Control method, cleaning system and vehicle

Abstract

The application provides a control method, a cleaning system and a vehicle, which can be applied to the field of intelligent vehicles. The method comprises the following steps: controlling a wiper to perform a wiping operation on a window of a laser radar; and controlling a first nozzle to spray cleaning liquid on the window. The application can be applied to an intelligent vehicle or an electric vehicle, and helps to clean dirt on the window of the laser radar in a timely manner, helps to restore the optical detection performance of the laser radar, and helps to improve the safety performance of the vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to a control method, a cleaning system, and a vehicle. Background Technology

[0002] With the continuous development of vehicle intelligence, various sensors used for environmental perception, vehicle body perception, and network perception are increasingly being applied to vehicles. For example, the configuration of sensors such as onboard cameras, millimeter-wave radar, lidar, and ultrasonic radar can be used for environmental perception, sensing various information such as nearby vehicles, lane markings, pedestrians, buildings, obstacles, traffic signs, and traffic lights. However, when lidar is placed outside the vehicle, it is affected by the natural environment (such as rain, mud, dust, ice, insect remains, or bird droppings), causing a decrease in perception performance and affecting vehicle safety. Summary of the Invention

[0003] This application provides a control method, a cleaning system, and a vehicle that helps to clean dirt from the viewport of a lidar in a timely manner, helps to restore the optical detection performance of the lidar, and also helps to improve the safety performance of the vehicle.

[0004] In a first aspect, this application provides a control method, which includes: controlling a scraper to perform a scraping operation in the view window of a lidar; and controlling a first nozzle to spray cleaning fluid into the view window.

[0005] Based on the above technical solution, by controlling the scraper to perform scraping operations on the lidar window and controlling the first nozzle to spray cleaning fluid onto the window, the problem of stubborn stains being difficult to remove by relying solely on liquid rinsing or the window being easily damaged by relying solely on dry scraping with the scraper is solved. This achieves effective physical peeling and cleaning of dirt adhering to the window, which helps to restore the optical detection performance of the lidar and also helps to improve the safety performance of the vehicle.

[0006] In some possible implementations, the scraper finishes its scraping operation earlier than the first nozzle finishes spraying the cleaning fluid.

[0007] Based on the above technical solution, by making the end time of the scraping operation of the scraper blade earlier than the end time of the first nozzle spraying the cleaning fluid, the problem that dirt is easily pushed by the scraper blade and remains at both ends of the scraping path and adheres to the scraper blade itself after the scraping action is completed is solved. This achieves the thorough rinsing of residual dirt on the edge of the window and self-cleaning of the scraper blade by the cleaning fluid that continues to spray after the scraping stops. This helps to keep the window clean to the greatest extent, thereby ensuring that its optical detection performance can be quickly restored and improving the vehicle's safety performance.

[0008] In some possible implementations, the scraper finishes its scraping operation earlier than the first nozzle begins spraying the cleaning fluid.

[0009] Based on the above technical solution, by making the end time of the scraping operation of the scraper blade earlier than the start time of the first nozzle spraying the cleaning fluid, the problem that dirt is easily left on the scraper blade at its resting position after the scraping action is completed is solved. This helps to thoroughly rinse away the residual stains on the viewing window with the sprayed cleaning fluid after the scraper blade has finished scraping and been stored in the storage space, and prevents the cleaning fluid and dirt from entering the scraper blade's storage space.

[0010] In some possible implementations, the storage space could be inside a cover plate surrounding the window.

[0011] In some possible implementations, the end time of the scraping operation performed by the scraper is earlier than the end time of the first nozzle spraying the cleaning fluid, and the start time of the first nozzle spraying the cleaning fluid is earlier than the end time of the scraping operation performed by the scraper.

[0012] Based on the above technical solution, by ensuring that the end time of the scraping operation of the scraper is earlier than the end time of the first nozzle spraying the cleaning fluid, and that the start time of the first nozzle spraying the cleaning fluid is earlier than the end time of the scraper's scraping operation, the problems of the scraper potentially damaging the window due to lack of cleaning fluid at the end of the scraping action, and the dirt easily being pushed and left on the scraping path edge and scraper after scraping are solved. This achieves continuous water film lubrication at the end of the scraping stage, and uses the cleaning fluid that continues to be sprayed after the scraping stops to thoroughly wash away residual dirt on the edge of the window and clean the scraper itself, which helps to maintain the cleanliness of the lidar window to the greatest extent and restore its optical detection performance.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, before the scraper performs the scraping operation in the viewport of the lidar, the method further includes: controlling a second nozzle to spray cleaning fluid into the viewport.

[0014] Based on the above technical solution, by controlling the second nozzle to spray cleaning fluid onto the window before the scraper blade performs the scraping operation, the problem of wear on the coating on the window surface caused by direct dry scraping by the scraper blade is solved. This achieves pre-wetting and softening of the adhering dirt on the window surface, providing a good lubrication environment for subsequent scraping by the scraper blade.

[0015] In some possible implementations, the start time of the second nozzle spraying cleaning fluid is earlier than the start time of the scraper performing the scraping action, and the start time of the scraper performing the scraping action is earlier than the end time of the second nozzle spraying cleaning fluid.

[0016] Based on the above technical solution, by making the start time of the second nozzle spraying cleaning fluid earlier than the start time of the scraper blade performing the scraping operation, and the start time of the scraper blade performing the scraping operation earlier than the end time of the second nozzle spraying cleaning fluid, the problems of insufficient lubrication on the viewing window surface of the scraper blade at the moment of starting the scraping operation, which may lead to dry scraping damage, and the failure of some stubborn stains to be fully softened are solved. It achieves the pre-wetting of dirt before the scraping operation starts, and provides dynamic water film lubrication continuously in the initial stage of the scraper blade's movement, which helps to more smoothly and efficiently physically peel off and scrape off the attached stains, while effectively protecting the viewing window of the lidar from wear.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the first nozzle and the second nozzle are the same nozzle.

[0018] Based on the above technical solution, by setting the first nozzle and the second nozzle as the same nozzle, the problem of complex hardware structure and high cost caused by the need to arrange multiple nozzles in the cleaning system is solved, and the hardware structure is simplified and the overall system is lightweight.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, before the control blade performs the wiping operation in the view window of the lidar, the method further includes: determining that the ambient temperature around the vehicle is greater than or equal to a first preset temperature, the vehicle including the lidar.

[0020] Based on the above technical solution, by ensuring that the ambient temperature is greater than or equal to the first preset temperature before the scraper blade performs the scraping operation, the problem of damage to the lidar caused by forced scraping due to the freezing of the cleaning fluid or the hardening of the scraper blade in extremely low temperature environments is solved, thus achieving effective protection of the lidar.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, before the scraper performs the scraping operation in the view window of the lidar, the method further includes: controlling the first heating device to heat the first nozzle when the ambient temperature is less than or equal to a second preset temperature; and / or controlling the second heating device to heat the scraper; wherein the second preset temperature is greater than the first preset temperature.

[0022] Based on the above technical solution, by controlling the first heating device to heat the nozzle and / or the second heating device to heat the scraper when the ambient temperature is less than or equal to the second preset temperature (and greater than the first preset temperature), the problem of the nozzle being frozen and blocked or the scraper being stiff and frozen under low temperature conditions is solved, which helps to ensure that the cleaning system can start up and run smoothly in low temperature environment.

[0023] In conjunction with the first aspect, in certain implementations of the first aspect, before controlling the scraper to perform a scraping operation in the viewport of the lidar, the method includes: acquiring a first signal for instructing the execution of a cleaning operation for the viewport; wherein controlling the scraper to perform a scraping operation in the viewport of the lidar includes: in response to the first signal, controlling the scraper to perform a scraping operation in the viewport.

[0024] Based on the above technical solution, by acquiring a first signal to indicate the execution of a cleaning operation and responding to the signal to control the scraper to perform a scraping operation, the problem of waste of cleaning fluid and electricity caused by blind or timed forced cleaning is solved, and the cleaning action is triggered on demand, thereby improving the resource utilization rate of the system.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, acquiring the first signal includes: determining the dirt status of the window based on the first data collected by the first sensor; and acquiring the first signal when the dirt status indicates that there is dirt on the window.

[0026] Based on the above technical solution, the dirt status of the window is determined by the first data collected by the first sensor, and the first signal is only obtained when dirt is present. This solves the problem that the cleaning triggering conditions are not objective and accurate enough, and realizes the accurate identification of the dirt status of the window, so as to initiate the cleaning process in a targeted manner.

[0027] In some possible implementations, determining the dirt status of the window based on first data collected by the first sensor includes: inputting the first data into a machine learning model to obtain a detection result that indicates the dirt status of the window.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, obtaining a first signal when there is dirt on the dirt status indicator window includes: obtaining a first signal when there is dirt on the dirt status indicator window and the type of dirt is a preset type; or, obtaining a first signal when there is dirt on the dirt status indicator window and the vehicle is in manual driving mode; or, obtaining a first signal when there is dirt on the dirt status indicator window, the vehicle is in intelligent driving mode, and the vehicle includes redundant sensors corresponding to the lidar.

[0029] Based on the above technical solution, cleaning is triggered when the dirt is of a preset type, or when the vehicle is in manual driving mode, or when it is in intelligent driving mode and has corresponding redundant sensors. This solves the problem that the intelligent driving system may give false alarms or cause dangers if the cleaning is started due to the temporary obstruction of the lidar. It achieves the goal of intervening in cleaning only when the absolute safety of the whole vehicle is ensured.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: during the process of the scraper blade performing the scraping operation and the first nozzle spraying cleaning fluid into the viewing window, controlling the vehicle's intelligent driving system to shield data from the lidar.

