METHOD FOR CLEANING A WINDOW OF A LIDAR FOR VEHICLES, DISTANCE MEASURING DEVICES AND THE VEHICLES

Abstract

Distance measuring devices and vehicles include a LiDAR. The LiDAR is mounted on the inside of a vehicle cover, and a field of view of the LiDAR forms a projection surface on the vehicle cover. A cleaning area of ​​a wiper of the vehicle may coincide, at least partially, with the projection surface. A method for cleaning a window of a LiDAR for a vehicle comprises: controlling the operating parameter of at least one of the wipers or the LiDAR such that a cleaning operation of the wiper interacts with a detection operation of the LiDAR; and controlling the wiper to perform the cleaning operation.

Description

[0001] The present application claims priority from Chinese patent application No. 202211676008.0, filed on December 26, 2022, the contents of which are incorporated herein by reference in their entirety. TECHNICAL AREA

[0002] The present disclosure relates to the technical field of LiDARs and in particular to the method for cleaning a window of a LiDAR for vehicles, distance measuring devices and the vehicles. BACKGROUND

[0003] LiDARs used in the advanced driver assistance systems (ADAS) of passenger cars can suffer from dirty windows in rainy or snowy weather, or after prolonged operation, which can lead to a decrease in the performance of the LiDAR to varying degrees, such as a reduction in long-range detection capabilities and the appearance of crosstalk and ghosting.

[0004] Currently, a common approach is to provide additional cleaning equipment for the LiDAR. A typical cleaning method is water spray cleaning.

[0005] However, additional cleaning devices have a limited cleaning effect and are costly. Furthermore, additional cleaning devices can negatively affect the appearance of the passenger vehicle. SUMMARY

[0006] The present disclosure provides methods for cleaning a window of a LiDAR for vehicles, distance measuring devices and the vehicles, in which a wiper is reused to clean the LiDAR window and the normal operation of the LiDAR is not affected during cleaning, thereby ensuring the detection performance of the LiDAR.

[0007] In a first aspect, the present disclosure provides a method for cleaning a window of a LiDAR for a vehicle. The method comprises: controlling (regulating) an operating parameter of at least one of the vehicle's wipers or the LiDAR. A wiper cleaning operation is configured to work in conjunction with a LiDAR detection operation. The LiDAR is mounted on the inside of a vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover; wherein a wiper cleaning area is configured to at least partially coincide with the projection surface; and wherein the wiper is controlled to perform the cleaning operation.

[0008] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: controlling the operating parameter of at least one of the wipers or the LiDAR to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0009] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the specified distance between the current position of the wiper and the current scanning direction of the LiDAR includes: controlling the operating parameter of at least one of the wipers or the LiDAR so that a period lies within a non-distance measurement period (non-measurement period) of a frame of the LiDAR, with the wiper configured to wipe across the projection surface during the period.

[0010] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the specified distance between the current position of the wiper and the current scanning direction of the LiDAR includes: determining whether the duration of the wiper's sweeping motion across the projection surface is shorter than or equal to the non-distance measurement duration (non-measurement duration) of the LiDAR frame; and changing the operating parameter of at least one of the wipers or the LiDAR based on a determination that the duration of the wiper's sweeping motion across the projection surface is not shorter than or equal to the non-distance measurement duration of the LiDAR frame, in order to cause the duration of the wiper's sweeping motion across the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0011] Optionally, changing the operating parameter of at least one of the wipers or the LiDAR to cause the duration of the wiper's wiping motion across the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame includes at least one of: accelerating an operating speed of the wiper; or lengthening the non-distance measurement duration of the LiDAR frame; or reducing an area of ​​the projection surface.

[0012] Optionally, extending the non-distance measurement duration of the LiDAR frame includes: maintaining a LiDAR frame rate and shortening a distance measurement duration within the LiDAR frame; or maintaining the distance measurement duration within the LiDAR frame and reducing the LiDAR frame rate; or reducing the LiDAR frame rate and shortening the distance measurement duration within the LiDAR frame.

