Vehicle with a sensor cleaning system

Abstract

The invention relates to a vehicle with a sensor cleaning system (3) comprising at least one cleaning component (7, 9) for the automatic cleaning of at least one sensor (1) positioned on the vehicle body (12). According to the invention, the sensor cleaning system (3) includes an evaluation module (5) by means of which, in the event of a need for manual sensor cleaning where the sensor cleaning is not performed automatically but manually by the vehicle user, a sensor maintenance mode can be implemented which assists the vehicle user in locating the sensor (1) and in the manual sensor cleaning.

Description

[0001] The invention relates to a vehicle with a sensor cleaning system according to the preamble of claim 1 and a method for sensor cleaning according to claim 10.

[0002] Modern driver assistance systems and highly automated to autonomous driving systems increasingly rely on a multitude of on-board sensors that perceive the vehicle's surroundings. These sensors include radar, lidar, and camera systems. The functionality of these driver assistance systems and autonomous driving functions, particularly at SAE Levels 3 to 5 automation, depends significantly on the provision of clean and accurate sensor data. Because the sensors are integrated into the vehicle's exterior, they are exposed to various weather conditions and are prone to contamination. For example, rain, mud, and insects can contaminate the sensors, leading to so-called "sensor blindness," where reliable environmental detection is no longer possible.In severe cases, such contamination can cause the affected sensors to fail to provide reliable measurement data, thus impairing the functionality of the entire driver assistance system or autonomous driving systems.

[0003] To solve this problem, future vehicle generations are expected to be equipped with sensor cleaning systems that enable combined air and water cleaning of the sensor units. These systems will have larger water tanks to ensure sufficient cleaning fluid for the numerous sensors on board. Furthermore, demand-based and controlled dosing of the cleaning water is planned to optimize cleaning fluid consumption. Typically, the sensors will be cleaned automatically several times, with the cleaning process being aborted after a certain number of unsuccessful attempts to prevent unnecessary consumption of cleaning fluid. In such cases, manual cleaning of the sensor by the vehicle user will be necessary to restore the full functionality of the driver assistance system and autonomous driving functions.

[0004] If manual sensor cleaning is required, the vehicle user currently only receives a text message on an MMI display indicating a dirty sensor that needs manual cleaning. This poses the risk that the user—especially with a large number of sensors—may not be able to easily locate the dirty sensor, potentially leading to unnecessary limitations of automated and autonomous driving functions or requiring an additional visit to the workshop. A further problem arises from the fact that the sensors are usually integrated as inconspicuously as possible into the vehicle's body, making them even harder for the user to find. These limitations represent a significant disadvantage for the use and availability of driver assistance systems and autonomous driving functions, as the sensors must be cleaned regularly for reliable operation.

[0005] From EP 3 805 048 B1, an information processing device is known by means of which a user can easily identify, for example, the position of a sensor that has a defect among the sensors mounted on the vehicle.

[0006] German patent application DE 10 2017 121 376 A1 discloses a method for operating a motor vehicle equipped with at least one external camera. In this method, a cleaning request is issued to the vehicle user when the camera becomes dirty.

[0007] The object of the invention is to provide a vehicle with a sensor cleaning system in which, compared to the prior art, a sensor cleaning can be carried out reliably and comfortably for the vehicle user even in the case of heavy sensor contamination.

[0008] The problem is solved by the features of claim 1 or 10. Preferred embodiments of the invention are disclosed in the dependent claims.

[0009] The invention relates to a vehicle with a sensor cleaning system comprising at least one cleaning component for the automatic cleaning of at least one sensor positioned on the vehicle body. According to the characterizing part of claim 1, the following measures are taken to ensure reliable sensor cleaning with a flawless cleaning result: The sensor cleaning system includes an evaluation module by which a need for manual sensor cleaning can be detected, where the sensor cleaning is not performed automatically but manually by the vehicle user. When such a need for manual cleaning exists, the evaluation module can be used to control the sensor cleaning system in order to execute a sensor maintenance mode, which assists the vehicle user in locating the sensor and in performing the manual sensor cleaning.This ensures increased sensor reliability and enhances the availability of the automated driving function by providing targeted assistance to the vehicle user in locating and cleaning the dirty sensor. In this way, downtime is minimized and the continuous functionality of the driver assistance system is guaranteed, which is particularly essential for autonomous driving functions.

[0010] With the help of the sensor cleaning system according to the invention, the vehicle user is therefore not only made aware of the need for manual cleaning, but is also actively supported in identifying and manually cleaning the dirty sensor in order to maximize system availability and thus the safety and functionality of the driver assistance systems.