[0031] Based on the above technical solution, by controlling the vehicle's intelligent driving system to shield data from lidar during the scraping and spraying of cleaning fluid, the problem that point cloud noise and ranging deviations generated by the cleaning action itself (such as scraper movement and cleaning fluid film) may interfere with the intelligent driving system is solved, which helps to prevent the intelligent driving system from making wrong driving decisions.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling the vehicle's intelligent driving system to perform a function degradation during the process of the scraper blade performing the scraping operation and the first nozzle spraying cleaning fluid into the viewing window.

[0033] Based on the above technical solution, by controlling the vehicle's intelligent driving system to downgrade its functions during the scraping and spraying of cleaning fluid, the problem of potential hidden dangers caused by the decline in the vehicle's perception ability due to cleaning of a single sensor is solved, and the overall vehicle driving safety is smoothly transitioned and improved during sensor cleaning.

[0034] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: after the scraper has completed the scraping operation, obtaining the first position of the dirt on the viewing window based on the data collected by the lidar; wherein controlling the first nozzle to spray cleaning fluid onto the viewing window includes: controlling the first nozzle to spray cleaning fluid onto the viewing window based on the first position.

[0035] Based on the above technical solution, by obtaining the first position of dirt on the viewing window according to the data collected by the lidar, and controlling the first nozzle to spray cleaning fluid according to the first position, the problem of unnecessary consumption of cleaning fluid that may be caused by large-area spraying of the entire viewing window is solved, and precise cleaning of local dirt positions is achieved.

[0036] In some possible implementations, controlling the first nozzle to spray cleaning fluid onto the viewing window according to the first position includes: controlling the first nozzle to be at a first spray angle according to the first position; and controlling the first nozzle to spray cleaning fluid onto the viewing window at the first spray angle.

[0037] Secondly, this application provides a control method, the method comprising: acquiring first information, the first information including one or more of the following: the type of dirt on the viewport of a lidar, environmental information around the vehicle, and information from a weather application, wherein the vehicle includes a lidar; acquiring a target cleaning strategy from a plurality of cleaning strategies based on the first information, wherein the plurality of cleaning strategies are strategies for cleaning the viewport; and performing a cleaning operation on the viewport based on the target cleaning strategy.

[0038] Based on the above technical solution, by acquiring first information including dirt type, environmental information or weather application information, and then selecting the target cleaning strategy from multiple cleaning strategies to perform cleaning, the problem that a single fixed cleaning mode cannot adapt to complex and changing environmental conditions is solved, and intelligent, multimodal adaptive cleaning for different environments and different dirt conditions is realized.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the multiple cleaning strategies include at least two of a first cleaning strategy, a second cleaning strategy, and a third cleaning strategy, wherein the first cleaning strategy is to control the scraper to perform a scraping operation on the surface of the window and control the nozzle to spray cleaning fluid onto the window; the second cleaning strategy is to control the nozzle to spray cleaning fluid onto the window, or to control the nozzle to spray cleaning fluid onto the window and control the scraper to perform a scraping operation on the surface of the window; and the third cleaning strategy is to control a third heating device to heat the window.

[0040] Based on the above technical solution, by providing at least two of the first cleaning strategy, the second cleaning strategy and the third cleaning strategy as options, the problem of the lack of means to deal with different media such as ice, snow, dust and stubborn mud in the existing technology is solved, and the diversification and fine combination of cleaning methods are realized.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the first cleaning strategy is to control the nozzle to spray cleaning fluid into the window, control the scraper to perform a scraping operation on the surface of the window, and control the nozzle to spray cleaning fluid into the window again.

[0042] Based on the above technical solution, by setting the first cleaning strategy to a three-step process of controlling the nozzle to spray, scraping the blade, and then controlling the nozzle to spray the cleaning fluid again, the problem of dirt being easily pushed and left at the edge after one unidirectional scraping is solved, and the residual dirt at both ends of the scraper and the scraping path is thoroughly rinsed away by the final spray.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes the type of dirt, and based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, including: if the type of dirt is a preset type, determining the first cleaning strategy as the target cleaning strategy; if the type of dirt is dust or rainwater, determining the second cleaning strategy as the target cleaning strategy; or, if the type of dirt is snow or frost, determining the third cleaning strategy as the target cleaning strategy.

[0044] Based on the above technical solution, by using a first cleaning strategy when the dirt is of a preset type, a second cleaning strategy when it is dust / rainwater, and a third cleaning strategy when it is snow / frost, the problem of water waste or damage caused by using a "one-size-fits-all" cleaning method is solved. Different cleaning strategies are implemented for different types of dirt, which improves cleaning efficiency while ensuring cleaning effect.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes the ambient temperature, and the target cleaning strategy is obtained from multiple cleaning strategies based on the first information, including: when the ambient temperature is less than or equal to a first preset temperature, the third cleaning strategy is determined as the target cleaning strategy; or, when the ambient temperature is greater than the first preset temperature, the first cleaning strategy or the second cleaning strategy is determined as the target cleaning strategy.

[0046] Based on the above technical solution, by determining a third cleaning strategy when the ambient temperature is less than or equal to the first preset temperature, and determining the first cleaning strategy or the second cleaning strategy when the ambient temperature is greater than the first preset temperature, the problem that water spraying and scraping at extremely low temperatures can easily cause the cleaning fluid to freeze rapidly and jam the actuator is solved. This helps to prevent maloperation that may cause damage and greatly improves the system's extreme cold adaptability.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, the first information also includes the type of dirt, and determining the first cleaning strategy or the second cleaning strategy as the target cleaning strategy includes: determining the target cleaning strategy from the first cleaning strategy or the second cleaning strategy based on the type of dirt.

[0048] Based on the above technical solution, when the ambient temperature is higher than the first preset temperature, the target strategy is determined from the first cleaning strategy or the second cleaning strategy by further combining the type of dirt. This solves the problem of over-cleaning caused by relying solely on temperature as a judgment criterion, and realizes refined cleaning decision-making from the dual dimensions of temperature control and dirt type.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes information from a weather application, and based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, including: if the information from the weather application indicates that the vehicle is currently in a rainy or dusty weather, a second cleaning strategy is determined as the target cleaning strategy; or, if the information from the weather application indicates that the vehicle is currently in a snowy or foggy weather, a third cleaning strategy is determined as the target cleaning strategy.

[0050] Based on the above technical solution, by adopting a second cleaning strategy when the information from the weather application indicates rainy / dust storm days and a third cleaning strategy when snowy / foggy days, the problem of the sensor's lag in only being able to passively wait for dirt to adhere and cause attenuation before starting to clean is solved. This helps to proactively carry out targeted defensive cleaning preparations using meteorological pre-data.

[0051] Thirdly, this application provides a cleaning system, which includes a controller, a scraper, and a first nozzle, wherein the controller is used to control the scraper to perform a scraping operation in the view window of the lidar; the controller is used to control the first nozzle to spray cleaning fluid into the view window.

[0052] In conjunction with the third aspect, in some implementations of the third aspect, the cleaning system further includes a second nozzle and a controller for controlling the second nozzle to spray cleaning fluid into the viewing window before the control blade performs a scraping operation in the viewing window.

[0053] In conjunction with the third aspect, in some implementations of the third aspect, the first nozzle and the second nozzle are the same nozzle.

[0054] In conjunction with the third aspect, in some implementations of the third aspect, the controller is also used to determine, before controlling the wiper blade to perform the wiping operation in the view window, that the ambient temperature around the vehicle is greater than or equal to a first preset temperature, and the vehicle includes a lidar.

[0055] In conjunction with the third aspect, in some implementations of the third aspect, the cleaning system further includes a first heating device and a second heating device, and a controller for controlling the first heating device to heat the first nozzle when the ambient temperature is less than or equal to a second preset temperature; and / or controlling the second heating device to heat the scraper; wherein the second preset temperature is greater than the first preset temperature.

[0056] In conjunction with the third aspect, in some implementations of the third aspect, a controller is configured to acquire a first signal before controlling the scraper to perform a scraping operation, the first signal being used to instruct the execution of a cleaning operation for the window; in response to the first signal, the controller controls the scraper to perform a scraping operation on the window.

[0057] In conjunction with the third aspect, in some implementations of the third aspect, the controller is configured to: determine the dirt status of the window based on the first data collected by the first sensor; and acquire a first signal when the dirt status indicates that dirt exists on the window.

[0058] In conjunction with the third aspect, in some implementations of the third aspect, the controller is configured to: acquire a first signal when there is dirt on the dirt status indicator window and the type of dirt is a preset type; or, acquire a first signal when there is dirt on the dirt status indicator window and the vehicle is in manual driving mode; or, acquire a first signal when there is dirt on the dirt status indicator window, the vehicle is in intelligent driving mode, and the vehicle includes redundant sensors corresponding to the lidar.

[0059] In conjunction with the third aspect, in some implementations of the third aspect, the controller is also used to: control the vehicle's intelligent driving system to shield data from the lidar during the scraping operation of the scraper blade and the spraying of cleaning fluid from the first nozzle onto the viewing window.

[0060] In conjunction with the third aspect, in some implementations of the third aspect, the controller is also used to: control the intelligent driving system of the vehicle to perform functional degradation during the process of the scraper blade performing the scraping operation and the first nozzle spraying cleaning fluid into the viewing window.