[0013] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining the non-distance measurement period of the LiDAR frame; determining an initial duration for which the wiper enters the projection area; determining an initial wait time based on the non-distance measurement period of the LiDAR frame and the initial duration, where the initial wait time is a waiting period before the wiper is started; and, in response to the wiper receiving a start signal, controlling the wiper to start after the initial wait time, and the wiper is configured to wipe across the projection area during the non-distance measurement period of the LiDAR.

[0014] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining a first period, and the wiper is within the projection area during the first period; and changing the operating parameter of the LiDAR, and the non-distance measurement period of the LiDAR is configured to coincide with the first period.

[0015] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the specified distance between the current position of the wiper and the current scanning direction of the LiDAR includes: controlling the operating parameter of at least one of the wipers or the LiDAR, and the current position of the wiper is configured to be in front of or behind the current scanning direction of the LiDAR.

[0016] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining the current scanning direction of the LiDAR; determining the current position of the wiper; determining a second wait time based on the current scanning direction of the LiDAR and the current position of the wiper, where the second wait time is a waiting period before the wiper is started; and, in response to the wiper receiving a start signal, controlling the wiper to start after the second wait time, with the current position of the wiper configured to be ahead of or behind the current scanning direction of the LiDAR.

[0017] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining the current position of the wiper; and changing the operating parameter of the LiDAR, and the current scanning direction of the LiDAR is configured to be in front of or behind the current position of the wiper.

[0018] Optionally, the procedure also includes: controlling the LiDAR to remove the point cloud data under a scanning direction when the specified distance is zero.

[0019] Optionally, controlling the LiDAR to remove point cloud data under the scanning direction when the specified distance is zero includes at least one of: controlling the LiDAR to not capture the point cloud data in the current scanning direction; or controlling the LiDAR to delete the point cloud data captured in the current scanning direction.

[0020] Optionally, the procedure also includes: controlling the LiDAR to replace the point cloud data under the scanning direction with point cloud data in adjacent frames at the specified distance of zero.

[0021] In a second aspect, the present disclosure further provides a distance measuring device configured to perform the method for cleaning a LiDAR window based on one of the embodiments described above. The distance measuring device comprises: a LiDAR, a communicator, and a controller. The LiDAR is located within a vehicle cover. A field of view of the LiDAR is configured to form a projection surface on the vehicle cover; and a cleaning area of ​​the wiper is configured to at least partially coincide with the projection surface. The communicator is configured to communicate with the wiper and the LiDAR. The controller is configured to regulate the operating parameter of at least one of the wipers or the LiDAR to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0022] Optionally, the distance measuring device also includes an installation device for mounting the LiDAR. The installation device comprises a bracket and a set of seals. The bracket is located on the inside of the vehicle cover and configured to secure the LiDAR. The set of seals is installed on the inside of the vehicle cover. The set of seals, the inside of the vehicle cover, and the LiDAR form a sealed enclosure.

[0023] Optionally, the seal includes a light-absorbing layer.

[0024] Optionally, the vehicle cover includes at least one windshield or one rear window.

[0025] In a third aspect, the present disclosure further provides a vehicle configured to perform the method for cleaning a LiDAR window based on one of the embodiments described above. The vehicle comprises: a vehicle cover, a wiper, a LiDAR, a communicator, and a controller. The LiDAR is located inside the vehicle cover. A field of view of the LiDAR is configured to form a projection surface on the vehicle cover; and a cleaning area of ​​the wiper is configured to at least partially coincide with the projection surface. The communicator is configured to communicate with the wiper and the LiDAR. The controller is configured to regulate the operating parameter of at least one of the wipers or the LiDAR to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0026] Optionally, the transmission of the projection area of ​​the vehicle cover for a laser emitted by the LiDAR is greater than the transmission of other areas of the vehicle cover.

[0027] Optionally, the projection surface of the vehicle cover also includes at least one anti-reflective coating or a heating wire.

