the control of the control module 4. This avoids pressure fluctuations and structural complexity issues caused by mixed gas and liquid storage, allowing for separate optimized design and independent monitoring of gas pressure and liquid capacity, which improves system control accuracy and operational stability. Simultaneously, this structure facilitates flexible placement of the high-pressure gas tank and liquid storage tank within the vehicle layout based on space constraints, enhancing the vehicle's integration adaptability. During maintenance and replenishment, gas or liquid can be added separately, reducing maintenance difficulty and operating costs, further enhancing the reliability and practicality of the self-cleaning systems of the vehicle-mounted camera 5 and radar 6.

[0040] In one embodiment, the gas storage unit 11 is supplied with clean gas by the vehicle's centralized gas supply system. A gas distribution unit is provided in the self-cleaning system to distribute the gas output from the centralized gas source to the injection port 7 or fluid switching device 31 corresponding to the camera 5 and / or radar 6.

[0041] In this embodiment, the gas storage unit 11 no longer uses a separately set high-pressure gas tank, but is supplied with clean gas by the vehicle's centralized gas supply system, such as by the vehicle's existing air pump or centralized high-pressure gas source. This can achieve the functions of jet cleaning and gas-driven liquid without adding a separate high-pressure gas tank, further reducing the system size and vehicle cost.

[0042] In another embodiment, the liquid storage unit 12 is supplied with cleaning liquid by the vehicle cleaning fluid system, and a cleaning fluid pump is added to the cleaning system to deliver the cleaning fluid to the corresponding spray port 7.

[0043] In this embodiment, the liquid storage unit 12 is not set as a separate independent liquid storage tank, but shares the cleaning fluid source with the vehicle cleaning fluid system. For example, it can be directly connected to the vehicle's windshield washer fluid tank. Only one cleaning fluid pump needs to be added to the cleaning system or an existing cleaning pump can be used. The cleaning fluid can be delivered to the corresponding spray nozzle 7 to complete the cleaning operation of the camera 5 and radar 6 through independent control by the control module 4. This can reduce the need for redundant liquid storage structures, improve the utilization rate of vehicle resources, and simplify the system structure while ensuring the cleaning effect, thereby improving the integration and maintenance convenience of the vehicle.

[0044] like Figures 1-4 As shown, in another embodiment, the gas storage unit 11 is provided with a gas filling port 111, and the gas filling port 111 is provided with a gas replenishment check valve 112; The liquid storage unit 12 is provided with a liquid filling port 121 and a pressure relief port 122. The liquid filling port 121 is provided with a liquid replenishment check valve 123, and the pressure relief port 122 is provided with a pressure relief valve 124.

[0045] In this embodiment, the gas storage unit 11 is provided with a gas filling port 111, and a gas replenishment check valve 112 is configured at the filling port to ensure that when cleaning gas is added, the gas only flows into the gas storage unit 11 and does not leak back, thus maintaining stable internal system pressure. The liquid storage unit 12 is provided with a liquid filling port 121 and a pressure relief port 122. The liquid filling port 121 is equipped with a liquid replenishment check valve 123 to ensure that the cleaning liquid can only be injected into the liquid storage unit 12 in one direction. The pressure relief port 122 is equipped with a pressure relief valve 124, which is used to automatically release pressure when the internal pressure of the liquid storage unit 12 is too high, or to relieve pressure during liquid replenishment.

[0046] When the cleaning fluid needs to be replenished, the operator must actively open the pressure relief valve 124 to connect the inside of the storage tank with the atmosphere, releasing the original air pressure. This allows external liquid to be smoothly injected into the tank at normal pressure through the replenishment check valve 123. After replenishment is complete, close the pressure relief valve 124 to restore the sealing of the storage tank. At this time, the system enters normal operating condition. High-pressure gas from the gas storage unit 11 can enter the upper part of the storage tank through the second gas supply pipe 314 to build up pressure, thereby pushing the liquid through the water supply pipe 315 to the spray port 7 when needed.