[0061] In conjunction with the third aspect, in some implementations of the third aspect, the controller is also used to: after the scraper has completed the scraping operation, obtain the first position of the dirt on the viewing window based on the data collected by the lidar; and control the first nozzle to spray cleaning fluid into the viewing window based on the first position.

[0062] Fourthly, this application provides a cleaning system comprising a controller, a scraper, and a nozzle. The controller is configured to acquire first information, including one or more of the following: the type of dirt on the lidar window, environmental information surrounding the vehicle, and information from a weather application; the vehicle includes a lidar. The controller is further configured to acquire a target cleaning strategy from a plurality of cleaning strategies based on the first information, the plurality of cleaning strategies being strategies for cleaning the window. The controller is also configured to control the scraper and / or nozzle to perform a cleaning operation on the window based on the target cleaning strategy.

[0063] In conjunction with the fourth aspect, in some implementations of the fourth aspect, multiple cleaning strategies include at least two of a first cleaning strategy, a second cleaning strategy, and a third cleaning strategy, wherein the first cleaning strategy is to control the scraper to perform a scraping operation on the surface of the window and control the nozzle to spray cleaning fluid onto the window; the second cleaning strategy is to control the nozzle to spray cleaning fluid onto the window, or to control the nozzle to spray cleaning fluid onto the window and control the scraper to perform a scraping operation on the surface of the window; and the third cleaning strategy is to control a third heating device to heat the window.

[0064] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the first cleaning strategy is to control the nozzle to spray cleaning fluid into the window, control the scraper to perform a scraping operation on the surface of the window, and control the nozzle to spray cleaning fluid into the window again.

[0065] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the first information includes the type of dirt, and a controller is used to determine the first cleaning strategy as the target cleaning strategy when the type of dirt is a preset type; to determine the second cleaning strategy as the target cleaning strategy when the type of dirt is dust or rainwater; or, to determine the third cleaning strategy as the target cleaning strategy when the type of dirt is snow or frost.

[0066] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the first information includes the ambient temperature and a controller, which is used to determine the third cleaning strategy as the target cleaning strategy when the ambient temperature is less than or equal to the first preset temperature; or, when the ambient temperature is greater than the first preset temperature, to determine the first cleaning strategy or the second cleaning strategy as the target cleaning strategy.

[0067] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the first information also includes the type of dirt, and a controller for determining a target cleaning strategy from a first cleaning strategy or a second cleaning strategy based on the type of dirt.

[0068] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the first information includes information from a weather application, and the controller is used to determine the second cleaning strategy as the target cleaning strategy when the information from the weather application indicates that the vehicle is currently in a rainy or dusty weather; or, when the information from the weather application indicates that the vehicle is currently in a snowy or foggy weather, the controller determines the third cleaning strategy as the target cleaning strategy.

[0069] Fifthly, this application provides a control device comprising a module or unit for performing the method in any possible implementation of the first or second aspect described above.

[0070] In a sixth aspect, this application provides a control device including a memory and a processor. The memory stores a computer program, and the processor executes the computer program in the memory, enabling the control device to implement the methods in any of the possible implementations of the first or second aspect described above.

[0071] In a seventh aspect, this application provides a vehicle that includes a lidar and a cleaning system as described in any one of the third or fourth aspects above, or the vehicle includes a lidar and a control device as described in any one of the fifth or sixth aspects above.

[0072] The term "vehicle" in this application is used in a broad sense and can refer to means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0073] Eighthly, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform the method in any possible implementation of the first or second aspect.

[0074] Ninthly, this application provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method in any possible implementation of the first or second aspect.

[0075] In a tenth aspect, this application provides a chip including circuitry for performing the methods in any possible implementation of the first or second aspect described above. Attached Figure Description

[0076] Figure 1 This is a functional block diagram of the vehicle provided in the embodiments of this application.

[0077] Figure 2 This is a schematic block diagram of the intelligent driving system provided in the embodiments of this application.

[0078] Figure 3 This is a schematic flowchart of the control method provided in the embodiments of this application.

[0079] Figure 4 This is a timing diagram of the scraper performing the scraping operation and the first nozzle spraying the cleaning fluid, provided in the embodiments of this application.

[0080] Figure 5 This is another timing diagram of the scraper performing the scraping operation and the first nozzle spraying the cleaning fluid, provided in the embodiments of this application.

[0081] Figure 6 This is a schematic diagram of cleaning the window provided in an embodiment of this application.

[0082] Figure 7 This is another schematic flowchart of the control method provided in the embodiments of this application.

[0083] Figure 8 This is another schematic flowchart of the control method provided in the embodiments of this application.

[0084] Figure 9 This is a schematic block diagram of the cleaning system provided in the embodiments of this application.

[0085] Figure 10 This is a schematic block diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0086] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0087] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0088] Figure 1This is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 110, a computing platform 120, and a display device 130. The sensing system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or another positioning system. As another example, the sensing system 110 may include one or more of the following: an inertial measurement unit (IMU), an accelerometer, a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0089] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0090] The in-cabin display devices 130 are mainly divided into two categories: the first is the in-vehicle display screen; the second is the projection display screen, such as the HUD. The in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as the digital instrument cluster display, the central control screen, the display screen in front of the front passenger (also known as the front-seat passenger), the display screen in front of the left rear passenger, the display screen in front of the right rear passenger, and even the car windows can be used as displays. The head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's eye-shift time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. It should be understood that HUDs can also evolve into other types of systems as technology progresses, and this application does not limit them.

[0091] The above description of the display device 130 uses an in-vehicle display screen and a projection display screen as examples, but the embodiments of this application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0092] Optionally, the structure of the vehicle 100 described above is merely illustrative. In actual applications, various components of the vehicle 100 may be added or removed as needed.

[0093] Vehicle 100 may include an intelligent driving system, which may include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of vehicle driving.

[0094] For example, the vehicle 100 mentioned above may include vehicles, drones, aircraft, robots, and other vehicles.

[0095] For example, Figure 2A schematic block diagram of an intelligent driving system provided in an embodiment of this application is shown. The intelligent driving system may include three functional modules: a perception module 210, a planning module 220, and a control module 230. The perception module 210 preprocesses the data collected by sensors to obtain processed data, which is then sent to the planning module 220. The planning module 220 plans the driving route of the vehicle 100 based on the data obtained from the perception module 210. The planning module 220 may send this driving route to the control module 230. The control module 230 controls the vehicle 100 to drive according to the driving trajectory.

[0096] The above-mentioned sensing module 210, planning module 220 and control module 230 can be located in the above-mentioned computing platform 120.

[0097] As mentioned earlier, with the continuous development of vehicle intelligence, various sensors used for environmental perception, vehicle body perception, and network perception are increasingly being applied to vehicles. For example, the configuration of sensors such as vehicle cameras, millimeter-wave radar, lidar, and ultrasonic radar can be used for environmental perception, sensing various information such as nearby vehicles, lane lines, pedestrians, buildings, obstacles, traffic signs, and traffic lights. When lidar is placed on the outside of the vehicle, it is affected by the natural environment (such as rain, mud, dust, ice, insect carcasses, or bird droppings), causing a decrease in perception performance and affecting the vehicle's safety performance.

[0098] This application provides a control method, a cleaning system, and a vehicle that helps to clean dirt from the viewport of a lidar in a timely manner, helps to restore the optical detection performance of the lidar, and also helps to improve the safety performance of the vehicle.

[0099] Figure 3 A schematic flowchart of a control method 300 provided in an embodiment of this application is shown. The method 300 includes: S310 controls the scraper to perform a scraping operation in the lidar's view window.

[0100] In some possible implementations, before controlling the scraper to perform a scraping operation in the viewport of the lidar, the method 300 includes: acquiring a first signal for instructing the execution of a cleaning operation for the viewport; wherein controlling the scraper to perform a scraping operation in the viewport of the lidar includes: in response to the first signal, controlling the scraper to perform a scraping operation in the viewport.

[0101] In this embodiment, by acquiring a first signal to indicate the execution of a cleaning operation and responding to the signal to control the scraper to perform a scraping operation, the problem of waste of cleaning fluid and electricity caused by blind or timed forced cleaning is solved, and the cleaning action is triggered on demand, thereby improving the resource utilization rate of the system.

[0102] In some possible implementations, acquiring the first signal includes: determining the state of dirt on the window based on first data collected by the first sensor; and acquiring the first signal when the state of dirt indicates that dirt exists on the window.

[0103] In some possible implementations, the first sensor can be a lidar or a camera. For example, if the lidar in S310 is a forward-facing lidar, then the first sensor can be a forward-facing camera, with the lidar's viewport located within the field of view of the forward-facing camera.

[0104] In some possible implementations, determining the dirt status of the window based on the first data collected by the first sensor includes: using a lidar as the first sensor, acquiring the optical detection signal emitted and received by the lidar as the first data, and using a point cloud quality analysis algorithm to analyze one or more of the point cloud missing rate, ranging deviation, or noise change in the first data to determine the dirt status of the window.

[0105] In some possible implementations, the method 300 further includes: determining that there is dirt on the lidar window when the duration of the point cloud missing rate being greater than or equal to a preset missing rate is greater than or equal to a preset duration.

[0106] For example, the point cloud missing rate (or signal attenuation rate) refers to the proportion of a beam emitted by a lidar towards a specific area that fails to receive a valid echo or whose energy is below the detection threshold.