[0011] In an initial implementation, the evaluation module, designed to visually assist the vehicle user in sensor localization, controls a vehicle display to visualize the sensor's installation location. Preferably, the sensor's location is visually embedded in a 3D model of the vehicle displayed on the vehicle's screen. Visualizing the sensor's location within the 3D model improves usability, as the user can precisely and efficiently locate the sensor requiring cleaning. This saves time and prevents incorrect cleaning. Such visual support provides intuitive orientation, thereby reducing the need for workshop visits due to inaccurate sensor cleaning.

[0012] In a second design variant, the cleaning component of the sensor cleaning system can be moved between a non-use position and a use position. In the use position, the cleaning component can perform its cleaning function. Furthermore, in this position, the cleaning component protrudes visibly from the vehicle body by one profile height. To visually assist the vehicle user in locating the sensor, the evaluation module can move the cleaning component into its use position. This visually highlights the sensor's installation location, allowing the vehicle user to easily and quickly identify the area to be cleaned. This function promotes greater cleaning precision and contributes to reduced maintenance times and improved system availability.

[0013] In a third variant, the cleaning component can be a compressed air nozzle unit. When activated, the sensor is exposed to a stream of compressed air. To provide acoustic assistance to the vehicle operator in locating the sensor, the evaluation module can activate the compressed air nozzle unit. The sound of the compressed air helps the driver find the sensor. This acoustic support provides additional, effective assistance in locating the sensor, especially in situations with limited visibility. This acoustic feedback increases user-friendliness and reduces the need for visual confirmation alone, contributing to faster and safer sensor cleaning.

[0014] In a fourth variant, the cleaning component can be a liquid nozzle unit, which, when activated, allows the sensor to be exposed to a cleaning fluid. To support manual sensor cleaning, the evaluation module can activate the liquid nozzle unit to prepare the sensor for manual cleaning by the vehicle user. Activating the liquid nozzle unit in preparation for cleaning significantly simplifies the manual cleaning process for the vehicle user. This approach improves efficiency and reduces the amount of fluid required, resulting in more resource-efficient cleaning and thus lowering maintenance costs.

[0015] In a technical implementation, the visual display of the sensor's installation location on the vehicle display, the extension of the cleaning component, the activation of the compressed air nozzle unit, and the activation of the liquid nozzle unit can all be performed sequentially in this order within a process chain. This sequential process chain optimizes the maintenance procedure by clearly structuring the sensor localization and cleaning steps, thereby enabling swift and error-free execution. This increases cleaning effectiveness and reduces sensor downtime, resulting in higher vehicle availability.

[0016] If a manual sensor cleaning requirement is detected, the evaluation module first informs the vehicle user of this requirement and, if applicable, of any usage restrictions affecting a vehicle function in which the sensor is involved. Subsequently, when the vehicle is parked, the evaluation module can prompt the user to perform manual sensor cleaning, which the user must confirm. Upon confirmation, the evaluation module initiates sensor maintenance mode. Clear communication of the manual cleaning requirement and the associated usage restrictions provides the driver with precise information and increases awareness of the vehicle's function status. This, in turn, increases the user's willingness to perform maintenance, ultimately improving the vehicle's functionality and availability.

[0017] At the end of the sensor maintenance mode, the vehicle user confirms that the cleaning has been completed. After confirmation, the evaluation module assesses the cleaning result. This feedback option after cleaning provides an additional control mechanism, ensuring the reliability of the cleaning result and verifying the sensor's availability. This leads to increased efficiency in the maintenance process and reduces downtime.

[0018] In one specific embodiment, the sensor cleaning system enables automatic sensor cleaning, in which the evaluation module assesses the cleaning result at the end of at least one automatic sensor cleaning cycle. If the cleaning result is negative, the evaluation module can execute the sensor maintenance mode according to the invention. This sensor maintenance mode, which is downstream of the automatic sensor cleaning process, ensures continuous sensor availability and safeguards autonomous driving operation without unnecessary consumption of cleaning fluid. This increases the efficiency of the cleaning system and extends the service life of the cleaning equipment.

[0019] Overall, the sensor cleaning system according to the invention offers a systematic solution for maintaining sensor functionality through combined optical, acoustic, and physical support for sensor cleaning. It maximizes the availability of driver assistance systems and autonomous driving functions with minimal resource consumption and increased user-friendliness.

[0020] An embodiment of the invention is described below with reference to the accompanying figures.

[0021] They show: Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 to Fig. 6 views each, illustrating the structure and function of an underbody camera for the maintenance and cleaning of a motor vehicle.