[0028] In a fourth aspect, the present disclosure provides a method for cleaning a window of a LiDAR for a vehicle. The method comprises: controlling (regulating) an operating parameter of at least one of the vehicle's wipers or the LiDAR. A wiper cleaning operation is configured to work in conjunction with a detection operation of the LiDAR.

[0029] Optionally, the LiDAR is mounted on the inside of a vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover; wherein a cleaning area of ​​the wiper is configured to coincide at least partially with the projection surface; and wherein the wiper is controlled to perform the cleaning operation.

[0030] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: controlling the operating parameter of at least one of the wipers or the LiDAR to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0031] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the specified distance between the current position of the wiper and the current scanning direction of the LiDAR includes: controlling the operating parameter of at least one of the wipers or the LiDAR so that a period falls within a non-distance measurement period of a frame of the LiDAR, with the wiper configured to wipe across the projection surface during that period.

[0032] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the specified distance between the current position of the wiper and the current scanning direction of the LiDAR includes: determining whether the duration of the wiper's sweeping motion across the projection surface is shorter than or equal to the non-distance measurement duration of the LiDAR frame; and changing the operating parameter of at least one of the wipers or the LiDAR based on a determination that the duration of the wiper's sweeping motion across the projection surface is not shorter than or equal to the non-distance measurement duration of the LiDAR frame, in order to make the duration of the wiper's sweeping motion across the projection surface shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0033] Optionally, changing the operating parameter of at least one of the wipers or the LiDAR to cause the duration of the wiper's wiping motion across the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame includes at least one of: accelerating an operating speed of the wiper; or lengthening the non-distance measurement duration of the LiDAR frame; or reducing an area of ​​the projection surface.

[0034] Optionally, extending the non-distance measurement duration of the LiDAR frame includes: maintaining a LiDAR frame rate and shortening a distance measurement duration within the LiDAR frame; or maintaining the distance measurement duration within the LiDAR frame and reducing the LiDAR frame rate; or reducing the LiDAR frame rate and shortening the distance measurement duration within the LiDAR frame.

[0035] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining the non-distance measurement period of the LiDAR frame; determining an initial duration for which the wiper enters the projection area; determining an initial wait time based on the non-distance measurement period of the LiDAR frame and the initial duration, where the initial wait time is a waiting period before the wiper is started; and controlling the wiper to start after the initial wait time, with the wiper wiping across the projection area during the non-distance measurement period of the LiDAR.

[0036] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining a first period, and the wiper is within the projection area during the first period; and changing the operating parameter of the LiDAR, and the non-distance measurement period of the LiDAR is configured to coincide with the first period.

[0037] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the specified distance between the current position of the wiper and the current scanning direction of the LiDAR includes: controlling the operating parameter of at least one of the wipers or the LiDAR, where the current position of the wiper is in front of or behind the current scanning direction of the LiDAR.

[0038] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining the current scanning direction of the LiDAR; determining the current position of the wiper; determining a second wait time based on the current scanning direction of the LiDAR and the current position of the wiper, where the second wait time is a wait before the wiper is started; and controlling the wiper to start after the second wait time, where the current position of the wiper is ahead of or behind the current scanning direction of the LiDAR.

[0039] Optionally, controlling the operating parameter of at least one of the wipers or the LiDAR includes: determining the current position of the wiper; and changing the operating parameter of the LiDAR, and the current scanning direction of the LiDAR is configured to be in front of or behind the current position of the wiper.

[0040] Optionally, the procedure also includes: controlling the LiDAR to remove the point cloud data under a scanning direction when the specified distance is zero.

[0041] Optionally, controlling the LiDAR to remove point cloud data under the scanning direction when the specified distance is zero includes at least one of: controlling the LiDAR to not capture the point cloud data in the current scanning direction; or controlling the LiDAR to delete the point cloud data captured in the current scanning direction.

[0042] Optionally, the procedure also includes: controlling the LiDAR to replace the point cloud data under the scanning direction with point cloud data in adjacent frames at the specified distance of zero.