[0107] For example, the preset missing rate is 15%, and the first preset duration is 2 seconds.

[0108] In some possible implementations, the method 300 further includes: determining that there is dirt on the lidar window when the ranging deviation is greater than or equal to a preset offset.

[0109] For example, when a lidar detects a known reference object, if the ranging deviation of a specific channel is greater than 5cm or the relative error is greater than 5%, it can be determined that there is dirt on the lidar's viewing window.

[0110] In some possible implementations, determining the dirt status of the window based on the first data collected by the first sensor includes: using a camera as the first sensor to collect image data of the window including the LiDAR as the first data, and analyzing the area of ​​the window surface obscured by dirt in the image data through an image recognition algorithm to determine the dirt status of the window.

[0111] In some possible implementations, the method 300 further includes: determining that dirt exists on the window if the area of ​​the window surface obscured by dirt is greater than or equal to a preset area, based on image data.

[0112] For example, the preset area is 10%.

[0113] In some possible implementations, determining the dirt status of the window based on first data collected by the first sensor includes: acquiring point cloud data from the lidar and an image of the window including the lidar captured by the camera; and determining the dirt status of the window based on the point cloud data and the image.

[0114] For example, the state of dirt in the viewport can be determined through multi-sensor fusion. For instance, by combining images from a forward-facing camera (identifying whether it is mud, insect residue, dust, or snow) with the signal attenuation level / point cloud noise pattern of the LiDAR itself, the state and type of dirt can be intelligently determined.

[0115] In this embodiment, the dirt status of the window is determined based on the first data collected by the first sensor, and the first signal is only acquired when dirt is present. This solves the problem that the cleaning triggering conditions are not objective and accurate enough, and achieves accurate identification of the dirt status of the window, thereby enabling targeted initiation of the cleaning process.

[0116] In some possible implementations, the vehicle can learn the frequency of dirt on different routes or in different seasons, thereby adaptively adjusting the trigger threshold or sensitivity when acquiring the first signal.

[0117] In some possible implementations, determining the dirt status of the window based on first data collected by the first sensor includes: inputting the first data into a first machine learning model to obtain a first detection result, which indicates the dirt status of the window.

[0118] For example, the first machine learning model can be a convolutional neural network.

[0119] In some possible implementations, acquiring a first signal when there is dirt on the dirt status indicator window includes: acquiring a first signal when there is dirt on the dirt status indicator window and the type of dirt is a preset type.

[0120] In some possible implementations, if the first detection result indicates that there is dirt on the window, the first detection result also includes the type of dirt.

[0121] In some possible implementations, the preset type can be a sticky type of dirt. For example, shellac, bird droppings, resin, mud, or plant pollen.

[0122] In some possible implementations, acquiring a first signal when there is dirt on the dirt status indicator window includes: acquiring a first signal when there is dirt on the dirt status indicator window and the vehicle is in manual driving mode.

[0123] In some possible implementations, when there is dirt on the dirt status indicator window and the vehicle is in manual driving mode, acquiring the first signal includes: when the vehicle is in manual driving mode and there is dirt on the window, controlling the in-cabin prompting device to issue a cleaning prompt message for the lidar; in response to receiving a confirmation command from the user, acquiring the first signal to trigger a cleaning operation.

[0124] In some possible implementations, acquiring a first signal when there is dirt on the dirt status indicator window includes: acquiring a first signal when there is dirt on the dirt status indicator window, the vehicle is in intelligent driving mode, and the vehicle includes redundant sensors corresponding to the LiDAR.

[0125] For example, taking the LiDAR in S310 as a forward-facing LiDAR. If there are two forward-facing LiDARs in front of the vehicle, then when the vehicle is in intelligent driving mode, if there is a foreign object on the viewing window of one of the forward-facing LiDARs, then during the cleaning process of that forward-facing LiDAR, the vehicle can be controlled by the point cloud data collected by the other forward-facing LiDAR.

[0126] In this embodiment, cleaning is triggered when the dirt is of a preset type, or when the vehicle is in manual driving mode, or when it is in intelligent driving mode and has corresponding redundant sensors. This solves the problem that once cleaning is started, the intelligent driving system may give false alarms or cause danger due to the temporary obstruction of the lidar. It realizes that cleaning is only intervened under the premise of ensuring the absolute safety of the whole vehicle.

[0127] In some possible implementations, acquiring the first signal includes: acquiring the first signal when it is detected that the user has turned on the windshield wipers.

[0128] In some possible implementations, before the scraper performs the scraping operation in the lidar window, the method 300 further includes controlling a second nozzle to spray cleaning fluid into the window.

[0129] In this embodiment, by controlling the second nozzle to spray cleaning fluid onto the window before the scraper blade performs the scraping operation, the problem of wear on the coating on the window surface caused by direct dry scraping by the scraper blade is solved. This achieves pre-wetting and softening of the adhering dirt on the window surface, providing a good lubrication environment for subsequent scraping by the scraper blade.

[0130] In some possible implementations, the start time of the second nozzle spraying cleaning fluid is earlier than the start time of the scraper performing the scraping operation, and the start time of the scraper performing the scraping operation is earlier than the end time of the second nozzle spraying cleaning fluid.

[0131] For example, the time period for the second nozzle to spray cleaning fluid is (T1, T2), and the time period for the scraper to perform the scraping operation is (T3, T4), where time T1 is earlier than time T3.

[0132] In this embodiment, by making the start time of the second nozzle spraying cleaning fluid earlier than the start time of the scraper blade performing the scraping operation, and the start time of the scraper blade performing the scraping operation earlier than the end time of the second nozzle spraying cleaning fluid, the problems of insufficient lubrication on the viewing window surface of the scraper blade at the moment of starting the scraping operation, resulting in dry scraping damage, and some stubborn stains not being sufficiently softened are solved. This achieves the pre-wetting of dirt before the scraping operation starts, and provides dynamic water film lubrication continuously in the initial stage of the scraper blade's movement, which helps to more smoothly and efficiently physically peel off and scrape off the attached stains, while effectively protecting the LiDAR viewing window from wear.

[0133] In some possible implementations, the end of the second nozzle spraying the cleaning fluid occurs earlier than the start of the scraper's brushing action.

[0134] In some possible implementations, the method 300 further includes controlling the duration of the second nozzle spraying cleaning fluid according to the type of dirt.

[0135] For example, when the dirt is dried mud, hard lime, or contains high-density sand particles, the duration of the second nozzle spray can be increased to pre-build a sufficiently thick protective fluid lubricating film on the surface of the lidar window. This effectively encapsulates and suspends hard particles, preventing sand particles from scratching the optical coating of the window during blade movement, thus extending the physical lifespan of the sensor window and the blade itself while ensuring cleaning effectiveness.

[0136] For example, when the dirt is light dust or rain stains, the duration of spraying through the second nozzle allows the wiper blade to quickly finish wiping, enabling the intelligent driving system to resume normal reading of point cloud data in a very short time. This significantly reduces the time required for intelligent driving functions to degrade or block data, lowering safety risks during advanced driver assistance systems.

[0137] In some possible implementations, before controlling the second nozzle to spray cleaning fluid into the viewing window, the method 300 further includes: controlling an in-cabin alert device to alert the user that the lidar is being cleaned.

[0138] S320 controls the first nozzle to spray cleaning fluid into the viewing window.

[0139] In this embodiment, by controlling the scraper to perform a scraping operation on the lidar window and controlling the first nozzle to spray cleaning fluid onto the window, the problem of stubborn stains being difficult to remove by relying solely on liquid rinsing or the window being easily damaged by relying solely on dry scraping with the scraper is solved. This achieves effective physical peeling and cleaning of dirt adhering to the window, which helps to restore the optical detection performance of the lidar and also helps to improve the safety performance of the vehicle.

[0140] In some possible implementations, the scraper finishes its scraping operation earlier than the first nozzle finishes spraying the cleaning fluid.

[0141] In this embodiment, by making the end time of the scraping operation of the scraper blade earlier than the end time of the first nozzle spraying the cleaning fluid, the problem that dirt is easily pushed by the scraper blade and remains at both ends of the scraping path and attached to the scraper blade itself after the scraping action is completed is solved. This achieves the thorough rinsing of residual dirt on the edge of the window and self-cleaning of the scraper blade by the cleaning fluid that continues to spray after the scraping stops. This helps to keep the window clean to the greatest extent, thereby ensuring that its optical detection performance can be quickly restored and helping to improve the safety performance of the vehicle.

[0142] In some possible implementations, before controlling the first nozzle to spray cleaning fluid into the viewing window, the method 300 further includes: determining that the scraper has completed the scraping operation and has been stored in the storage space.

[0143] In some possible implementations, the scraper finishes its scraping operation earlier than the first nozzle begins spraying the cleaning fluid.

[0144] For example, Figure 4 The diagram illustrates the timing of the scraper blade performing the scraping operation and the first nozzle spraying the cleaning fluid, as provided in an embodiment of this application. For example, the time period for the scraper blade to perform the scraping operation is (T3, T4), and the time period for the first nozzle to spray the cleaning fluid is (T5, T6), wherein time T4 is earlier than time T5.

[0145] In this embodiment, by making the end time of the scraping operation of the scraper blade earlier than the start time of the first nozzle spraying the cleaning fluid, the problem that dirt is easily left on the scraper blade at its resting position after the scraping action is completed is solved. This helps to thoroughly rinse away the residual stains on the viewing window with the sprayed cleaning fluid after the scraper blade has finished scraping and been stored in the storage space, and prevents the cleaning fluid and dirt from entering the scraper blade's storage space.