[0022] In the Fig. 1 and Fig. Figure 2 shows a roughly schematic view of the front of a vehicle, indicated to the extent necessary for understanding the invention. Accordingly, a camera 1, integrated into a driver assistance system, is installed in the front of the vehicle as a sensor. A sensor cleaning system 3 is associated with the camera 1, enabling automatic cleaning of the camera lens. The camera 1 communicates with an evaluation module 5. This module evaluates the degree of soiling of the camera 1. If the degree of soiling exceeds a threshold value, the evaluation module 5 initiates automatic sensor cleaning using the sensor cleaning system 3. The sensor cleaning system 3 has in the Fig. 1 and Fig. 2. The cleaning components consist of a compressed air nozzle unit 7 and a liquid nozzle unit 9. These are attached to a support rail 11 that can be moved in the longitudinal direction x of the vehicle.

[0023] In the Fig. Figure 1 shows the sensor cleaning system 3 in its operating position, while in the Fig. 2 the sensor device 3 is shown in its non-use position. In the non-use position ( Fig. 2) A flap 13, attached to the front of the support rail 11, is flush with the vehicle shell 12, and the two cleaning components 7, 9 are arranged under the vehicle shell 12, concealed from view and protected from mechanical influences. In contrast, in the operating position ( Fig. 1) the support rail 11 with the cleaning components 7, 9 attached to it is moved forward of the vehicle shell 12 by a profile height h so that the cleaning components 7, 9 can perform their cleaning functions during an automatic sensor cleaning.

[0024] After several unsuccessful cleaning attempts, evaluation module 5 stops the automatic sensor cleaning to conserve the cleaning fluid. Due to the unsuccessful automatic sensor cleaning, evaluation module 5 recognizes that manual sensor cleaning is required, meaning the sensor cleaning is no longer automatic but must be performed manually by the vehicle user. A key aspect of the invention is that, in this case, evaluation module 5 can execute a sensor maintenance mode. This sensor maintenance mode assists the vehicle user in locating and manually cleaning the camera 1.

[0025] The following flowcharts illustrate the... Fig. 3, Fig. 4, Fig. 5 to Fig. Section 6 describes a process sequence for automatic and manual sensor cleaning. The flowchart shows the... Fig. 3. A basic process sequence can be derived in which several automatic sensor cleaning attempts are initially carried out unsuccessfully. After several unsuccessful automatic sensor cleaning attempts, evaluation module 5 detects a need for manual sensor cleaning.

[0026] To support manual sensor cleaning, the sensor maintenance mode according to the invention is performed by the evaluation module 5. Accordingly, a 3D model 14 of the vehicle with the installation location 15 of the camera 1 to be cleaned marked is displayed on a vehicle display 17. In addition, the mounting rail 11 of the sensor cleaning system 3 is moved into the operating position ( Fig. 2) procedure. Furthermore, compressed air cleaning is activated to acoustically support sensor localization. Finally, the liquid nozzle unit 9 is activated to prepare for manual sensor cleaning. After completion of the manual cleaning, the cleaning success is evaluated by the automated driving function, in which camera 1 is integrated, and assessed with regard to the availability of the autonomous driving mode.

[0027] From the flowchart of the Fig. Section 4 outlines the procedure for detecting the need for manual cleaning: First, the degree of soiling of camera 1 is determined. Based on this evaluation, a cleaning requirement is identified. If so, the cleaning process is initiated and camera 1 is cleaned. After the first automated cleaning cycle is completed, the sensor availability and / or cleaning requirement are determined again. This starts a loop that repeats the first four steps a predefined number of times: determining the degree of soiling, detecting the cleaning requirement, cleaning camera 1, and determining sensor availability. The predefined number of cleaning cycles is chosen to prevent the unnecessarily large consumption of cleaning agent if the cleaning of camera 1 fails multiple times.

[0028] The next steps are taken from the flowchart of the Fig. Section 5 describes a method for optically supporting manual cleaning and storing cleaning requirements. Accordingly, the detected need for manual cleaning is stored in the vehicle. An existing control unit can be used for this purpose. The vehicle user is initially notified of the need for manual cleaning (for example, via a pop-up), and any existing restrictions on the function's use are communicated. As soon as the vehicle is stationary and parked, the user receives a specific request for manual cleaning, as this cannot be done while driving. The user can then either decline, in which case the cleaning request is stored for the next terminal cycle, or confirm that they will now clean camera 1 manually.To support sensor localization, the 3D model 14 of the vehicle is displayed, showing the installation location 15 of camera 1 on the vehicle body 12 for initial localization of the vehicle area, along with specific instructions on how to clean camera 1. This allows the search for camera 1 to be narrowed down early on by visual aid, enabling the vehicle user to locate the camera more precisely than with a text message.

