Cleaning procedures and motor vehicle

Abstract

The invention relates to a cleaning method (8) for cleaning a lens (7) of a camera (4) of a driver assistance system (3) for a motor vehicle (1) and to a motor vehicle (1) suitable for carrying out the cleaning method (8). In the cleaning procedure (9), it is checked whether the lens (7) needs cleaning or not. If the lens (7) needs cleaning, the camera (4) is moved from a working position (AP) required for the respective driver assistance system (3) to a cleaning position (RP). In this position, an airflow (16), generated by the airflow around the moving vehicle (1) in the area of ​​the camera (4), strikes the lens (7) in such a way that the airflow (16) cleans the lens (7). After the lens (7) has been cleaned, the camera (4) is moved from the cleaning position (RP) to the working position (AP).

Description

[0001] The present invention relates to a cleaning method for cleaning a lens of a camera of a driver assistance system for a motor vehicle. The invention also relates to a motor vehicle configured to carry out the cleaning method.

[0002] Cameras are used in a variety of automotive driver assistance systems, particularly to detect obstacles or hazards in the vehicle's surroundings. Such cameras typically have a lens through which the optical recording of the surroundings takes place. Since these lenses are exposed to the environment, they can become dirty.

[0003] DE 10 2017 100 672 A1 discloses a cleaning method for a camera in a motor vehicle's camera system, in which a camera lens is cleaned using an air flow generated by a fan. The camera thereby forms an electronic rearview mirror.

[0004] From US 2014 / 0 104 426 A1 and from DE 10 2014 111 752 A1, cleaning methods for a camera of a driver assistance system of a motor vehicle are known, wherein a lens of the camera is cleaned by means of an air flow generated by the airstream.

[0005] Further cleaning methods for a camera of a driver assistance system of a motor vehicle are known from DE 10 2005 021 671 A1, from DE 10 2020 119 473 A1, from DE 10 2014 117 165 A1 and from DE 10 2021 207 792 A1.

[0006] From DE 10 2009 041 148 A1 a camera for a driver assistance system of a motor vehicle is known, which is arranged adjustably on the motor vehicle.

[0007] Further adjustable cameras of driver assistance systems are known from DE 10 2021 003 988 A1 and from DE 10 2021 207 792 A1.

[0008] The present invention addresses the problem of providing an improved embodiment for a cleaning method for cleaning a lens of a camera of a driver assistance system for a motor vehicle or for a motor vehicle configured to carry out the cleaning method, which is characterized in particular by reduced manufacturing costs, wherein a small installation space is also sought.

[0009] In the present context, a ‘configuration’ is synonymous with a ‘design’ and / or ‘programming’, so that the phrase ‘configured so that’ is synonymous with the phrase ‘designed and / or programmed so that’.

[0010] This problem is solved according to the invention by the subject matter of the independent claim. Advantageous embodiments are the subject matter of the dependent claims.

[0011] The invention is based on the general idea of ​​using an airflow created by the airflow of the moving vehicle in the area of ​​the camera to clean the camera lens. In other words, the invention proposes using the airstream to clean the camera lens. For this purpose, the camera is mounted on the vehicle so that it can be adjusted between an operating position in which it can fulfill its function within the respective driver assistance system and a cleaning position in which the airstream hits the lens and thus cleans it. The invention uses the airflow that is created anyway while the vehicle is moving to clean the lens of the respective camera, so that separate systems and devices for generating an airflow to clean the lens are no longer necessary. Accordingly, the installation space required for this is also eliminated.Such a cleaning process can therefore be implemented inexpensively and in a space-saving manner.

[0012] In detail, the cleaning procedure requires that it is checked whether the lens needs to be cleaned or not, that in the event that the lens needs to be cleaned, the camera is moved from a working position required for the respective driver assistance system to a cleaning position in which an air flow created by the air flow of the moving vehicle in the area of ​​the camera hits the lens in such a way that the air flow cleans the lens, and that after cleaning the lens the camera is moved from the cleaning position to the working position.

[0013] According to an advantageous embodiment, it can be provided that the cleaning position is determined depending on the current air flow in the area of ​​the camera, so that the camera is moved from the working position to the currently determined cleaning position for cleaning the lens. This embodiment is based on the knowledge that the air flow in the area of ​​the camera depends on the current operating state of the vehicle and also on the current wind situation in the vehicle's surroundings. Furthermore, the achievable cleaning effect depends on the current air flow and the set cleaning position. By taking the current air flow into account, the most suitable or optimal cleaning position can be considered and set. In this way, a sufficient cleaning effect can always be achieved in different air flow situations.