[0146] In some possible implementations, the end time of the scraping operation performed by the scraper is earlier than the end time of the first nozzle spraying the cleaning fluid, and the start time of the first nozzle spraying the cleaning fluid is earlier than the end time of the scraping operation performed by the scraper.

[0147] For example, Figure 5 The diagram illustrates the timing of the scraper blade performing the scraping operation and the first nozzle spraying the cleaning fluid, as provided in an embodiment of this application. For example, the time period for the scraper blade to perform the scraping operation is (T3, T4), and the time period for the first nozzle to spray the cleaning fluid is (T7, T8), wherein time T4 is earlier than time T8, and time T7 is earlier than time T4.

[0148] In this embodiment, by making the end time of the scraping operation of the scraper earlier than the end time of the first nozzle spraying the cleaning fluid, and the start time of the first nozzle spraying the cleaning fluid earlier than the end time of the scraping operation of the scraper, the problems of the scraper potentially damaging the window due to lack of cleaning fluid at the end of the scraping action, and the dirt easily being pushed and left on the edge of the scraping path and the scraper after scraping are solved. This achieves continuous water film lubrication at the end of the scraping stage, and uses the cleaning fluid that continues to be sprayed after the scraping stops to thoroughly wash away the residual dirt on the edge of the window and clean the scraper itself, which helps to maintain the cleanliness of the lidar window to the greatest extent and restore its optical detection performance.

[0149] In some possible implementations, the first nozzle and the second nozzle are the same nozzle.

[0150] For example, Figure 6 This illustration shows a schematic diagram of cleaning a window according to an embodiment of this application.

[0151] For example, such as Figure 6 As shown in (a), when there is dirt on the lidar window, the covers 1 and 2 on both sides of the window can be opened. At this time, the vehicle can control nozzle 1 to extend from cover 1 and nozzle 2 to extend from cover 2. The vehicle can control nozzle 1 to spray cleaning fluid onto the window and nozzle 2 to spray cleaning fluid onto the window. In this way, by spraying cleaning fluid through nozzles 1 and 2, the surface of the window can be initially moistened and the dirt softened, providing a lubricating environment for the scraper and preventing dry scraping.

[0152] For example, such as Figure 6 As shown in (b), after nozzles 1 and 2 have finished spraying the cleaning fluid, they can retract into caps 1 and 2, respectively. At this time, the vehicle can control the scraper to be removed from the storage space and to move horizontally across the surface of the window (e.g., from one end to the other) to scrape the softened dirt away from the window.

[0153] For example, such as Figure 6As shown in (c), the wiper blade can be moved into the storage space after completing the wiping operation. The vehicle can control nozzle 1 to extend from cover 1 and nozzle 2 to extend from cover 2. The vehicle can control nozzle 1 to spray cleaning fluid into the viewing window and nozzle 2 to spray cleaning fluid into the viewing window. In this way, residual dirt that may have been pushed to both ends of the wiping path by the wiper blade can be rinsed away, and the wiper blade itself can be cleaned.

[0154] In this embodiment of the application, by setting the first nozzle and the second nozzle as the same nozzle, the problem of complex hardware structure and high cost caused by the need to arrange multiple nozzles in the cleaning system is solved, and the hardware structure is simplified and the overall system is lightweight.

[0155] In some possible implementations, the first nozzle and the second nozzle are the same nozzle. The time period during which the scraper performs the scraping operation can also fall within the time period during which the nozzle sprays the cleaning fluid. For example, the nozzle may already be spraying the cleaning fluid before the scraper performs the scraping operation. After the scraping operation is completed, the nozzle may continue spraying the cleaning fluid.

[0156] In some possible implementations, before the control blade performs the wiping operation in the lidar's viewport, the method 300 further includes: determining that the ambient temperature around the vehicle is greater than or equal to a first preset temperature, the vehicle including the lidar.

[0157] For example, the first preset temperature is -5°C.

[0158] In this embodiment of the application, by determining that the ambient temperature is greater than or equal to a first preset temperature before the scraper blade performs the scraping operation, the problem of damage to the lidar caused by forced scraping due to the freezing of the cleaning fluid or the hardening of the scraper blade in extremely low temperature environments is solved, thus achieving effective protection of the lidar.

[0159] In some possible implementations, the method 300 further includes: controlling a third heating device to heat the viewport of the lidar when the ambient temperature around the vehicle is lower than a first preset temperature. At this time, water spraying and wiping actions are not performed to prevent damage caused by liquid freezing or hard scraping by the wiping blades.

[0160] For example, the third heating device may be a heating wire embedded in the surface of the window for melting thin snow or frost.

[0161] In some possible implementations, before the scraper performs the scraping operation in the lidar's viewport, the method 300 further includes: controlling a first heating device to heat the first nozzle when the ambient temperature is less than or equal to a second preset temperature; and / or controlling a second heating device to heat the scraper; wherein the second preset temperature is greater than the first preset temperature.

[0162] For example, the second preset temperature is 0°C.

[0163] For example, the first heating device may be a heating element pre-installed inside the nozzle, or a heating wire or heating film arranged around the nozzle.

[0164] For example, the second heating device may be a heating wire or a heating film arranged around the scraper.

[0165] In this embodiment of the application, by controlling the first heating device to heat the nozzle and / or the second heating device to heat the scraper when the ambient temperature is less than or equal to the second preset temperature (and greater than the first preset temperature), the problem that the nozzle may be frozen and blocked or the scraper may be stiff and frozen under low temperature conditions is solved, which helps to ensure that the cleaning system can start up and run smoothly in low temperature environment.

[0166] In some possible implementations, the method 300 further includes: controlling a first heating device to heat the first nozzle when the ambient temperature around the vehicle is lower than a first preset temperature; and / or controlling a second heating device to heat the scraper blade. This ensures that the components can be used normally when the temperature rises above the first preset temperature.

[0167] In some possible implementations, the method 300 further includes: if a stall is detected in the motor used to control the scraper during the scraping operation performed by the scraper in the view window of the lidar, then controlling a second heating device to heat the scraper.

[0168] In some possible implementations, the method 300 further includes: controlling the vehicle's intelligent driving system to shield data from lidar during the scraping operation of the scraper and the spraying of cleaning fluid into the viewing window by the first nozzle.

[0169] In this embodiment, by controlling the vehicle's intelligent driving system to shield data from LiDAR during the scraping and spraying of cleaning fluid, the problem of point cloud noise and ranging deviations generated by the cleaning action itself (such as scraper movement and cleaning fluid film) that may interfere with the intelligent driving system is solved, which helps to avoid the intelligent driving system making wrong driving decisions.

[0170] In some possible implementations, the method 300 further includes: controlling the vehicle's intelligent driving system to degrade its functions while the scraper blade performs the scraping operation and the first nozzle sprays cleaning fluid into the viewing window.

[0171] For example, during the scraping operation of the wiper blade and the spraying of cleaning fluid into the viewing window by the first nozzle, the reciprocating motion of the wiper blade, the flow of liquid, and the coverage of the water film can directly block the optical path of the LiDAR, potentially causing the LiDAR to generate incorrect point cloud data or noise. To prevent these interfering data from being misinterpreted by the intelligent driving system (e.g., falsely reporting an obstacle ahead) and causing the vehicle to brake suddenly or steer abnormally, the vehicle can actively shield the affected LiDAR data or degrade the functions of the intelligent driving system when the cleaning process is initiated.

[0172] For example, if a vehicle is equipped with only a single forward-facing LiDAR, or if other LiDARs in the same direction cannot provide sufficient redundancy, the intelligent driving system will disable high-level intelligent driving functions that rely on that LiDAR, downgrade the intelligent driving privileges to low-level assisted driving (such as a pure vision solution that relies solely on cameras), or the control prompt device will request the user to take over.

[0173] For example, if the vehicle includes redundant sensors corresponding to the LiDAR being cleaned, such as having dual forward-facing LiDARs on the left and right, and only one of them is being cleaned at the moment, the intelligent driving system will only temporarily block the data from the LiDAR currently performing the cleaning operation, while the remaining normal redundant sensors continue to provide perception support. In this situation, the intelligent driving system only performs a minor functional degradation, and the vehicle does not require manual intervention and can maintain its current intelligent driving state to continue driving.

[0174] In this embodiment, by controlling the vehicle's intelligent driving system to degrade its functions during the scraping and spraying of cleaning fluid, the problem of potential hazards caused by the decline in the vehicle's perception ability due to cleaning of a single sensor is solved, and the overall vehicle driving safety is smoothly transitioned and improved during sensor cleaning.

[0175] In some possible implementations, the method 300 further includes: after the scraper has completed the scraping operation, obtaining a first position of dirt on the viewing window based on data collected by the lidar; wherein controlling the first nozzle to spray cleaning fluid onto the viewing window includes: controlling the first nozzle to spray cleaning fluid onto the viewing window based on the first position.

[0176] For example, to achieve precise cleaning and conserve cleaning fluid, the system pre-divides the optical window of the lidar into multiple independent cleaning zones (e.g., left side, middle, right side, or upper, middle, and lower zones). The first nozzle consists of multiple independently controlled spray micro-orifices or independent nozzle arrays, with each nozzle / micro-orifice corresponding to a viewing area. After the vehicle performs a scraping operation based on the scraper blades, only the spray valve for the area with the dirt is opened, while the valves for other undirty areas are closed, achieving localized, targeted spraying. This ensures targeted cleaning of the dirt in that area while avoiding resource waste caused by spraying water from all nozzles.

