Cleaning procedures and motor vehicle

Abstract

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 moved from a working position (AP) required for the respective driver assistance system (3) into a cleaning position (RP) in which an airflow (16) generated by the airflow around the moving vehicle (1) in the area of ​​the camera (4) hits the lens (7) in such a way that the airflow (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), characterized in that - that the cleaning position (RP) is determined depending on the current airflow (16) in the area of ​​the camera (4), so that the camera (4) is moved from the working position (AP) to the currently determined cleaning position (RP) to clean the lens (7).

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 according to the preamble of claim 1. The invention further relates to a motor vehicle configured to carry out the cleaning method.

[0002] Many driver assistance systems in motor vehicles use cameras, particularly to detect obstacles or hazards in the vehicle's vicinity. These cameras typically have a lens through which the surroundings are optically captured. Because these lenses are exposed to the environment, they can become dirty.

[0003] A generic cleaning method is known from DE 10 2019 216 122 A1 and is based on checking whether the lens needs cleaning or not, wherein, in the case that the lens needs cleaning, the camera is moved from a working position required for the respective driver assistance system to a cleaning position in which an airflow, generated by the flow around the moving vehicle in the area of ​​the camera, hits the lens in such a way that the airflow cleans the lens, wherein after cleaning the lens the camera is moved from the cleaning position to the working position.

[0004] German patent DE 10 2017 100 672 A1 discloses a cleaning method for a camera of a motor vehicle camera system, in which a lens of the camera is cleaned by means of an airflow generated by a blower. The camera thus forms an electronic rearview mirror.

[0005] Cleaning methods for a camera of a driver assistance system of a motor vehicle are known from US 2014 / 0 104 426 A1 and from DE 10 2014 111 752 A1, wherein a lens of the camera is cleaned by means of an airflow generated by the driving wind.

[0006] 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.

[0007] From DE 10 2009 041 148 A1 a camera for a driver assistance system of a motor vehicle is known, which is adjustable on the motor vehicle.

[0008] Further adjustable cameras for driver assistance systems are known from DE 10 2021 003 988 A1 and from DE 10 2021 207 792 A1.

[0009] The present invention is based on the objective 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, and in particular by a small installation space.

[0010] 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”.

[0011] This problem is solved according to the invention by the method of independent main claim 1 and by the motor vehicle of dependent claim 9. Advantageous embodiments are the subject of the dependent claims.

[0012] The invention is based on the general concept of using an airflow generated by the airflow from the moving vehicle in the camera's vicinity to clean the camera lens. In other words, the invention proposes using the airflow from the vehicle to clean the camera lens. For this purpose, the camera is adjustable between a working position, in which it can perform its function within the respective driver assistance system, and a cleaning position, in which the airflow hits the lens and cleans it. The invention utilizes the airflow that is naturally generated during the vehicle's movement to clean the camera lens, thus eliminating the need for separate systems and devices to generate an airflow for lens cleaning. Consequently, the installation space required for such a system is also eliminated.This type of cleaning process can therefore be implemented in a cost-effective and space-saving manner.

[0013] Specifically, the cleaning procedure requires that it be checked whether the lens needs cleaning or not, that if the lens needs cleaning, the camera is moved from a working position required for the respective driver assistance system to a cleaning position in which an airflow, created by the airflow around the moving vehicle in the area of ​​the camera, hits the lens in such a way that the airflow cleans the lens, and that after cleaning the lens, the camera is moved from the cleaning position to the working position.

[0014] According to the invention, the cleaning position is determined based on the current airflow in the camera's vicinity, so that the camera is adjusted from its working position to the determined cleaning position for lens cleaning. This embodiment is based on the understanding that the airflow in the camera's vicinity depends on the vehicle's current operating state and the prevailing wind conditions. Furthermore, the achievable cleaning effect depends on the current airflow and the set cleaning position. By taking the current airflow into account, the most suitable or optimal cleaning position can be identified and set. In this way, a sufficient cleaning effect can always be achieved under varying airflow conditions.

[0015] According to an advantageous embodiment, the cleaning position can also be determined, checked, and, if necessary, corrected during the cleaning process, depending on the current airflow. Furthermore, if the cleaning position changes during the cleaning process, the camera can be adjusted accordingly and moved to the new position. For example, the cleaning process can be carried out during acceleration or braking, during which the airflow around the vehicle, and thus the airflow in the camera's vicinity, changes. This change is taken into account. It is also conceivable that a braking or acceleration process is initiated during the cleaning process, which also affects the airflow in the camera's vicinity and can be considered.

[0016] According to another embodiment, the cleaning position can be determined using a data set that maps the relationship between the adjustable cleaning positions, the airflow in the camera's vicinity, and the achievable cleaning effect. Using this data set, the cleaning position that produces the best cleaning effect for the current airflow can be determined. In this way, the most suitable cleaning position can always be determined based on the current airflow, and the camera can be adjusted to this cleaning position.