[0014] According to an advantageous embodiment, the cleaning position can also be determined or checked during the cleaning process depending on the current air flow and corrected if necessary. Furthermore, if the cleaning position changes during the cleaning process, the camera can be adjusted accordingly and moved to the changed cleaning position. For example, the cleaning process can be carried out during an acceleration process or during a braking process, whereby the airflow around the vehicle and thus the air flow in the area of ​​the camera changes during this process. This change is taken into account. It is also conceivable that a braking process or an acceleration process is initiated during the cleaning process, which also affects the air flow in the area of ​​the camera and can be taken into account.

[0015] According to another embodiment, the cleaning position can be determined using a data set that maps a relationship between the adjustable cleaning positions, the airflow in the area of ​​the camera, and the achievable cleaning effect. Using this data set, the cleaning position that produces the best cleaning effect with the current airflow can be determined. In this way, the most suitable cleaning position can always be determined depending on the current airflow, and the camera can be adjusted to this cleaning position.

[0016] Such a data set can, for example, be stored in a database. Additionally or alternatively, such a data set can be generated and provided using artificial intelligence and / or a neural network. It is also conceivable that this data set, particularly in conjunction with artificial intelligence, is continuously supplied with new data during vehicle operation, so that the data set is constantly learning. In principle, such a data set can be determined during field tests and form a basic data set. This basic data set can optionally be continuously expanded or improved with new data during operation.

[0017] According to an advantageous embodiment, the current air flow can be detected using a flow sensor. For example, at least one anemometer can be used for this purpose.

[0018] Alternatively, it is also possible to determine the current airflow based on the current vehicle speed. The current vehicle speed is known to the vehicle control system, so the resulting current airflow in the area of ​​the camera can be determined relatively easily. For example, physical models of the vehicle can be considered to determine the current airflow in the area of ​​the camera from the current vehicle speed. Data sets obtained during field tests are also conceivable.

[0019] According to another advantageous embodiment, the cleaning of the lens can be carried out by the air flow for a predetermined cleaning time.

[0020] Additionally or alternatively, it is conceivable that while the lens is being cleaned, the air flow checks whether the lens is sufficiently cleaned. The lens is cleaned by the air flow until the lens is sufficiently cleaned or a predetermined cleaning time has elapsed. The lens can be dirty to varying degrees, so that a different cleaning time may be required. Furthermore, the cleaning time required can also depend on the current air flow. By checking the cleaning status or cleanliness of the lens during the cleaning process, a comparatively good cleaning result can always be achieved, while unnecessarily long adjustment of the camera into the cleaning position can be avoided.As long as the camera is in the cleaning position, it cannot usually be used by the driver assistance system, which can be disadvantageous.

[0021] It is also conceivable that the required cleaning time could be determined using a data set containing a relationship between the degree of contamination, air flow, and cleaning position. This allows the required cleaning time to be determined and specified based on the current air flow and the determined or set cleaning position. Field tests to create the data set are also conceivable here, as are the use of artificial intelligence and / or a neural network to create and improve the data set.

[0022] In another advantageous embodiment, it can be provided that, in the event that the lens needs to be cleaned, a check is first carried out to determine whether the current air flow in the area of ​​the camera is sufficient to clean the lens in the cleaning position. The camera is expediently only moved from the working position to the cleaning position when the current air flow is sufficient to clean the lens. If, for example, the current travel speed is too low to generate a sufficiently strong air flow in the area of ​​the camera that is suitable for cleaning the lens, the cleaning process will not be carried out despite the contaminated lens. This query or check can be integrated into the data set for determining the optimal cleaning position and / or for determining the required cleaning time.

[0023] According to another embodiment, it can be provided that, in the event that the lens needs to be cleaned, a check is carried out to determine whether the camera is currently required by the respective driver assistance system. The camera is only moved from the working position to the cleaning position if the camera is not currently required by the respective driver assistance system. Alternatively, it can also be provided that the check to determine whether the lens needs to be cleaned is only carried out if the camera is not currently required by the respective driver assistance system. In both cases, a collision between the cleaning process and the functionality of the driver assistance system is avoided.

[0024] Checking whether the lens needs cleaning and whether the lens has been sufficiently cleaned can be achieved, for example, by comparing images currently captured with the camera with reference images captured with a clean lens. Likewise, when adjusting the focal length, it is conceivable to adjust the focal length of the captured images to the surface of the lens, so that lens contamination is immediately visible.

[0025] A motor vehicle according to the invention is equipped with a driver assistance system having at least one camera arranged on the motor vehicle, the position of which is adjustable relative to the vehicle by means of an actuator. The motor vehicle is also equipped with a cleaning controller coupled to the driver assistance system and / or to the respective actuator and configured to carry out the cleaning method described above.