[0047] This embodiment achieves reliable storage and precise control of the cleaning fluid by setting a gas replenishment check valve 112, a liquid replenishment check valve 123, and a pressure relief valve 124 in the gas storage unit 11 and the liquid storage unit 12, respectively. During the filling process, the check valves ensure that gas flows only into the gas storage unit 11 or liquid flows only into the liquid storage unit 12, preventing backflow and leakage; the pressure relief valve 124 can actively release pressure to ensure smooth and safe liquid replenishment. Combined with the method of applying pressure from the gas storage unit 11 to the liquid storage unit 12, gas or liquid can be stably and efficiently delivered to the injection port 7 during cleaning operations, and the surfaces of the camera 5 and radar 6 can be cleaned in a timely manner, thereby maintaining a clear sensor field of view, improving the accuracy of environmental perception, ensuring the driving safety of the intelligent driving system, and avoiding the shortcomings of traditional wiper or high-pressure gas single cleaning methods that are insufficient in cleaning or damage to equipment under complex working conditions.

[0048] like Figures 1-4 As shown, in one embodiment, the gas storage unit 11 is equipped with a gas pressure sensor 113, which is communicatively connected to the control module 4.

[0049] In this embodiment, the gas storage unit 11 is also equipped with a gas pressure sensor 113, which is communicatively connected to the control module 4. The gas pressure sensor 113 can monitor the internal pressure of the gas storage unit 11 in real time and feed the pressure signal back to the control module 4. By detecting the gas pressure in real time, the control module 4 can determine the remaining gas volume in the gas storage unit 11, adjust the cleaning operation in a timely manner, or issue a gas replenishment prompt. This ensures that the system has sufficient pressure to support the spraying operation in any cleaning mode, improving cleaning reliability and sensor surface maintenance efficiency, while avoiding incomplete cleaning or system malfunctions due to insufficient pressure.

[0050] In one embodiment, the sensor module 2 is used to monitor the external environmental conditions of the vehicle in real time. It may include a temperature sensor and a humidity sensor. The temperature sensor and humidity sensor are used to acquire the ambient temperature and humidity information of the area where the camera and / or radar are located in order to determine whether there is a risk of condensation, icing, etc.

[0051] like Figure 6 As shown, a flowchart of the control method for a self-cleaning system of an in-vehicle camera and radar in one embodiment of this application is presented, including: S601: Acquire the environmental parameter signals collected by the sensor module and the pollution detection signals collected by the camera / radar; S602: Determine the target cleaning mode based on the current vehicle status information, the environmental parameter signals, and the pollution detection signals; S603: Send control commands according to the target cleaning mode to perform cleaning operations.

[0052] Specifically, in step S601, the control module 4 receives environmental parameter signals collected by the sensor module 2 and pollution detection signals collected by the camera 5 / radar 6 to comprehensively reflect the current pollution status of the sensor surface and external environmental conditions. The environmental parameter signals include at least real-time collected ambient temperature and humidity data. The pollution detection signals are obtained by algorithmic analysis of the image clarity of the camera 5 or by evaluating the quality of the point cloud data of the lidar 6, mainly to calculate the percentage of the area obstructed by the current pollutants on the sensor lens.

[0053] In step S602, the target cleaning mode is determined based on the current vehicle status information, environmental parameter signals, and pollution detection signals. It can first determine whether the area of ​​the pollutant's obstruction reaches or exceeds a preset trigger threshold. If it does, the next decision is made; if not, the process returns to continue monitoring. Subsequently, further judgments can be made based on environmental parameter signals and the current vehicle status information. For example, the ambient temperature can be used to determine whether the pollutant is ice, frost, or muddy water pollution; humidity and rainfall can be used to determine whether gas jet cleaning or liquid jet cleaning is suitable; and the vehicle's driving status, speed, or parking status can be considered to select a cleaning time that has the least impact on vehicle driving safety.

[0054] In step S603, the control module 4 sends control commands according to the target cleaning mode, and sends corresponding control commands to the fluid switching device 31, the control valve assembly 32 and the heating device 33 to trigger jet spraying, liquid spraying or heating operations, thereby realizing efficient self-cleaning of the camera 5 and radar 6, ensuring that the sensors maintain good observation performance under various working conditions, and improving the accuracy of vehicle environmental perception and driving safety.

[0055] In one embodiment, the current vehicle status information includes vehicle start status and vehicle driving status; The pollution detection signal includes the area obscured by the pollutant; The determination of the target cleaning mode based on the current vehicle status information, the environmental parameter signals, and the pollution detection signals specifically includes: If the pollutant blocking area is greater than or equal to a preset blocking area threshold, the target cleaning mode is determined based on the current vehicle status information and environmental parameter signals. If the current vehicle status information indicates that the vehicle is started, then the target cleaning mode is determined based on the environmental parameter signals. If the current vehicle status information is in vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signals and vehicle driving information.