[0017] Such a dataset can, for example, be stored in a database. Additionally or alternatively, such a dataset can be generated and provided using artificial intelligence and / or a neural network. It is also conceivable that this dataset, particularly in conjunction with artificial intelligence, is continuously supplied with new data during vehicle operation, allowing the dataset to continuously learn. In principle, such a dataset can be collected during field trials and form a baseline dataset. This baseline dataset can optionally be continuously expanded or improved with new data during operation.

[0018] According to an advantageous embodiment, the current airflow can be detected using flow sensors. For example, at least one anemometer can be used for this purpose.

[0019] Alternatively, it is also possible to determine the current airflow as a function of the vehicle's current speed. The vehicle's current speed is known to the vehicle's control system, so the resulting airflow in the camera's field of view can be determined relatively easily. For example, physical models of the vehicle can be used to deduce the airflow in the camera's field of view from the vehicle's current speed. Data sets obtained during field tests can also be used for this purpose.

[0020] According to another advantageous embodiment, the lens can be cleaned by the airflow for a predetermined cleaning time. Additionally or alternatively, it is conceivable that during the cleaning process, the lens's cleanliness is checked, and the cleaning continues until the lens is sufficiently clean or a predetermined cleaning time has elapsed. The lens may be soiled to varying degrees, so the required cleaning time may differ. Furthermore, the cleaning time required can also depend on the current airflow.By checking the lens's cleaning status or cleanliness during the cleaning process, a comparatively good cleaning result can always be achieved, while at the same time avoiding unnecessarily long periods when adjusting the camera to the cleaning position. As long as the camera is in the cleaning position, it generally cannot be used by the driver assistance system, which can be a disadvantage.

[0021] Furthermore, it is conceivable that the required cleaning time could be determined using a dataset that records the relationship between the degree of soiling, airflow, and cleaning position. This would allow the required cleaning time to be calculated and specified based on the current airflow and the determined or set cleaning position. Field trials for creating the dataset are also conceivable, as is the application of artificial intelligence and / or a neural network for creating and improving the dataset.

[0022] In another advantageous embodiment, it can be provided that, in the event that the lens needs cleaning, it is first checked whether the current airflow in the camera area is sufficient to clean the lens in the cleaning position. Advantageously, the camera is only moved from the working position to the cleaning position if the current airflow is sufficient to clean the lens. If, for example, the current travel speed is too low to generate a sufficiently strong airflow in the camera area suitable for cleaning the lens, the cleaning process is not carried out despite the lens being dirty. 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, if the lens needs cleaning, a check is performed 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 it is not currently needed by the driver assistance system. Alternatively, the check to determine whether the lens needs cleaning is only performed if the camera is not currently needed by the driver assistance system. In both cases, a conflict between the cleaning process and the functionality of the driver assistance system is avoided.

[0024] Checking whether the lens needs cleaning, and checking whether it is sufficiently clean, can be done, for example, by comparing images currently taken with the camera to reference images taken with a clean lens. Similarly, when adjusting the focal length, it is conceivable to adjust the focal length of the images taken to match the lens surface, so that any contamination of the lens is immediately apparent.

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

[0026] Further important features and advantages of the invention will become apparent from the dependent claims, the drawings and 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 combinations specified, but also in other combinations or individually, without departing from the scope of the invention as defined by the claims. Components of a higher-level unit, such as a device, apparatus, or arrangement, mentioned above and those to be mentioned below, which are designated separately, can form separate parts or components of this unit or be integral areas or sections of this unit, even if this is depicted differently in the drawings.

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

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

[0030] According to the Fig. 2a, Fig. 2b and Fig. 2c comprises a motor vehicle 1, which is shown here only in the area of ​​an exterior mirror 2, a driver assistance system 3, which has at least one camera 4 arranged on the motor vehicle 1, the position of which can be adjusted relative to the motor 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 can be rotated about a rotational axis perpendicular to the drawing plane. It is also conceivable that the camera 4 can be adjusted linearly. Combinations of linear and rotational adjustments are also possible to position 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 uses the camera 4 to form an electronic exterior mirror 2. The camera 4 has a lens 7 through which it detects the area around the vehicle 1. For example, the camera 4 records the Fig. 2a and Fig. 2b each enters a working position AP in which camera 4 is aligned almost parallel to the vehicle's longitudinal direction and faces backwards. In contrast, camera 4 in Fig. 2b rotated by approximately 90° so that it is oriented perpendicular to the vehicle's longitudinal direction and faces to the side, here to the left.