[0043] In a fifth aspect, the present disclosure further provides a distance measuring device. The distance measuring device comprises: a LiDAR, a communicator, and a controller. The LiDAR is located within a vehicle cover. A field of view of the LiDAR is configured to form a projection surface on the vehicle cover; and a cleaning area of ​​a vehicle wiper is configured to at least partially coincide with the projection surface. The communicator is configured to communicate with the wiper and the LiDAR. The controller is configured to regulate the operating parameter of at least one of the wipers or the LiDAR in order to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0044] Optionally, the distance measuring device also includes a mounting device for attaching the LiDAR. The mounting device comprises a bracket and a gasket. The bracket is located on the inside of the vehicle cover and configured to secure the LiDAR. The gasket is installed on the inside of the vehicle cover. The gasket, the vehicle cover, and the LiDAR form a sealed enclosure.

[0045] Optionally, the seal includes a light-absorbing layer.

[0046] Optionally, the vehicle cover includes at least one windshield or one rear window.

[0047] In a sixth aspect, the present disclosure further provides a vehicle. The vehicle comprises: a vehicle cover, a wiper, a LiDAR, a communicator, and a controller. The LiDAR is located inside the vehicle cover. A field of view of the LiDAR is configured to form a projection surface on the vehicle cover; and a cleaning area of ​​the wiper is configured to at least partially coincide with the projection surface. The communicator is configured to communicate with the wiper and the LiDAR. The controller is configured to regulate an operating parameter of at least one of the wipers or the LiDAR in order to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0048] Optionally, the transmission of the projection area of ​​the vehicle cover for a laser emitted by the LiDAR is greater than the transmission of other areas of the vehicle cover.

[0049] Optionally, the projection surface of the vehicle cover also includes at least one anti-reflective coating or a heating wire.

[0050] The present disclosure provides a method for cleaning the window of a vehicle's LiDAR. The LiDAR is mounted on the inside of the vehicle's body (e.g., on the vehicle's windshield, window, or the like) so that the cleaning area of ​​a wiper at least partially coincides with the projection area of ​​the LiDAR's field of view on the vehicle's body. The operating parameters of at least one of the wipers or the LiDAR can be controlled so that the wiper cleaning operation and the LiDAR detection work together, with the wiper being controlled to perform the cleaning operation. For example, the cooperation between the wiper cleaning operation and the LiDAR detection can be achieved by controlling the wiper to maintain a predetermined distance between its current position and the current scanning direction of the LiDAR.The vehicle cover is used as part of the LiDAR window, with the wiper function employed to clean the LiDAR window, achieving effective cleaning. The wiper's position can be controlled to maintain a predetermined distance from the LiDAR's current scanning direction. This allows the LiDAR window to be cleaned without interfering with the LiDAR's normal operation, ensuring its detection performance.

[0051] The operating parameter of at least one of the wipers or the LiDAR can be controlled such that the period during which the wiper is moving across the projection surface can fall within a non-distance measurement period (non-measurement period) of a LiDAR frame. This ensures that the normal operation of the LiDAR is less affected, or not affected at all, when the wiper is in operation, thereby improving the accuracy of the LiDAR's detection results. The mechanism for implementing this method is simple.

[0052] The operating parameter of at least one of the wipers or the LiDAR can be modified so that the duration of the wiper's movement across the projection surface can be shorter than or equal to the non-distance measurement period of the LiDAR frame. This ensures that the period during which the wiper is moving across the projection surface can fall entirely within the non-distance measurement period of the LiDAR frame. Furthermore, this ensures that the normal operation of the LiDAR is less affected, or not affected at all, when the wiper is in operation, thereby improving the accuracy of the LiDAR's detection results.

[0053] Increasing the wiper's operating speed, extending the non-distance measurement period of the LiDAR frame, or reducing the size of a portion of the projection area can result in the wiper's sweeping motion across the projection area being shorter than or equal to the non-distance measurement period of the LiDAR frame. This ensures that the entire period during which the wiper sweeps across the projection area falls within the non-distance measurement period of the LiDAR frame.