[0056] In this embodiment, the current vehicle status information includes the vehicle's start-up status and vehicle driving status; the pollution detection signal includes the pollutant obstruction area; based on the current vehicle status information, the environmental parameter signal, and the pollution detection signal, a target cleaning mode is determined. Specifically, the pollutant obstruction area is first judged. If the pollutant obstruction area is greater than or equal to the preset obstruction area threshold, it is considered that the pollution level has substantially affected the sensing performance, and the control module 4 enters the cleaning mode determination process. At this time, the control module 4 performs a comprehensive analysis based on the current vehicle status information and environmental parameter signals: when the vehicle is in the start-up state, such as just powered on, parked, or in the low-speed preparation stage, the appropriate target cleaning mode is mainly selected based on the environmental parameter signals; when the vehicle is in the driving state, the target cleaning mode is further combined with the vehicle driving information based on the environmental parameter signals to determine the target cleaning mode adapted to the current driving conditions.

[0057] This embodiment sets a trigger threshold based on the area of ​​pollutant obstruction, which avoids frequent initiation of cleaning actions under conditions of slight pollution, thereby reducing energy consumption and minimizing ineffective work of the actuators. Simultaneously, it introduces a distinction between vehicle startup and driving states, allowing the cleaning strategy to match the vehicle's operating conditions. When the vehicle is startup, it prioritizes ensuring sufficient cleaning, while when the vehicle is driving, it balances cleaning effectiveness with driving safety. Furthermore, by dynamically selecting jet cleaning, water spray cleaning, or a combination of cleaning modes based on environmental parameter signals, it improves adaptability to different types of pollutants, reduces accidental or insufficient cleaning, and overall enhances the perception reliability of the vehicle-mounted camera 5 and radar 6, as well as the system's intelligent operation level.

[0058] In one embodiment, the environmental parameter signal includes the current temperature and the current humidity; The vehicle driving information includes the current vehicle speed; If the current vehicle status information indicates that the vehicle is in a running state, then the target cleaning mode is determined based on the environmental parameter signals, specifically including: If the current humidity is greater than the first humidity threshold, then the target cleaning mode is the heating mode; If the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is a liquid spraying and air spraying combination mode; If the current vehicle status information indicates a vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signals and the vehicle driving information, specifically including: If the current humidity is greater than the first humidity threshold, and the decrease in temperature compared to the previous detection period is greater than the first temperature change threshold, and the increase in humidity compared to the previous detection period is greater than the first humidity change threshold, then the target cleaning mode is the heating mode. If the contaminant type is droplets, then the target cleaning mode is jet cleaning mode; If the contaminant type is not droplet-type, and the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is the spray mode.

[0059] In this embodiment, the environmental parameter signals include the current temperature and current humidity, and the vehicle driving information includes the current vehicle speed. When the current vehicle status information indicates that the vehicle is in the start-up state, the control module 4 prioritizes determining the target cleaning mode based on the environmental parameter signals: if the current humidity is detected to be greater than the first humidity threshold, it indicates that the surface of the camera 5 or radar 6 is prone to condensation, fogging, or slight icing, then the control module 4 determines the target cleaning mode as the heating mode, which eliminates water vapor or condensation by heating the surface of the sensing device; if the current humidity is less than or equal to the first humidity threshold, it is considered that the influence of liquid water vapor in the environment is small, and the control module 4 determines the target cleaning mode as the liquid spraying and air spraying combination mode, which uses cleaning liquid to dissolve or flush the attached pollutants, and further blows away residual liquid and particulate matter by air spraying.

[0060] When the vehicle is in driving mode, the control module 4 makes more precise judgments based on environmental parameter signals and vehicle driving information: when the current humidity is greater than the first humidity threshold, and the temperature drop value is greater than the first temperature change threshold and the humidity rise value is greater than the first humidity change threshold compared with the previous detection period, it is judged that the environmental conditions are rapidly deteriorating and there is a risk of condensation or freezing. At this time, the target cleaning mode is determined to be the heating mode; when the identified pollutant type is droplet, the jet mode is selected first, using airflow to blow the droplets away from the sensing surface; when the pollutant type is not droplet and the current humidity is less than or equal to the first humidity threshold, the target cleaning mode is determined to be the liquid spray mode, which effectively removes solid or adhesive pollutants through cleaning liquid.