[0029] From the flowchart of the Fig. Section 6 outlines the procedural steps for supporting acoustic / optical sensor localization and cleaning support: After user confirmation of the cleaning and display of the installation location 15 of camera 1, the vehicle user exits the vehicle. This is detected by the seat mat detection and the door opening and communicated to the evaluation module 5 via existing signal communication. This allows the evaluation module 5 to move the sensor cleaning system 3 into its operating position in a timely manner ( Fig.2) Extend the camera, providing further visual support. Additionally or alternatively, the compressed air nozzle unit 7 is activated, which is used for air purification to support acoustic localization. This is particularly advantageous if the cleaning area is not located under a flap 13 or cannot be extended. After another 5 to 10 seconds, it is assumed that the vehicle user has located camera 1, and some cleaning agent is applied by the liquid nozzle unit 9 as cleaning support. The vehicle user then cleans camera 1, for example with a cloth, following the instructions given at the beginning. After completing the cleaning, the vehicle user confirms the cleaning via an interaction, for example via a touchscreen. This can be done immediately after cleaning or during the next use of the vehicle.The sensor contamination is then determined. If confirmation is not received, an evaluation is also performed. After hopefully successful cleaning, camera 1 is recognized as clean. Otherwise, the process chain begins again. REFERENCE MARK LIST: 1 sensor 3 Sensor cleaning system 5 Evaluation module 7 compressed air nozzle unit 9 Liquid nozzle unit 11 Mounting rail 12 Vehicle body 13 lids 14 3D vehicle models 15 Sensor installation location 17 Vehicle display h Profile height QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] EP 3 805 048 B1

[0005] DE 10 2017 121 376 A1

[0006]

Claims

Vehicle with a sensor cleaning system (3) with at least one cleaning component (7, 9) for automatic sensor cleaning of at least one sensor (1) positioned on the vehicle shell (12), characterized in that the sensor cleaning system (3) has an evaluation module (5) by means of which, in the event of a need for manual sensor cleaning, where the sensor cleaning is not carried out automatically but manually by the vehicle user, a sensor maintenance mode can be implemented which assists the vehicle user in locating the sensor (1) and in the manual sensor cleaning. Vehicle according to claim 1, characterized in that, to provide visual support to the vehicle user in locating the sensor, the evaluation module (5) controls a vehicle display (17) to visualize the installation location (15) of the sensor (1), in particular by means of a 3D model (14) of the vehicle displayed in the vehicle display (17) in which the sensor installation location (15) is visualized. Vehicle according to claim 1 or 2, characterized in that the cleaning component (7, 9) of the sensor cleaning system (3) is movable between a non-use position and a use position in which the cleaning function of the cleaning component (7, 9) can be performed, and in particular that the cleaning component (7, 9) in its use position projects visibly outwards from the vehicle shell (12) by a profile height (h), and that, to provide visual support to the vehicle user in locating the sensor, the evaluation module (5) controls the cleaning component (7, 9) into its use position. Vehicle according to one of the preceding claims, characterized in that the cleaning component is a compressed air nozzle unit (7) whose activation allows the sensor (1) to be supplied with a compressed air stream, and that, for acoustic support of the vehicle user in the sensor localization, the evaluation unit (5) activates the compressed air nozzle unit (7) whose compressed air noise assists the driver in locating the sensor (1). Vehicle according to claim 4, characterized in that the cleaning component is a liquid nozzle unit (9) which, when activated, allows the sensor (1) to be supplied with a cleaning fluid, and that, to support manual sensor cleaning, the evaluation unit (5) activates the liquid nozzle unit (9) to prepare the manual sensor cleaning for the vehicle user. Vehicle according to claim 5, characterized in that in sensor maintenance mode - the visual display of the sensor installation location (15) in the vehicle display (17); - the extension of the cleaning component (7, 9); - the activation of the compressed air nozzle unit (7); - the activation of the liquid nozzle unit (9) take place in this order in a process chain one after the other. Vehicle according to one of the preceding claims, characterized in that, when manual sensor cleaning is required, the evaluation module (5) first informs the vehicle user of the need for manual sensor cleaning and, in particular, of a restriction of use of a vehicle function in which the sensor (1) is integrated, and / or that, in a vehicle park position, i.e., when the vehicle is permanently stationary, the evaluation module (5) informs the vehicle user of a request for manual sensor cleaning, which must be confirmed by the vehicle user, and that, after confirmation, the evaluation module (5) starts the sensor maintenance mode. Vehicle according to claim 7, characterized in that, at the conclusion of the sensor maintenance mode, the vehicle user confirms the cleaning has been carried out, and that after confirmation, the evaluation module (5) evaluates the cleaning result. Vehicle according to one of the preceding claims, characterized in that an automatic sensor cleaning can be carried out by means of the sensor cleaning system (3), in which the evaluation module (5) evaluates the cleaning result at the conclusion of the at least one automatic sensor cleaning, and in the event of a negative cleaning result, the evaluation module (5) performs the sensor maintenance mode. Method for sensor cleaning in a vehicle according to one of the preceding claims.

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