[0054] Maintaining a constant LiDAR frame rate while shortening the distance measurement duration within the LiDAR frame, or maintaining the same distance measurement duration while reducing the LiDAR frame rate, or reducing the LiDAR frame rate while shortening the distance measurement duration within the LiDAR frame, can extend the non-distance measurement period of the LiDAR frame. This ensures that the entire period during which the wiper moves across the projection surface falls within the non-distance measurement period of the LiDAR frame.

[0055] By determining the non-measuring period of the LiDAR frame and an initial duration for which the wiper enters the projection area, an initial waiting time can be determined based on the non-measuring period of the LiDAR frame and the initial duration. The wiper can be controlled to start after the initial waiting time. By controlling the wiper's start time, it can be controlled to sweep across the projection area during the LiDAR's non-measuring period, effectively ensuring that normal LiDAR operation is minimally or not at all affected when the wiper is operating, thereby improving the accuracy of the detection results.

[0056] Determine an initial period during which the wiper is within the projection area; and modify the LiDAR's operating parameter so that the LiDAR's non-distance measurement period coincides with this initial period. By regulating the LiDAR's non-distance measurement period to match the time the wiper is sweeping across the projection area, it can be effectively ensured that the LiDAR's normal operation is not affected when the wiper is in use, thereby improving the accuracy of the detection results.

[0057] The operating parameter of at least one of the wipers or the LiDAR can be controlled so that the wiper's current position can be in front of or behind the LiDAR's current scanning direction. This effectively ensures that the LiDAR's normal operation is less affected, or not affected at all, when the wiper is in operation, thereby improving the accuracy of the LiDAR's detection results.

[0058] By determining the current scanning direction of the LiDAR and the current position of the wiper, a second waiting period can be determined based on these two parameters. The wiper can then be controlled to start after this second waiting period, meaning its current position can be ahead of or behind the current scanning direction of the LiDAR. Consequently, the current scanning direction of the LiDAR may be less or not at all obstructed by the wiper. This effectively ensures that the normal operation of the LiDAR is minimally or not at all affected when the wiper is active, thus improving the accuracy of the LiDAR's detection results.

[0059] Determining the wiper's current position and adjusting the LiDAR's operating parameter so that the LiDAR's current scanning direction can be in front of or behind the wiper's current position. This effectively ensures that the LiDAR's normal operation is minimally or not at all affected when the wiper is in operation, thereby improving the accuracy of the LiDAR's detection results.

[0060] By controlling the LiDAR to remove the point cloud data under a scanning direction when the specified distance is zero, the impact of a wiper blockage on the LiDAR detection results can be effectively reduced or avoided, which can improve the accuracy of the LiDAR detection results and is easy to implement.

[0061] If the specified distance is zero (e.g., if the wiper blocks the current scanning direction of the LiDAR), the LiDAR can be controlled to not acquire any point cloud data in the current scanning direction, or it can be controlled to delete the point cloud data acquired in the current scanning direction. Point cloud data can be removed in the scanning direction when the specified distance is zero. This effectively reduces or eliminates the impact of the wiper on the LiDAR's detection results.