[0061] This embodiment employs different cleaning mode determination logics for vehicle startup and driving states, enabling the cleaning strategy to fully adapt to different operating conditions. During startup, condensation and contamination issues are prioritized based on humidity conditions, which helps to quickly restore the perception capabilities of camera 5 and radar 6 before the vehicle starts. During driving, by introducing temperature and humidity change trends and contaminant type judgments, real-time response to complex and dynamic environments can be achieved, reducing unnecessary spraying operations, lowering cleaning fluid consumption, and avoiding field-of-view interference caused by water spraying at high speeds.

[0062] In this embodiment, the determination of pollutant type includes: the control module 4 identifies the type of pollutants on the sensor surface based on the sensing data collected by the camera 5 and / or lidar 6. For raindrop-type pollutants, image recognition is used for identification. Specifically, the control module 4 analyzes the pixel features of suspected polluted areas in the sensing image. It determines the type of pollutant based on the pixel area occupied by a single pollutant in the image, its shape features, and its relationship with the brightness and contrast changes of surrounding pixels. When the polluted area exhibits characteristics of localized high reflectivity, blurred edges, and morphological changes over time or with airflow, the pollutant type is determined to be droplet-type. When the polluted area does not possess the aforementioned droplet characteristics but exhibits stable contours, strong adhesion, or continuous pixel changes, it is determined to be a non-droplet-type pollutant. Through this pollutant type determination process, the control module 4 can accurately distinguish different pollution forms during the target cleaning mode decision-making stage, thereby selectively choosing cleaning methods such as air jetting, liquid spraying, or heating, further improving cleaning efficiency and the reliability of the sensing device.

[0063] In one embodiment, the vehicle driving information includes the current vehicle speed; When the current vehicle status information indicates a vehicle driving mode, determining the target cleaning mode based on the environmental parameter signals and vehicle driving information further includes: If the target cleaning mode is determined to be the liquid spraying mode, then the decision on whether to perform the jet spraying operation after the liquid spraying operation is made based on the current vehicle speed. If the current vehicle speed is lower than the preset speed threshold, then the jet spraying operation will be performed after the liquid spraying operation. If the current vehicle speed is higher than or equal to the preset speed threshold, the jet injection operation will not be performed after the liquid injection operation.

[0064] In this embodiment, vehicle driving information includes the current vehicle speed; when the current vehicle status information is a vehicle driving mode, the target cleaning mode is determined based on the environmental parameter signal and the vehicle driving information, and further includes: if the target cleaning mode is determined to be a liquid spraying mode, the current vehicle speed is further obtained, and a jet spraying operation is determined based on the current vehicle speed; when the current vehicle speed is lower than a preset speed threshold, the control module 4 continues to control the jet spraying valve 321 to open after completing the liquid spraying operation, so as to blow away the liquid remaining on the surface of the camera 5 and / or radar 6; when the current vehicle speed is higher than or equal to the preset speed threshold, the control module 4 no longer executes the jet spraying operation after completing the liquid spraying operation.

[0065] This embodiment incorporates the current vehicle speed to perform a secondary judgment after the liquid spraying operation, adaptively adjusting the cleaning process according to the vehicle's driving conditions. At low speeds, the vehicle's own airflow is weak, and residual water films easily form on the sensor surface after spraying. By increasing the jet spray operation, liquid evaporation or dispersion can be effectively accelerated, improving cleaning performance. At high speeds, the vehicle already possesses strong natural airflow conditions, which can replace the jet spraying effect, avoiding unnecessary jet energy consumption. This ensures cleaning effectiveness while reducing energy consumption and improving the overall system's operating efficiency.

[0066] In another embodiment, a control method for a self-cleaning system for an in-vehicle camera and radar further includes: Acquire the gas pressure collected by gas pressure sensor 113; If the gas pressure is less than or equal to a preset pressure threshold, a water-gas filling reminder signal is sent to perform the water-gas filling operation.

[0067] In this embodiment, the control module 4 acquires the gas pressure data collected by the gas pressure sensor 113 in real time and compares the gas pressure with a preset pressure threshold. When the gas pressure is detected to be less than or equal to the preset pressure threshold, the control module 4 determines that the clean gas in the current gas storage unit 11 is insufficient, and then sends a water and gas filling reminder signal to remind the user that the current self-cleaning system needs to be filled with clean gas and / or clean liquid for maintenance.