[0026] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0027] It is understood that the features mentioned above and those to be explained below can be used not only in the respective combination specified, but also in other combinations or on their own, without departing from the scope of the invention as defined by the claims. Components mentioned above and those to be mentioned below of a higher-level unit, such as a device, apparatus, or arrangement, which are designated separately, may form separate parts or components of this unit or be integral areas or sections of this unit, even if this is shown differently in the drawings.

[0028] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0029] They show, schematically, Fig. 1 a simplified flow diagram of a cleaning process, Fig. 2 a highly simplified, circuit diagram-like schematic representation of a motor vehicle in the area of ​​a camera in different states a, b and c.

[0030] According to the Fig. 2a, Fig. 2b and Fig. 2c, a motor vehicle 1 or vehicle 1, which is shown here only in the area of ​​an exterior mirror 2, comprises a driver assistance system 3, which has at least one camera 4 arranged on the motor vehicle 1, which is adjustable in its position relative to the vehicle 1 by means of an actuator 5. In the Fig. 2a, Fig. 2b and Fig. Figure 2c shows a configuration in which the camera 4 is rotatably adjustable about a rotational axis perpendicular to the plane of the drawing. It is also conceivable that the camera 4 is linearly adjustable. Combinations of linear adjustment and rotary adjustment are also conceivable for adjusting the camera 4 relative to the vehicle 1.

[0031] The driver assistance system 3 can be configured here to detect a blind spot. It is also conceivable that the driver assistance system 3 forms an electronic exterior mirror 2 with the help of the camera 4. The camera 4 has a lens 7 through which the camera 4 records the surroundings of the vehicle 1. For example, the camera 4 records Fig. 2a and Fig. 2b, a working position AP is set up in which the camera 4 is aligned parallel to the vehicle's longitudinal direction and faces backwards. In contrast, the camera 4 in Fig. 2b rotated by approximately 90° so that it is aligned transversely to the vehicle's longitudinal direction and faces to the side, here to the left.

[0032] The motor vehicle 1 is also equipped with a cleaning control 6, which is coupled to the driver assistance system 3 and, via the latter, to the actuator 5. It is also conceivable to couple the cleaning control 6 to the driver assistance system 3 and also directly to the actuator 5. Furthermore, the cleaning control 6 can be coupled to a vehicle control system not shown here. It is also conceivable for the cleaning control 6 to be coupled to the vehicle control system via the assistance system 3.

[0033] The cleaning device 6 is configured, among other things, to clean the camera 4 with the help of the actuator 5 from the Fig. 2a and Fig. 2c shown working position AP into the Fig. 2b shown cleaning position RP. Here, the camera 4 is adjusted relative to the vehicle 1 by means of the actuator 5. As mentioned, in the Fig. 2a, Fig. 2b and Fig. 2c shows a rotational adjustment of the camera 4 relative to the exterior mirror 2 or relative to the motor vehicle 1. The working position AP is the position of the camera 4 which the camera 4 requires for its function within the driver assistance system 3. In this working position AP, in particular, the lens 7 is not directly exposed to the air flow 16. In contrast, the cleaning position RP is selected such that the air flow 16 strikes the lens 7 in such a way that the air flow 16 cleans the lens 7. The air flow 16 is created while the vehicle 1 is traveling, namely by the air flow around the moving vehicle 1 and represents the so-called airstream. In the cleaning position RP, the camera 4 is generally not usable by the driver assistance system 3.

[0034] The cleaning control 6 is also configured to carry out a cleaning process 8, which is described below using Fig. 1 is explained in more detail.

[0035] Accordingly Fig. 1, the cleaning method 8 may include a mandatory step 9 in which it is checked whether the lens 7 needs to be cleaned or not. If the lens 7 does not need to be cleaned, the result of the check is negative, so the method follows a path 10 that leads back to step 9. If, however, the result is positive, the cleaning method 8 follows a path 11 and reaches a step 12.

[0036] In the present context, negative query results in the Fig. 1 is represented by a minus sign in parentheses (-), while positive query results are represented by a plus sign in parentheses (+).

[0037] In optional step 12, a check is made to determine whether camera 4 is currently required by driver assistance system 3. If this is the case, the cleaning process follows path 13, which leads back to path 10 and therefore to step 9. In other words, as long as camera 4 is required by driver assistance system 3, cleaning process 8 is not continued. If, however, the query in step 12 is negative, camera 4 is not required by driver assistance system 3, and cleaning process 8 follows path 14 and reaches step 15.