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

[0033] The cleaning control 6 is configured, among other things, to move the camera 4 from the position into the area using the actuator 5. Fig. 2a and Fig. 2c shown work position AP in the in Fig. The cleaning position RP shown in 2b can be transferred. Here, the camera 4 is adjusted relative to the vehicle 1 by means of the actuator 5. As mentioned, this is in the Fig. 2a, Fig. 2b and Fig. Figure 2c shows a rotational adjustment of the camera 4 relative to the exterior mirror 2 or relative to the vehicle 1. The working position AP is the position of the camera 4 that it requires for its function within the driver assistance system 3. In this working position AP, the lens 7 is not directly exposed to the airflow 16. In contrast, the cleaning position RP is chosen such that the airflow 16 strikes the lens 7, cleaning it. The airflow 16 is generated while the vehicle 1 is in motion, namely by the airflow around the moving vehicle 1, and represents the so-called driving wind. In the cleaning position RP, the camera 4 is not normally 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 the following: Fig. 1 will be explained in more detail.

[0035] Accordingly Fig. 1. The cleaning procedure 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 procedure follows a path 10 that leads back to step 9. If, on the other hand, the result is positive, the cleaning procedure 8 follows a path 11 and proceeds to a step 12.

[0036] In the present context, negative query results are discussed 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 the optional step 12, it is checked whether camera 4 is currently required by driver assistance system 3. If so, cleaning procedure 8 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 procedure 8 is not continued. If, on the other hand, the query in step 12 is negative, camera 4 is not required by driver assistance system 3, and cleaning procedure 8 follows path 14 and reaches step 15.

[0038] In step 15, one is added to the Fig. 2a, Fig. 2b and Fig. The current airflow 16 in the area of ​​camera 4, indicated by dashed arrows in Figure 2c, is determined. Determining the current airflow 16 in the area of ​​camera 4 can be achieved, for example, using suitable flow sensors 17, which may include at least one anemometer 18. The flow sensors 17 and the respective anemometer 18 are shown in the Fig. 2a, Fig. 2b and Fig. 2c is simplified and coupled to the cleaning control 6 in a suitable manner. It is also conceivable that the cleaning control 6 determines the current airflow 16 in the area of ​​the camera 4 based on the current vehicle speed, which it receives directly from the vehicle control unit or indirectly via the driver assistance system 3.

[0039] The current airflow determined in step 15 is fed via path 19 to an optional step 20, in which it is checked whether the current airflow 16 in the area of ​​camera 4 is sufficient to clean lens 7 in cleaning position RP. If the result of this check is negative, the current airflow 16 is insufficient to clean lens 7 in cleaning position RP. Then the cleaning procedure 8 follows path 21, which leads back to step 9 via paths 13 and 10. However, if the result of the query in step 20 is positive, then the current airflow 16 is sufficient to clean lens 7, and the cleaning procedure 8 follows path 22 to an optional step 23.

[0040] In step 23, the cleaning position RP to be set is determined. This can be done, for example, based on the current airflow 16 in the area of ​​camera 4. 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 camera 4 is in the cleaning position RP, the cleaning process takes place, during which the airflow 16 acts on the lens 7. It may be advantageous to continue determining the cleaning position RP based on the current airflow 16 even during this cleaning process. If the current airflow 16 changes during the cleaning process, the current cleaning position RP also changes, and camera 4 is readjusted by actuating the actuator 5 so that it is moved to the changed cleaning position RP.

[0041] Determining the optimal cleaning position in step 23 can be done using a data set 24 that depicts the relationship between the adjustable cleaning positions RP, the airflow 16 in the area of ​​the camera 4, and the achievable cleaning effect. This data set 24 can, for example, be stored in a database 25. The data set 24 can be generated and provided using artificial intelligence 26 and can also be continuously improved. 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, cleaning procedure 8 follows path 28 and proceeds to a mandatory step 29, in which the camera 4 is moved from the working position AP to the currently determined optimal cleaning position RP using the respective actuator 5. The procedure then follows path 30 and proceeds to step 31, in which it is checked whether the lens 7 is sufficiently clean. If not, the lens 7 is still contaminated and must be cleaned further. Cleaning procedure 8 then follows path 32 and proceeds to an optional step 33, in which it is checked whether a predetermined cleaning time has elapsed. If not, cleaning procedure 8 follows path 34 and thus returns to step 31.If step 31 concludes that lens 7 is sufficiently clean, cleaning procedure 8 follows path 35 and proceeds to step 36. This means that if step 31 determines that lens 7 is sufficiently clean, step 33 can be skipped. However, if lens 7 is not sufficiently clean, step 33 is executed, in which the predetermined cleaning time is checked. Once this time is reached, cleaning procedure 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. Following this, the cleaning process 8 proceeds along path 37 and reaches step 38, which represents the end of the cleaning process 8.

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

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

[0046] It is also conceivable that the cleaning time required with the current airflow 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.

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

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