[0068] This embodiment can determine the usage status of the cleaning medium based on the gas pressure parameter, and promptly issue a refill reminder message to the user, such as a fault or maintenance prompt. This avoids the problem of the system not working properly only after the cleaning gas is exhausted, and realizes automatic prompts for water and gas refilling operations. It also avoids the cleaning effect and perception reliability of camera 5 and radar 6 being affected by the exhaustion of cleaning gas due to human negligence or lack of experience.

[0069] In one embodiment, the water vapor injection operation specifically includes: Close the control valve assembly 32 and open the pressure relief valve 124; The fluid switching device 31 is in the first working state; External injection is performed through the gas injection port 111 and the liquid injection port 121. When the gas pressure exceeds the preset injection completion threshold, injection is stopped. Close the pressure relief valve 124 and end the water and gas injection operation.

[0070] In this embodiment, when performing the water-gas filling operation, the control module 4 first controls the control valve assembly 32 to close, thereby cutting off the fluid passage between the gas storage unit 11 and the liquid storage unit 12 and the injection port 7. At the same time, the pressure relief valve 124 is opened to relieve pressure on the liquid storage unit 12, preventing residual pressure in the tank from affecting filling safety during the filling process. Subsequently, the control module 4 controls the fluid switching device 31 to be in the first working state, so that the system is in the filling preparation state. At this time, adding gas to the gas storage unit 11 will not input gas into the liquid storage unit 12. In this state, the gas storage unit 11 and the liquid storage unit 12 are externally filled through the gas filling port 111 and the liquid filling port 121, respectively. The control module 4 obtains the gas pressure collected by the gas pressure sensor 113 in real time. When the gas pressure is detected to be greater than the preset filling completion threshold, the water-gas filling is determined to be completed and the filling is stopped. Finally, the control module 4 controls the pressure relief valve 124 to close, so that the liquid storage unit 12 returns to the sealed state and the water-gas filling operation ends, so that the system can resume normal cleaning operation.

[0071] This embodiment coordinates and controls the control valve assembly 32, fluid switching device 31, and pressure relief valve 124 during the water-gas filling process, enabling the filling operation to be carried out in a low-risk and monitorable state. This avoids accidental injection and pressure shock, and can automatically determine the filling completion status through the gas pressure threshold, thereby achieving standardized management of the water-gas filling process and improving the safety and reliability of system maintenance.

[0072] In another embodiment, after determining the target cleaning mode based on the current vehicle status information and environmental parameter signals if the pollutant blocking area is greater than or equal to a preset blocking area threshold, the method further includes: Control module 4 initiates the self-cleaning system initialization; The fluid switching device 31 is detected to be in its first working state; The pressure relief valve 124, water spray valve 322, and air jet valve 321 are detected to be in the closed state; The gas pressure collected by the gas pressure sensor 113 is acquired, and it is detected whether the gas pressure is greater than the preset initial pressure threshold. If the pressure exceeds the preset initialization threshold, the self-cleaning system completes initialization and enters the execution phase of the target cleaning mode. If the fluid switching device 31 is not in the first working state, or if at least one of the pressure relief valve 124, water spray valve 322, and air jet valve 321 is not in the closed state, or if the gas pressure detected by the gas pressure sensor 113 is less than or equal to the preset initialization pressure threshold, the control module 4 determines that the self-cleaning system initialization has failed.

[0073] In this embodiment, if initialization fails, the control module 4 prohibits entry into the target cleaning mode and sends an abnormal prompt signal to the vehicle instrument panel or human-machine interface to remind the user to perform system checks or water / gas refill operations. The control module 4 can also re-execute the initialization detection process after a preset time interval until the initialization success conditions are met before entering the corresponding target cleaning mode execution stage.

[0074] This embodiment introduces a system initialization and initialization failure handling mechanism after determining the target cleaning mode. This allows for a unified verification of the self-cleaning system's operating status before executing cleaning operations, ensuring that the fluid switching device 31, control valve assembly 32, and gas storage pressure are all under safe and controllable initial conditions. This prevents accidental triggering of injection or heating operations in case of abnormal valve status or insufficient pressure, improving the reliability and safety of system operation. Simultaneously, when initialization conditions are not met, the control module 4 outputs an abnormality warning signal to the vehicle's instrument panel or human-machine interface, guiding the user to promptly check or perform water / air refill operations. This effectively prevents prolonged cleaning function failure and improves the user experience. The periodic restart mechanism after initialization failure allows the system to automatically return to normal operation after conditions are restored, reducing manual intervention and improving the self-cleaning system's adaptability and stability under complex operating conditions.