[0038] In step 15, a Fig. 2a, Fig. 2b and Fig. 2c, the current air flow 16 in the area of ​​the camera 4 is determined. The determination of the current air flow 16 in the area of ​​the camera 4 can be realized, for example, using a suitable sensor 17, which can, for example, have at least one anemometer 18. The flow sensor 17 or the respective anemometer 18 are shown in the Fig. 2a, Fig. 2b and Fig. 2c and coupled in a suitable manner to the cleaning control 6. It is also conceivable that the cleaning control 6 determines the current air flow 16 in the area of ​​the camera 4 based on the current vehicle speed, which it receives directly from the vehicle control or indirectly via the driver assistance system 3.

[0039] The current air flow determined in step 15 is fed along a path 19 to an optional step 20, in which it is checked whether the current air flow 16 in the area of ​​the camera 4 is sufficient to clean the lens 7 in the cleaning position RP. If the result of this check is negative, the current air flow 16 is not sufficient to clean the lens 7 in the cleaning position RP. The cleaning process 8 then follows a path 21, which leads back to step 9 via paths 13 and 10. If, however, the result of the query in step 20 is positive, the current air flow 16 is sufficient to clean the lens 7, and the cleaning process 8 follows a path 22 and reaches an optional step 23.

[0040] In step 23, the cleaning position RP to be set is determined. This can be done, for example, depending on the current air flow 16 in the area of ​​the camera 4. The camera 4 can then be moved from the working position AP to the currently determined cleaning position RP to clean the lens 7. As long as the camera 4 is moved to the cleaning position RP, the cleaning process takes place, during which the air flow 16 acts on the lens 7. It can expediently be provided that the cleaning position RP continues to be determined depending on the current air flow 16 even during this cleaning process. In the event that the current air flow 16 changes during the cleaning process, the current cleaning position RP also changes and the camera 4 is readjusted by a corresponding actuation of the actuator 5 so that it is moved to the changed cleaning position RP.

[0041] The optimal cleaning position can be determined in step 23 using a data set 24 that maps a relationship between the adjustable cleaning positions RP, the air flow 16 in the area of ​​the camera 4, and the achievable cleaning effect. This data set 24 can be stored, for example, in a database 25. The data set 24 can be generated and provided, and also continuously improved, using artificial intelligence 26, for example. It is also conceivable to generate and provide the data set 24 using a neural network 27, and in particular, to continuously improve it.

[0042] After determining the optimal cleaning position RP in step 23, the cleaning method 8 follows a path 28 and reaches a mandatory step 29, in which the camera 4 is now moved from the working position AP to the currently determined optimal cleaning position RP using the respective actuator 5. The method then follows a path 30 and reaches a step 31, in which it is checked whether the lens 7 has been sufficiently cleaned. If this is not the case, then the lens 7 is still contaminated and must be further cleaned. The cleaning method 8 then follows a path 32 and reaches an optional step 33, in which it is checked whether a predetermined cleaning time has elapsed. If this is not the case, the cleaning method 8 follows a path 34 and thus returns to step 31.If step 31 concludes that lens 7 has been sufficiently cleaned, cleaning method 8 follows path 35 and proceeds to step 36. This means that step 31 determines that lens 7 has been sufficiently cleaned, so step 33 can be skipped. If, however, lens 7 has not been sufficiently cleaned, step 33 is executed, in which the predetermined cleaning time is queried. Once this time has been reached, cleaning method 8 follows path 37 and then also proceeds to the mandatory step 36.

[0043] In step 36, the camera 4 is moved back from the cleaning position RP to the working position AP by actuating the actuator 5. The cleaning process then follows a path 37 and reaches a step 38, which represents the end of the cleaning process 8.

[0044] Instead of the optional step 12, which checks during the cleaning process 8 whether the camera 4 is currently required by the driver assistance system 3, a step 39 can also be provided upstream in which this query is carried out before a check is carried out in step 9 as to whether the lens 7 needs to be cleaned. If the camera 4 is currently required by the driver assistance system 3, the cleaning process 8 follows a path 40 and repeats this query according to step 39. If, on the other hand, the camera 4 is not currently in use, the cleaning process follows a path 41 and reaches step 9. If the query there is negative, path 10 then does not return to step 9, but instead returns via path 40 to step 39.

[0045] As an alternative to step 31, in which it is monitored whether the lens 7 has been sufficiently cleaned, and to step 33, in which it is monitored whether a predetermined cleaning time has elapsed, it can also be provided in another embodiment that these queries do not take place. Instead, it can be provided that the cleaning of the lens 7 is only ever carried out for a predetermined cleaning time, so that in the cleaning method 8, after step 29, which moves the camera 4 to the cleaning position RP, step 36 is carried out directly after the predetermined cleaning time has elapsed, in which the camera 4 is moved to the working position AP.