[0177] In this embodiment, by obtaining the first position of dirt on the viewing window based on the data collected by the lidar, and controlling the first nozzle to spray cleaning fluid based on the first position, the problem of unnecessary consumption of cleaning fluid that may be caused by large-area spraying of the entire viewing window is solved, and precise cleaning of local dirt positions is achieved.

[0178] In some possible implementations, controlling the first nozzle to spray cleaning fluid into the viewing window according to the first position includes: controlling the first nozzle to be at a first spray angle according to the first position; and controlling the first nozzle to spray cleaning fluid into the viewing window at the first spray angle.

[0179] In some possible implementations, after the first nozzle has completed the spraying operation, the method 300 further includes: a control prompting device indicating that the lidar has been cleaned.

[0180] In some possible implementations, after the first nozzle has completed the spraying operation, the method 300 further includes: acquiring point cloud data collected by the lidar; determining, based on the point cloud data, whether there is dirt on the viewing window; if there is dirt on the viewing window, performing the above steps S310-S320; or, controlling the second nozzle, the scraper, and the first nozzle to perform the cleaning operation again; or, controlling the prompting device in the cockpit to prompt the user to intervene manually.

[0181] For example, when manual user intervention is required, the vehicle can control the in-vehicle display to show the message "Cleaning failed, check recommended", or control the speakers in the cabin to play the message "Cleaning failed, check recommended".

[0182] Figure 7 A schematic flowchart of a control method 700 provided in an embodiment of this application is shown. The method 700 includes: S710, acquires first information, which includes one or more of the following: the type of dirt on the lidar's viewport, environmental information around the vehicle, and information from a weather application; the vehicle includes the lidar.

[0183] In some possible implementations, the first information includes the type of dirt. Obtaining the first information includes: inputting data collected by a first sensor into a first machine learning model to obtain a detection result, which indicates whether dirt exists on the window.

[0184] For example, if the detection result indicates that there is dirt on the window, the detection result also includes the type of dirt.

[0185] In some possible implementations, the environmental information includes the ambient temperature around the vehicle.

[0186] In some possible implementations, the environmental information includes weather conditions, road conditions, or special areas determined based on data collected by the vehicle's sensors.

[0187] For example, the weather condition indicates that the weather at the vehicle's location is sunny, rainy, snowy, foggy, or dusty.

[0188] For example, traffic conditions indicate that the vehicle is on a normal road, a road with high humidity, or a road that is prone to getting dirty (e.g., a road under construction).

[0189] For example, special areas include areas with many mosquitoes or areas with many birds.

[0190] In some possible implementations, information from a weather application indicates the weather at the vehicle's location.

[0191] S720, based on the first information, obtains the target cleaning strategy from multiple cleaning strategies, the multiple cleaning strategies being strategies for cleaning the window.

[0192] In some possible implementations, the multiple cleaning strategies include at least two of a first cleaning strategy, a second cleaning strategy, and a third cleaning strategy, wherein the first cleaning strategy is to control the scraper to perform a scraping operation on the surface of the window and control the nozzle to spray cleaning fluid onto the window; the second cleaning strategy is to control the nozzle to spray cleaning fluid onto the window, or to control the nozzle to spray cleaning fluid onto the window and control the scraper to perform a scraping operation on the surface of the window; and the third cleaning strategy is to control a third heating device to heat the window.

[0193] In this embodiment of the application, by providing at least two of the following cleaning strategies—a first cleaning strategy, a second cleaning strategy, and a third cleaning strategy—the problem of the lack of means to deal with different media such as ice, snow, dust, and stubborn mud in the prior art is solved, and a diversified and refined combination of cleaning methods is achieved.

[0194] In some possible implementations, the first cleaning strategy is to control the nozzle to spray cleaning fluid into the window, control the scraper to perform a scraping operation on the surface of the window, and control the nozzle to spray cleaning fluid into the window again.

[0195] In this embodiment of the application, by setting the first cleaning strategy to a three-step process of controlling the nozzle to spray, scraping with the scraper, and then controlling the nozzle to spray cleaning fluid again, the problem that dirt is easily pushed and left at the edge after one unidirectional scraping is solved, and the residual dirt at both ends of the scraper and the scraping path is thoroughly rinsed away by the final spray.

[0196] S730 performs a cleaning operation on the viewing window according to the target cleaning strategy.

[0197] In this embodiment, by acquiring first information including dirt type, environmental information or weather application information, and accordingly obtaining the target cleaning strategy from multiple cleaning strategies to perform cleaning, the problem that a single fixed cleaning mode cannot adapt to complex and changing environmental conditions is solved, and intelligent, multimodal adaptive cleaning for different environments and different dirt conditions is realized.

[0198] In some possible implementations, the first information includes the type of dirt, and based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, including: determining the first cleaning strategy as the target cleaning strategy when the type of dirt is a preset type; determining the second cleaning strategy as the target cleaning strategy when the type of dirt is dust or rainwater; or determining the third cleaning strategy as the target cleaning strategy when the type of dirt is snow or frost.

[0199] In some possible implementations, the preset type can be a sticky type of dirt. For example, shellac, bird droppings, resin, mud, or plant pollen.

[0200] For example, Table 1 shows the mapping between the type of dirt and the target cleaning strategy.

[0201] Table 1

[0202] In this embodiment, by employing a first cleaning strategy when the dirt is of a preset type, a second cleaning strategy when it is dust / rainwater, and a third cleaning strategy when it is snow / frost, the problem of water waste or damage caused by using a "one-size-fits-all" cleaning method is solved. This achieves the implementation of different cleaning strategies for different types of dirt, improving cleaning efficiency while ensuring cleaning effect.

[0203] In some possible implementations, the first information includes the ambient temperature. Based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, including: if the ambient temperature is less than or equal to a first preset temperature, a third cleaning strategy is determined as the target cleaning strategy; or, if the ambient temperature is greater than the first preset temperature, a first cleaning strategy or a second cleaning strategy is determined as the target cleaning strategy.

[0204] In this embodiment, by determining a third cleaning strategy when the ambient temperature is less than or equal to a first preset temperature, and determining a first cleaning strategy or a second cleaning strategy when the ambient temperature is greater than the first preset temperature, the problem that water spraying and scraping at extremely low temperatures can easily cause the cleaning fluid to freeze rapidly and jam the actuator is solved. This helps to prevent maloperation that may cause damage and greatly improves the system's extreme cold adaptability.

[0205] In some possible implementations, the first information may also include the type of dirt, and determining the first cleaning strategy or the second cleaning strategy as the target cleaning strategy, including: determining the target cleaning strategy from the first cleaning strategy or the second cleaning strategy based on the type of dirt.

[0206] In this embodiment, when the ambient temperature is greater than the first preset temperature, the target strategy is determined from the first cleaning strategy or the second cleaning strategy by further combining the type of dirt. This solves the problem of over-cleaning caused by relying solely on temperature as a judgment criterion, and realizes refined cleaning decision-making from the dual dimensions of temperature control and dirt type.

[0207] In some possible implementations, the first information includes information from a weather application, and based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, including: determining a second cleaning strategy as the target cleaning strategy when the information from the weather application indicates that the vehicle is currently in rainy or dusty weather; or determining a third cleaning strategy as the target cleaning strategy when the information from the weather application indicates that the vehicle is currently in snowy or foggy weather.

[0208] In this embodiment, by adopting a second cleaning strategy when the information from the weather application indicates rainy / dust storm days and a third cleaning strategy when snowy / foggy days, the problem of the sensor only being able to passively wait for dirt to adhere and cause attenuation before starting to clean is solved, which helps to proactively carry out targeted defensive cleaning preparations using meteorological pre-data.

[0209] In some possible implementations, the first information further includes the degree of soiling. Based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, including: if the degree of soiling is less than or equal to a preset degree, determining a second cleaning strategy as the target cleaning strategy; or, if the degree of soiling is greater than a preset degree, determining a first cleaning strategy as the target cleaning strategy. The degree of dirtiness can be represented by the area covered by dirt over a long period of time; the larger the covered area, the greater the degree of dirtiness.

[0210] Figure 8 A schematic flowchart of a control method 800 provided in an embodiment of this application is shown. The method 800 includes: S810 detected dirt on the lidar's viewport.

[0211] The implementation process of S810 above can be referred to the description in the above embodiments, and will not be repeated here.

[0212] S820 determines the ambient temperature around the vehicle.

[0213] For example, if the ambient temperature is greater than the first preset temperature, execute S830; otherwise, execute S840.

[0214] S830 executes the first cleaning strategy when the ambient temperature is higher than the first preset temperature.

[0215] For example, the first cleaning strategy involves controlling the nozzle to spray cleaning fluid into the window, controlling the scraper to perform a scraping operation on the surface of the window, and controlling the nozzle to spray cleaning fluid into the window again.

[0216] The sequence of spraying-scraping-re-spraying can be referred to the description in method 300 above, and will not be repeated here.

[0217] S840 executes the third cleaning strategy when the ambient temperature is less than or equal to the first preset temperature.

[0218] For example, the third cleaning strategy is to control a third heating device to heat the viewing window.

[0219] Methods 300, 700, and 800 described above can be executed by the vehicle 100; or by the computing platform 120; or by the processor, chip, or circuit in the computing platform 120; or by a system consisting of a lidar and the computing platform 120; or by an intelligent driving system.

[0220] Methods 300, 700, and 800 can be combined with each other.