[0075] like Figure 7 As shown, a flowchart of the control method for a self-cleaning system of an in-vehicle camera and radar in another embodiment of this application is included, comprising: S701: Acquire the environmental parameter signals collected by the sensor module and the pollution detection signals collected by the camera / radar 6; S702: If the pollutant shielding area is greater than or equal to a preset shielding area threshold, determine the target cleaning mode based on the current vehicle status information and environmental parameter signals; S703A: If the current vehicle status information is that the vehicle is in the started state, then the target cleaning mode is determined according to the environmental parameter signal; S704A: If the current humidity is greater than the first humidity threshold, then the target cleaning mode is the heating mode; S705A: If the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is a liquid spraying and air spraying combination mode; S703B: If the current vehicle status information is a vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signal and the vehicle driving information; S704B: If the current humidity is greater than the first humidity threshold, and the decrease in temperature compared to the previous detection period is greater than the first temperature change threshold, and the increase in humidity compared to the previous detection period is greater than the first humidity change threshold, then the target cleaning mode is the heating mode. S705B: If the contaminant type is droplets, then the target cleaning mode is jet cleaning mode; S706B: If the contaminant type is not droplet-type, and the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is the spray mode; S707B: If the current vehicle speed is lower than the preset speed threshold, then perform the jet injection operation after the liquid injection operation. S708B: If the current vehicle speed is higher than or equal to the preset speed threshold, the jet injection operation will not be performed after the liquid injection operation.

[0076] Embodiments of this application also provide a storage medium storing computer instructions, which, when executed by a computer, are used to perform a control method for a self-cleaning system of an in-vehicle camera and radar as described in any of the preceding embodiments.

[0077] Figure 8 An electronic device according to this application is shown, comprising: At least one processor 801; and, A memory 802 is communicatively connected to at least one processor 801; wherein, The memory 802 stores instructions that can be executed by at least one processor 801, which enables the at least one processor 801 to perform all steps of a control method for a self-cleaning system of an in-vehicle camera and radar in any of the foregoing method embodiments.

[0078] Figure 8 Taking the 801 processor as an example: The electronic device may also include an input device 803 and an output device 804.

[0079] The processor 801, memory 802, input device 803 and output device 804 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0080] The memory 802, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to a control method for a self-cleaning system of an in-vehicle camera and radar in an embodiment of this application. Figure 6 and Figure 7 The method flow is shown. The processor 801 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 802, thereby realizing a control method for a self-cleaning system of an in-vehicle camera and radar in the above embodiment.

[0081] The memory 802 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required for at least one function. The data storage area may store data created during the use of a control method for a self-cleaning system of an in-vehicle camera and radar. Furthermore, the memory 802 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 802 may optionally include memory remotely located relative to the processor 801, and these remote memories may be connected via a network to means of performing a control method for a self-cleaning system of an in-vehicle camera and radar. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0082] The input device 803 can receive user clicks and generate signal inputs related to user settings and function control of the self-cleaning system for the vehicle-mounted camera and radar. The output device 804 may include a display device such as a screen.

[0083] One or more modules are stored in memory 802, and when run by one or more processors 801, they execute a control method for a self-cleaning system of an in-vehicle camera and radar according to any of the above method embodiments.

[0084] Embodiments of this application also provide a computer program product, including a computer program / instructions that, when executed by a processor, implement a control method for a self-cleaning system of an in-vehicle camera and radar as described in any of the preceding embodiments.

[0085] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0086] The above description is merely the principle and preferred embodiment of this application. It should be noted that for those skilled in the art, implementation methods obtained by appropriately combining the technical solutions disclosed in different embodiments are also included within the technical scope of this invention. Based on the principle of this application, several other modifications can also be made, which should also be considered within the protection scope of this application.