[0062] By controlling the LiDAR to replace the point cloud data in the scanning direction with the point cloud data in adjacent frames when the specified distance is zero, the effect of the wipe on the detection results of the LiDAR can be effectively reduced or avoided, thereby improving or ensuring the integrity of the output point cloud data. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] To more clearly explain the embodiments of the present disclosure, the drawings that must be used in the description of the embodiments are presented below. It is obvious that the drawings in the following description merely represent embodiments of the present disclosure. Further drawings can be obtained by those skilled in the art from the drawings provided without any creative effort. Fig. Figure 1 shows a flowchart of an exemplary method for cleaning a window of a vehicle LiDAR according to some embodiments of the present disclosure. Fig. Figure 2 shows a schematic diagram of an exemplary detection time of a LiDAR according to some embodiments of the present disclosure. Fig. Figure 3 shows a schematic diagram of an exemplary method for extending the non-distance measurement time of the LiDAR frame according to some embodiments of the present disclosure. Fig. Figure 4a shows a schematic diagram of an exemplary projection area formed by the field of view of a LiDAR on a vehicle cover, according to some embodiments of the present disclosure. Fig. Figure 4b shows a schematic diagram of another exemplary projection surface formed by the field of view of a LiDAR on a vehicle cover, according to some embodiments of the present disclosure. Fig. Figure 5 shows a schematic diagram of a range of wiper scanning angles corresponding to an exemplary projection surface, according to some embodiments of the present disclosure. Fig. Figure 6 shows a first exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. Fig. Figure 7 shows a second exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. Fig. Figure 8a shows a schematic top view of an exemplary operating process of a LiDAR and a wiper according to some embodiments of the present disclosure. Fig. Figure 8b shows a schematic top view of another exemplary operating process of a LiDAR and a wiper according to some embodiments of the present disclosure. Fig. Figure 9 shows a third exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. Fig. Figure 10 shows a fourth exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. Fig. Figure 11 shows a schematic structure diagram of an exemplary distance measuring device according to some embodiments of the present disclosure. Fig. Figure 12 shows a schematic diagram of the installation and position of an exemplary distance measuring device according to some embodiments of the present disclosure. Fig. Figure 13 shows a schematic side view of the installation and position of an exemplary distance measuring device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0064] Additional cleaning devices are typically provided to clean LiDARs using existing technology. However, these additional cleaning devices can have a less than ideal cleaning effect and be expensive. Furthermore, additional cleaning devices can negatively affect the appearance of the passenger vehicle.

[0065] The embodiments of the present disclosure provide a method for cleaning the window of a vehicle LiDAR. The LiDAR can be mounted on the inside of a vehicle cover (e.g., a vehicle windshield, a vehicle window, or the like). This allows the cleaning area of ​​the vehicle's wiper to at least partially coincide with an area of ​​the LiDAR's field of view (FOV) projected onto the vehicle cover. By controlling the operating parameters of the wiper or the LiDAR, the wiper's cleaning operation and the LiDAR's detection can cooperate, with the wiper being controlled to perform the cleaning operation. The vehicle cover can be used as part of the LiDAR window, and the wiper can be used to clean the LiDAR window. This allows for effective cleaning.The wiper's current position can be controlled to maintain a predefined distance from the LiDAR's current scanning direction. This allows the LiDAR window to be cleaned without affecting its normal operation, thus ensuring the LiDAR's detection performance.

[0066] The concepts, solutions, principles and advantages of embodiments of the present disclosure are described in detail below with reference to the accompanying drawings and by means of application examples.

[0067] According to some embodiments of the present disclosure, a method for cleaning a window of a vehicle LiDAR is provided. The LiDAR can be mounted on the inside of a vehicle cover. A field of view of the LiDAR can form a projection surface on the vehicle cover, wherein a cleaning area of ​​a wiper can at least partially coincide with the projection surface. The cleaning method can be suitable for cleaning obstructions within the field of view of the LiDAR.

[0068] Fig. Figure 1 shows a flowchart of an exemplary method for cleaning a window of a vehicle LiDAR according to some embodiments of the present disclosure. Referring to Fig. 1 In some embodiments, the following steps can be implemented to clean the window of the vehicle LiDAR.

[0069] In step A, an operating parameter of at least one of the wipers or the LiDAR can be controlled to ensure that a cleaning operation of the wiper works in conjunction with a detection operation of the LiDAR. For example, the wiper and the LiDAR can be connected to a controller via a communication interface. The operating parameter of at least one of the wipers or the LiDAR can be controlled by the controller.

[0070] For example, in step A, the operating parameters of at least one of the wipers or the LiDAR can be controlled to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0071] In some embodiments, the current position of the wiper can be its position within a LiDAR coordinate system. The current scanning direction of the LiDAR can be the position of the current scanning angle in a projection surface (e.g., formed by the LiDAR's field of view on a vehicle cover) within the LiDAR coordinate system. The predefined distance can be a minimum distance between the position of the current scanning angle of the LiDAR in the projection surface and the current position of the wiper in the LiDAR coordinate system.