[0221] Figure 9 A schematic block diagram of a cleaning system 900 provided in an embodiment of this application is shown. The cleaning system 900 includes a controller 910, a first nozzle 920, and a scraper 930, wherein the controller 910 is used to control the scraper 930 to perform a scraping operation in the view window of the lidar; the controller 910 is used to control the first nozzle 920 to spray cleaning fluid into the view window.

[0222] For example, the scraper blade 930 can be made of shape memory alloy or polymer, which is softer at low temperatures to reduce potential wear on the viewing window; it regains its hardness at room temperature to ensure scraping efficiency. Alternatively, a conductive polymer can be used to directly integrate the heating function.

[0223] For example, the contact surface of the scraper blade 930 is designed with a micro-nano structure, which more effectively removes fine contaminants while reducing scratches.

[0224] For example, the cleaning fluid can be a multifunctional cleaning fluid. In addition to basic cleaning functions, the cleaning fluid can integrate other properties, such as a hydrophobic coating and / or an anti-fog coating.

[0225] For example, if the cleaning fluid includes a hydrophobic coating (such as silanes), it can form a transparent hydrophobic film on the window surface after cleaning. This helps water droplets roll off quickly during subsequent driving, reducing water residue and improving sensor performance in rainy conditions.

[0226] For example, if the cleaning fluid includes an anti-fog coating, it can keep the viewing window clear in scenarios where there are large temperature differences and fogging is likely to occur.

[0227] In some possible implementations, the cleaning system 900 also includes a second nozzle 940 and a controller 910 for controlling the second nozzle 940 to spray cleaning fluid onto the viewing window before the control blade performs a scraping operation on the viewing window.

[0228] In some possible implementations, the first nozzle 920 and the second nozzle 940 are the same nozzle.

[0229] For example, the first nozzle 920 is as described above. Figure 6 The nozzles 1 and 2 shown are shown, and the second nozzle 940 is as described above. Figure 6 The nozzles 1 and 2 are shown.

[0230] In some possible implementations, the controller 910 is also configured to determine, before controlling the wiper blade to perform a wiping operation in the view window, that the ambient temperature around the vehicle is greater than or equal to a first preset temperature, and the vehicle includes a lidar.

[0231] In some possible implementations, the cleaning system 900 further includes a first heating device 950 and a second heating device 960, and a controller 910 for controlling the first heating device 950 to heat the first nozzle 920 when the ambient temperature is less than or equal to a second preset temperature; and / or controlling the second heating device 960 to heat the scraper 930; wherein the second preset temperature is greater than the first preset temperature.

[0232] In some possible implementations, the cleaning system 900 further includes a third heating device 970 for heating the window. For example, when the ambient temperature is lower than a first preset temperature, the controller 910 controls the third heating device 970 to heat the window.

[0233] In some possible implementations, the controller 910 is configured to acquire a first signal before controlling the scraper 930 to perform a scraping operation, the first signal being used to instruct the execution of a cleaning operation for the window; in response to the first signal, the controller controls the scraper 930 to perform a scraping operation on the window.

[0234] In some possible implementations, the controller 910 is configured to: determine the state of dirt on the window based on first data collected by the first sensor; and acquire a first signal when the state of dirt indicates that dirt exists on the window.

[0235] In some possible implementations, the controller 910 is configured to: acquire a first signal when there is dirt on the dirt status indicator window and the type of dirt is a preset type; or, acquire a first signal when there is dirt on the dirt status indicator window and the vehicle is in manual driving mode; or, acquire a first signal when there is dirt on the dirt status indicator window, the vehicle is in intelligent driving mode, and the vehicle includes redundant sensors corresponding to the lidar.

[0236] In some possible implementations, the controller 910 is also configured to: control the vehicle's intelligent driving system to shield data from lidar during the scraping operation performed by the scraper 930 and the spraying of cleaning fluid into the viewing window by the first nozzle 920.

[0237] In some possible implementations, the controller 910 is also configured to: control the vehicle's intelligent driving system to degrade its functions during the process of the scraper 930 performing the scraping operation and the first nozzle 920 spraying cleaning fluid into the viewing window.

[0238] In some possible implementations, the controller 910 is also configured to: after the scraper 930 has completed the scraping operation, obtain a first position of dirt on the viewing window based on data collected by the lidar; and control the first nozzle to spray cleaning fluid onto the viewing window based on the first position.

[0239] In some possible implementations, the controller 910 is also used to detect the remaining level of the cleaning fluid. When the remaining level of the cleaning fluid is less than or equal to a preset level, the controller 910 can control the in-cabin indicator to prompt the user to add cleaning fluid.

[0240] The controller 910 mentioned above can be a processor, chip, or circuit in the computing platform 120.

[0241] For example, the controller 910 may also be the aforementioned intelligent driving system or intelligent driving controller; or it may be a controller independent of the intelligent driving system.

[0242] Taking controller 910 as an example, which is independent of the intelligent driving system, the first signal can be generated by the intelligent driving controller. The aforementioned acquisition of the first signal allows controller 910 to receive the first signal from the intelligent driving controller.

[0243] This application embodiment also provides a cleaning system, which includes a controller, a scraper, and a nozzle. The controller is configured to acquire first information, which includes one or more of the following: the type of dirt on the lidar window, environmental information around the vehicle, and information from a weather application. The vehicle includes a lidar. The controller is also configured to acquire a target cleaning strategy from a plurality of cleaning strategies based on the first information. The plurality of cleaning strategies are strategies for cleaning the window. The controller is further configured to control the scraper and / or the nozzle to perform a cleaning operation on the window based on the target cleaning strategy.

[0244] In some possible implementations, the multiple cleaning strategies include at least two of a first cleaning strategy, a second cleaning strategy, and a third cleaning strategy, wherein the first cleaning strategy is to control the scraper to perform a scraping operation on the surface of the window and control the nozzle to spray cleaning fluid onto the window; the second cleaning strategy is to control the nozzle to spray cleaning fluid onto the window, or to control the nozzle to spray cleaning fluid onto the window and control the scraper to perform a scraping operation on the surface of the window; and the third cleaning strategy is to control a third heating device to heat the window.

[0245] In some possible implementations, the first cleaning strategy is to control the nozzle to spray cleaning fluid into the window, control the scraper to perform a scraping operation on the surface of the window, and control the nozzle to spray cleaning fluid into the window again.

[0246] In some possible implementations, the first information includes the type of dirt, and the controller is configured to determine a first cleaning strategy as the target cleaning strategy if the type of dirt is a preset type; determine a second cleaning strategy as the target cleaning strategy if the type of dirt is dust or rainwater; or determine a third cleaning strategy as the target cleaning strategy if the type of dirt is snow or frost.

[0247] In some possible implementations, the first information includes the ambient temperature, and the controller is used to determine the third cleaning strategy as the target cleaning strategy when the ambient temperature is less than or equal to a first preset temperature; or, when the ambient temperature is greater than the first preset temperature, to determine the first cleaning strategy or the second cleaning strategy as the target cleaning strategy.

[0248] In some possible implementations, the first information may also include the type of dirt, and a controller for determining a target cleaning strategy from a first cleaning strategy or a second cleaning strategy based on the type of dirt.

[0249] In some possible implementations, the first information includes information from a weather application, and the controller is configured to determine a second cleaning strategy as the target cleaning strategy if the information from the weather application indicates that the vehicle is currently in rainy or dusty weather; or, if the information from the weather application indicates that the vehicle is currently in snowy or foggy weather, the controller is configured to determine a third cleaning strategy as the target cleaning strategy.

[0250] Figure 10 This is a schematic block diagram of a control device 1000 provided in an embodiment of this application. The control device 1000 includes a memory 1010, a processor 1020, and a communication interface 1030. The memory 1010, processor 1020, and communication interface 1030 are connected via an internal connection path. The memory 1010 stores instructions, and the processor 1020 executes the instructions stored in the memory 1010 to control the communication interface 1030 to acquire information, thereby enabling the device 1000 to implement the aforementioned control method. Optionally, the memory 1010 can be coupled to the processor 1020 via an interface, or it can be integrated with the processor 1020.

[0251] It should be noted that the communication interface 1030 described above uses a transceiver device, such as, but not limited to, a transceiver. The communication interface 1030 may also include an input / output interface.

[0252] The processor 1020 stores one or more computer programs, which include instructions. When the instructions are executed by the processor 1020, the control device 1000 performs the control methods described in the above embodiments.

[0253] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 1020 or by instructions in software form. The method disclosed in the embodiments of this application can be directly implemented by the hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 1010, and the processor 1020 reads the information in memory 1010 and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0254] As one possible implementation, the control device 1000 can be a physical device. For example, the control device 1000 may include one or more of the following modules: central processing unit, microprocessor, application-specific integrated circuit, field-programmable gate array, complex programmable logic device (CPLD), coprocessor (assisting the central processing unit in completing corresponding processing and applications), microcontroller unit (MCU), domain controller (DC), vehicle domain controller (VDC), electronic control unit (ECU), cockpit domain controller (CDC), vehicle integration unit (VIU), vehicle control unit (VCU), motor control unit (MCU), etc. Furthermore, the control device 1000 includes at least one processor integrated in the form of a system-on-chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors may be different.

[0255] Optionally, Figure 10 The communication interface 1030 in the above embodiment can realize the acquisition of the first signal. Figure 10 The memory 1010 in the memory can store the types of dirt and the target cleaning strategy as described in the foregoing embodiments. Figure 10 The processor 1020 in the above embodiment can control the first nozzle, the scraper and the second nozzle.