Claims

1. A self-cleaning system for vehicle-mounted cameras and radar, characterized in that, It includes a fluid storage module, a sensor module, an execution module, and a control module; The fluid storage module includes a gas storage unit for storing clean gas and a liquid storage unit for storing clean liquid. The execution module includes a fluid switching device, a control valve assembly, and a heating device for placement at the camera and / or radar. The input end of the fluid switching device is connected to the gas storage unit and is configured to have at least two operating states: In the first operating state, the fluid switching device delivers the gas exported from the gas storage unit to the injection port, which is directed toward the camera and / or the radar arrangement; In the second working state, the fluid switching device delivers the gas exported from the gas storage unit to the liquid storage unit, and delivers the liquid in the liquid storage unit to the injection port; The sensor module is used to collect environmental parameter signals; The control valve assembly is arranged between the fluid storage module and the injection port, and is used to control the flow of fluid. The control module is communicatively connected to the sensor module, the fluid switching device, the control valve assembly, and the heating device.

2. The self-cleaning system for vehicle-mounted cameras and radar according to claim 1, characterized in that, The fluid switching device includes a first channel and a second channel; In the first working state, the input end of the first channel is connected to the gas storage unit, and the output end of the first channel is connected to the injection port through the first gas supply pipe; In the second operating state, the input end of the second channel is connected to the gas storage unit, the output end of the second channel is connected to the input end of the liquid storage unit through the second gas supply pipe, and the output end of the liquid storage unit is connected to the injection port through the water supply pipe.

3. The self-cleaning system for vehicle-mounted cameras and radar according to claim 2, characterized in that, The control valve assembly includes a jet valve and a water spray valve; The jet valve is located inside the first air supply pipe, and the water spray valve is located inside the water supply pipe; The jet valve and the water spray valve are respectively connected to the control module in communication.

4. The self-cleaning system for vehicle-mounted cameras and radar according to claim 1, characterized in that, The gas storage unit is equipped with a gas filling port, and the gas filling port is equipped with a gas replenishment check valve; The liquid storage unit is equipped with a liquid filling port and a pressure relief port. The liquid filling port is equipped with a liquid replenishment check valve, and the pressure relief port is equipped with a pressure relief valve.

5. The self-cleaning system for vehicle-mounted cameras and radar according to claim 4, characterized in that, The gas storage unit is equipped with a gas pressure sensor, which is communicatively connected to the control module.

6. A control method for a self-cleaning system of an in-vehicle camera and radar as described in any one of claims 1-5, characterized in that, include: The system acquires environmental parameter signals collected by the sensor module and pollution detection signals collected by the camera / radar. Based on the current vehicle status information, the environmental parameter signals, and the pollution detection signals, the target cleaning mode is determined. Control commands are sent according to the target cleaning mode to execute the cleaning operation.

7. The control method for the self-cleaning system of the vehicle-mounted camera and radar according to claim 6, characterized in that, The current vehicle status information includes the vehicle start status and the vehicle driving status; The pollution detection signal includes the area obscured by the pollutant; The determination of the target cleaning mode based on the current vehicle status information, the environmental parameter signals, and the pollution detection signals specifically includes: If the pollutant blocking area is greater than or equal to a preset blocking area threshold, the target cleaning mode is determined based on the current vehicle status information and environmental parameter signals. If the current vehicle status information indicates that the vehicle is started, then the target cleaning mode is determined based on the environmental parameter signals. If the current vehicle status information is in vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signals and vehicle driving information.

8. The control method for the self-cleaning system of the vehicle-mounted camera and radar according to claim 7, characterized in that, The environmental parameter signals include the current temperature and current humidity; The vehicle driving information includes the current vehicle speed; If the current vehicle status information indicates that the vehicle is in a running state, then the target cleaning mode is determined based on the environmental parameter signals, specifically including: If the current humidity is greater than the first humidity threshold, then the target cleaning mode is the heating mode; If the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is a liquid spraying and air spraying combination mode; If the current vehicle status information indicates a vehicle driving mode, then the target cleaning mode is determined based on the environmental parameter signals and the vehicle driving information, specifically including: If the current humidity is greater than the first humidity threshold, and the decrease in temperature compared to the previous detection period is greater than the first temperature change threshold, and the increase in humidity compared to the previous detection period is greater than the first humidity change threshold, then the target cleaning mode is the heating mode. If the contaminant type is droplets, then the target cleaning mode is jet cleaning mode; If the contaminant type is not droplet-type, and the current humidity is less than or equal to the first humidity threshold, then the target cleaning mode is the spray mode.

9. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform a control method for a self-cleaning system for a vehicle-mounted camera and radar as described in any one of claims 6-8.

10. An electronic device, characterized in that, Includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform a control method for a self-cleaning system of an in-vehicle camera and radar as described in any one of claims 6-8.

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