[0072] In some embodiments, the specified distance can be a specific value or a range. For example, the specified distance can be 0.1 cm, 0.5 cm, 1 cm, 5 cm, 10 cm, 20 cm, or the like. As another example, the specified distance can be any distance greater than 0.1 cm. In some embodiments, the value or range of the specified distance can be changed. For example, the specified distance can be changed from 1 cm to 2 cm. As another example, the specified distance can be changed from 1 cm to any distance greater than 1 cm.

[0073] In some embodiments, a communication interface may also be provided between the LiDAR and the wiper. This allows the LiDAR and the wiper to communicate (e.g., directly or indirectly) to control (regulate) the operating parameters of at least one of the wipers or the LiDAR. For example, the wiper and the LiDAR may be directly connected via the communication interface. The LiDAR can receive control and position data from the wiper. The LiDAR can also modify its operating parameters to maintain a predetermined distance between the current scanning direction of the LiDAR and the current position of the wiper. As another example, the wiper can receive operating data (e.g., scanning data) from the LiDAR. The wiper can also modify its operating parameters to maintain the predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR.

[0074] It is understood that the embodiments of the present disclosure do not impose any restrictions regarding the embodiments of the control of the operating parameter of the wiper or the LiDAR, as long as the operating parameter of the wiper or the LiDAR can be controlled.

[0075] Further referring to Fig. 1. In step B, the wiper can be controlled to perform a cleaning operation. For example, the wiper can be connected to a controller via a communication interface. The controller can then operate the wiper to perform a cleaning operation.

[0076] In some embodiments, the wiper's cleaning operation can be coordinated with the LiDAR's detection. During cleaning, a predetermined distance can be maintained between the wiper and the LiDAR's current scanning direction. This minimizes or eliminates any interference with the LiDAR's normal operation and ensures its detection performance.

[0077] In some embodiments, the LiDAR can be located within the vehicle's cover (e.g., a windshield, rear window, car window, or the like), with the cover serving as part of the LiDAR's window. The cover can be cleaned to improve the effectiveness of the LiDAR's window cleaning. Controlling the operating parameters of the wiper or the LiDAR can ensure that the wiper's cleaning operation works in conjunction with the LiDAR's detection operation. A predetermined distance can be maintained between the wiper's current position and the LiDAR's current scanning direction. The wiper can be controlled to perform a cleaning operation. This allows the LiDAR's window to be cleaned without interfering with its normal operation, thus ensuring the LiDAR's detection performance.

[0078] In some embodiments, as an example for step A, the operating parameters of the wiper or the LiDAR can be changed such that a period during which the wiper wipes over the projection surface lies within a non-distance measurement period of a frame of the LiDAR.

[0079] Fig. Figure 2 shows a schematic diagram of an exemplary detection time of a LiDAR according to some embodiments of the present disclosure. For example, with reference to Fig. Figure 2 represents the total duration of a LiDAR frame, and the total duration of a frame comprises a measurement period Tn and a non-distance measurement period Tf. The non-distance measurement period Tf refers to the time during which the LiDAR is not collecting point cloud data. For example, a LiDAR using a multi-faceted rotating mirror for scanning might scan the field of view with a mirror on any facet of the multi-faceted rotating mirror. As the multi-faceted rotating mirror rotates, the LiDAR does not collect point cloud data when two adjacent mirrors switch, and such a period is the non-distance measurement period Tf. As another example, a LiDAR using a galvanometer or a swivel mirror for scanning might pause for a certain period at the maximum vibration amplitude of the galvanometer or swivel mirror.During this period, the LiDAR does not collect any point cloud data, and this period is called the non-measurement period Tf. As another example, there may be a time interval between the collection of data from any two frames by a solid-state LiDAR. During this time interval, the LiDAR does not collect any point cloud data, and this time interval is called the non-measurement period Tf. Similarly, other types of LiDAR may have non-measurement periods in which no data is collected.