[0046] It is also conceivable that the cleaning time required for the current air flow 16 to achieve the desired cleaning effect is already taken into account in the aforementioned data set 24. Accordingly, it is conceivable that in step 23, the optimal cleaning position RP and the associated cleaning time are determined in order to then move the camera 4 to the determined cleaning position RP for the determined cleaning time. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2017 100 672 A1

[0003] US 2014 / 0 104 426 A1

[0004] DE 10 2014 111 752 A1

[0004] DE 10 2005 021 671 A1

[0005] DE 10 2020 119 473 A1

[0005] DE 10 2014 117 165 A1

[0005] DE 10 2021 207 792 A1 [0005, 0007] DE 10 2009 041 148 A1

[0006] DE 10 2021 003 988 A1

[0007]

Claims

[1] Cleaning method (8) for cleaning a lens (7) of a camera (4) of a driver assistance system (3) for a motor vehicle (1), - which checks whether the lens (7) needs to be cleaned or not, - in which, in the event that the lens (7) needs to be cleaned, the camera (4) is adjusted from a working position (AP) required for the respective driver assistance system (3) to a cleaning position (RP) in which an air flow (16) created by the air flow around the moving vehicle (1) in the area of ​​the camera (4) strikes the lens (7) in such a way that the air flow (16) cleans the lens (7), - in which, after cleaning the lens (7), the camera (4) is moved from the cleaning position (RP) to the working position (AP). [2] Cleaning method (8) according to claim 1, characterized by , - that the cleaning position (RP) is determined as a function of the current air flow (16) in the area of ​​the camera (8), so that the camera (4) is adjusted from the working position (AP) to the currently determined cleaning position (RP) for cleaning the lens (7). [3] Cleaning method (8) according to claim 2, characterized by , - that the cleaning position (RP) is also determined during the cleaning process depending on the current air flow (16), - that the camera (4) is adjusted accordingly and moved to the changed cleaning position (RP) in the event that the cleaning position (RP) changes during the cleaning process. [4] Cleaning method (8) according to claim 2 or 3, characterized by , - that the cleaning position (RP) is determined with the aid of a data set (24) which represents a relationship between the adjustable cleaning positions (RP), the air flow (16) in the area of ​​the camera (4) and the achievable cleaning effect, - that the cleaning position (RP) which produces the best cleaning effect for the current air flow (16) is determined by means of the data set (24). [5] Cleaning method (8) according to claim 4, characterized by , - that the data set (24) is stored in a database (25) and / or is generated and provided by means of artificial intelligence (26) and / or by means of a neural network (27). [6] Cleaning method (8) according to one of claims 2 to 5, characterized by , - that the current air flow (16) is detected by means of a flow sensor (17), or - that the current air flow (16) is determined as a function of the current vehicle speed. [7] Cleaning method (8) according to one of the preceding claims, characterized by , - that the cleaning of the lens (7) is carried out by the air flow (16) for a predetermined cleaning time, and / or - that during the cleaning of the lens (7) by the air flow (16) it is checked whether the lens (7) is sufficiently cleaned, wherein the cleaning of the lens (7) by the air flow (16) is carried out until the lens (7) is sufficiently cleaned or a predetermined cleaning time has elapsed. [8] Cleaning method (8) according to one of the preceding claims, characterized by , - that in the event that the lens (7) needs to be cleaned, it is checked whether the current air flow (16) in the area of ​​the camera (4) is sufficient to clean the lens (7) in the cleaning position (RP), - that the camera (4) is only moved from the working position (AP) to the cleaning position (RP) when the current air flow (16) is sufficient to clean the lens (7). [9] Cleaning method (8) according to one of the preceding claims, characterized by , - that in the event that the lens (7) needs to be cleaned, it is checked whether the camera (4) is currently required by the respective driver assistance system (3), whereby the camera (4) is only moved from the working position (AP) to the cleaning position (RP) if the camera (4) is not currently required by the respective driver assistance system (3), or - that checking whether the lens (7) needs to be cleaned is only carried out when the camera (4) is not currently required by the respective driver assistance system (3). [10] Motor vehicle (1), - with a driver assistance system (3) which has at least one camera (4) arranged on the motor vehicle (1) and which can be adjusted in terms of its position relative to the vehicle (1) by means of an actuator (5), - with a cleaning control (6) which is coupled to the driver assistance system (3) and / or to the respective actuator (5) and which is configured to carry out a cleaning method (8) according to one of the preceding claims.

Images