[0256] Optionally, the device 1000 can be located in Figure 1 Of the 100 vehicles in the list.

[0257] Optionally, the device 1000 can be Figure 1 The computing platform 120 in the vehicle.

[0258] This application also provides a control device, which includes a unit or module for performing the methods described in the above embodiments.

[0259] This application also provides a vehicle that includes the above-described cleaning system, or includes the above-described control device, or includes a lidar and the above-described cleaning system; or includes the above-described cleaning system and control device.

[0260] This application also provides a computer-readable storage medium storing program code that, when run on a computer, causes the computer to perform any of the methods described in the above embodiments.

[0261] This application also provides a computer program product, which includes a computer program that, when run, causes a computer to perform any of the methods described in the above embodiments.

[0262] This application also provides a chip, including: a circuit for performing any of the methods in the above embodiments.

[0263] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0264] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0265] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0266] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0267] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0268] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0269] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: Control the scraper to perform a scraping operation in the lidar's view window; Control the first nozzle to spray cleaning fluid into the viewing window.

2. The method according to claim 1, characterized in that, Before the control scraper performs the scraping operation in the lidar's viewport, the method further includes: Control the second nozzle to spray cleaning fluid into the viewing window.

3. The method according to claim 2, characterized in that, The first nozzle and the second nozzle are the same nozzle.

4. The method according to any one of claims 1 to 3, characterized in that, Before the control scraper performs the scraping operation in the lidar's viewport, the method further includes: The ambient temperature around the vehicle is determined to be greater than or equal to a first preset temperature, and the vehicle includes the lidar.

5. The method according to claim 4, characterized in that, Before the control scraper performs the scraping operation in the lidar's viewport, the method further includes: When the ambient temperature is less than or equal to the second preset temperature, the first heating device is controlled to heat the first nozzle; and / or, Control the second heating device to heat the scraper; The second preset temperature is greater than the first preset temperature.

6. The method according to any one of claims 1 to 5, characterized in that, The method includes the following steps before the control scraper performs a scraping operation in the lidar's viewport: Acquire a first signal, the first signal being used to instruct the execution of a cleaning operation for the window; The control scraper performs a scraping operation in the lidar's viewing window, including: In response to the first signal, the scraper is controlled to perform a scraping operation in the view window.

7. The method according to claim 6, characterized in that, The acquisition of the first signal includes: The state of dirtiness of the window is determined based on the first data collected by the first sensor; The first signal is acquired when the dirty state indicates that there is dirt on the window.

8. The method according to claim 7, characterized in that, When the dirty state indicates that there is dirt on the window, acquiring the first signal includes: When the dirt status indicates that there is dirt on the window and the type of dirt is a preset type, the first signal is acquired; or, The first signal is acquired when the dirty condition indicates that there is dirt on the viewing window and the vehicle is in manual driving mode; or... The first signal is acquired when the dirty status indicates that there is dirt on the window, the vehicle is in intelligent driving mode, and the vehicle includes redundant sensors corresponding to the lidar.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: During the scraping operation of the scraper and the spraying of cleaning fluid into the window by the first nozzle, the intelligent driving system controlling the vehicle blocks data from the lidar.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: During the scraping operation of the scraper blade and the spraying of cleaning fluid from the first nozzle onto the viewing window, the intelligent driving system of the vehicle is degraded.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: After the scraper has finished its scraping operation, the first position of the dirt on the viewing window is obtained based on the data collected by the lidar. The method of controlling the first nozzle to spray cleaning fluid into the viewing window includes: Based on the first position, the first nozzle is controlled to spray cleaning fluid onto the viewing window.

12. A control method, characterized in that, include: Obtain first information, which includes one or more of the following: the type of dirt on the lidar's viewport, environmental information around the vehicle, and information from a weather application; the vehicle includes the lidar. Based on the first information, a target cleaning strategy is obtained from multiple cleaning strategies, wherein the multiple cleaning strategies are strategies for cleaning the window; According to the target cleaning strategy, perform a cleaning operation on the window.

13. The method according to claim 12, characterized in that, The plurality of cleaning strategies includes at least two of a first cleaning strategy, a second cleaning strategy, and a third cleaning strategy. The first cleaning strategy involves controlling a scraper to perform a scraping operation on the surface of the window and controlling a nozzle to spray cleaning fluid onto the window. The second cleaning strategy is to control the nozzle to spray cleaning fluid into the window, or to control the nozzle to spray cleaning fluid into the window and control the scraper to perform a scraping operation on the surface of the window; The third cleaning strategy is to control the third heating device to heat the window.

14. The method according to claim 13, characterized in that, The first cleaning strategy is to control the nozzle to spray cleaning fluid onto the window, control the scraper to perform a scraping operation on the surface of the window, and control the nozzle to spray cleaning fluid onto the window again.

15. The method according to claim 13 or 14, characterized in that, The first information includes the type of dirt, and the step of obtaining a target cleaning strategy from multiple cleaning strategies based on the first information includes: If the type of dirt is a preset type, the first cleaning strategy is determined as the target cleaning strategy; If the type of dirt is dust or rainwater, the second cleaning strategy is determined as the target cleaning strategy; or, If the type of dirt is snow or frost, the third cleaning strategy is determined as the target cleaning strategy.

16. The method according to claim 13 or 14, characterized in that, The first information includes the ambient temperature, and the step of obtaining a target cleaning strategy from multiple cleaning strategies based on the first information includes: When the ambient temperature is less than or equal to the first preset temperature, the third cleaning strategy determines the target cleaning strategy; or, When the ambient temperature is greater than the first preset temperature, the first cleaning strategy or the second cleaning strategy is determined as the target cleaning strategy.

17. The method according to claim 16, characterized in that, The first information also includes the type of dirt, and determining the first cleaning strategy or the second cleaning strategy as the target cleaning strategy includes: The target cleaning strategy is determined from either the first cleaning strategy or the second cleaning strategy, depending on the type of dirt.

18. The method according to claim 13 or 14, characterized in that, The first information includes information from a weather application, and the step of obtaining a target cleaning strategy from multiple cleaning strategies based on the first information includes: If information from a weather application indicates that the vehicle is currently in rainy or dusty weather, the second cleaning strategy will be determined as the target cleaning strategy; or, If information from a weather application indicates that the vehicle is currently in snowy or foggy weather, the third cleaning strategy is determined as the target cleaning strategy.

19. A cleaning system, characterized in that, The cleaning system includes a controller, a scraper, and a first nozzle, wherein, The controller is used to control the scraper to perform a scraping operation in the view window of the lidar; The controller is used to control the first nozzle to spray cleaning fluid into the viewing window.

20. The cleaning system according to claim 19, characterized in that, The cleaning system also includes a second nozzle. The controller is configured to control the second nozzle to spray cleaning fluid onto the viewing window before controlling the scraper to perform a scraping operation on the viewing window.

21. The cleaning system according to claim 20, characterized in that, The first nozzle and the second nozzle are the same nozzle.

22. The cleaning system according to any one of claims 19 to 21, characterized in that, The controller is further configured to determine, before controlling the scraper to perform a scraping operation on the viewing window, that the ambient temperature around the vehicle is greater than or equal to a first preset temperature, wherein the vehicle includes the lidar.

23. The cleaning system according to claim 22, characterized in that, The cleaning system also includes a first heating device and a second heating device. The controller is configured to control the first heating device to heat the first nozzle when the ambient temperature is less than or equal to a second preset temperature; and / or, Control the second heating device to heat the scraper; The second preset temperature is greater than the first preset temperature.

24. The cleaning system according to any one of claims 19 to 23, characterized in that, The controller is configured to acquire a first signal before controlling the scraper to perform a scraping operation, the first signal being used to instruct the execution of a cleaning operation for the window; In response to the first signal, the scraper is controlled to perform a scraping operation in the view window.

25. The cleaning system according to claim 24, characterized in that, The controller is used for: The state of dirtiness of the window is determined based on the first data collected by the first sensor; The first signal is acquired when the dirty state indicates that there is dirt on the window.

26. The cleaning system according to claim 25, characterized in that, The controller is used for: When the dirt status indicates that there is dirt on the window and the type of dirt is a preset type, the first signal is acquired; or, The first signal is acquired when the dirty condition indicates that there is dirt on the viewing window and the vehicle is in manual driving mode; or... The first signal is acquired when the dirty status indicates that there is dirt on the window, the vehicle is in intelligent driving mode, and the vehicle includes redundant sensors corresponding to the lidar.

27. The cleaning system according to any one of claims 19 to 26, characterized in that, The controller is also used for: During the scraping operation of the scraper and the spraying of cleaning fluid into the window by the first nozzle, the intelligent driving system controlling the vehicle blocks data from the lidar.

28. The cleaning system according to any one of claims 19 to 27, characterized in that, The controller is also used for: During the scraping operation of the scraper blade and the spraying of cleaning fluid from the first nozzle onto the viewing window, the intelligent driving system of the vehicle is degraded.

29. The cleaning system according to any one of claims 19 to 28, characterized in that, The controller is also used for: After the scraper has finished its scraping operation, the first position of the dirt on the viewing window is obtained based on the data collected by the lidar. Based on the first position, the first nozzle is controlled to spray cleaning fluid onto the viewing window.

30. A vehicle, characterized in that, Includes lidar and a cleaning system as described in any one of claims 19 to 29.

31. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 18.

32. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 18.

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