[0080] In some embodiments, the operating parameters of the wiper or the LiDAR can be controlled, and the wiper cleaning operation and the LiDAR detection can be synchronized. This allows the period during which the wiper wipes the projection area to fall within the non-distance measurement period (Tf) of the LiDAR frame. The LiDAR point cloud image is thus less affected, or not affected at all. Therefore, the LiDAR window can be cleaned without interfering with the normal operation of the LiDAR, and the LiDAR's detection performance can be ensured.

[0081] In some embodiments, when the LiDAR is in the non-distance measurement period Tf, it can be assumed that the predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR is infinite.

[0082] In some embodiments, certain operations can be performed such that the period during which the wiper sweeps across the projection surface falls within the non-distance measurement period of the LiDAR frame. This ensures that the period during which the wiper sweeps across the projection surface is within the non-distance measurement period Tf of the LiDAR frame, thereby further improving the accuracy of the LiDAR detection results. For example, it can be determined whether the duration of the wiper sweep across the projection surface is shorter than or equal to the non-distance measurement period of the LiDAR frame.If the duration of the wiper's sweeping motion across the projection surface is not shorter than or equal to the non-distance measurement duration of the LiDAR frame, the operating parameter of at least one of the wipers or the LiDAR can be changed to make the duration of the wiper's sweeping motion across the projection surface shorter than or equal to the non-distance measurement duration of the LiDAR frame. The non-distance measurement duration of the LiDAR frame can be the duration of the non-distance measurement period Tf of the LiDAR frame.

[0083] In some embodiments, the duration of the wiper's sweeping motion across the projection surface may be greater than the non-distance measurement period of the LiDAR frame. In this case, the period during which the wiper sweeps across the projection surface may not fall entirely within the non-distance measurement period of the LiDAR frame. In some embodiments, the operating parameter of the wiper or the LiDAR can be modified so that the duration of the wiper's sweeping motion across the projection surface is shorter than or equal to the non-distance measurement period of the LiDAR frame. This makes it possible to ensure that the period during which the wiper sweeps across the projection surface falls entirely within the non-distance measurement period of the LiDAR frame.Furthermore, by synchronizing the cleaning operation of the wiper and the detection operation of the LiDAR, the period in which the wiper wipes across the projection surface can be within the non-distance measurement period of the LiDAR frame, thus further improving or ensuring that the normal operation of the LiDAR is less or not at all affected when the wiper is in operation, thereby improving the accuracy of the detection results of the LiDAR.

[0084] To enable experts to better understand and implement this, descriptions of some exemplary procedures for changing various operating parameters of the wiper or the LiDAR are given below, in combination with some examples, so that the duration of the wiper's wiping movement across the projection surface can be shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0085] In some embodiments, the operating speed of the wiper can be increased so that the duration of the wiper's wiping movement over the projection surface can be shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0086] For example, the angular velocity of the wiper can be accelerated during operation to shorten the duration for which the wiper sweeps across the projection surface. In some embodiments, the operating speed of the wiper can be increased so that the duration of the wiper's sweeping motion across the projection surface can be shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0087] In some other embodiments, further referring to Fig. 2. The non-distance measurement time of the LiDAR frame can be extended so that the time for which the wiper wipes over the projection surface can be shorter than or equal to the non-distance measurement time of the LiDAR frame.

[0088] In some embodiments, the distance measurement duration within the LiDAR frame can be shortened while the LiDAR frame rate remains unchanged. This allows the non-distance measurement duration of the LiDAR frame to be extended.

[0089] The frame rate can, for example, be the sampling frequency of the LiDAR's field of view. In some designs, the sampling frequency can be the number of times the field of view can be sampled in one second. The higher the frame rate, the higher the LiDAR's sampling frequency can be. Fig. Figure 3 shows a schematic diagram of an exemplary method for extending the non-distance measurement time of the LiDAR frame according to some embodiments of the present disclosure. For example, with reference to Fig. 3 represents T the total duration of a LiDAR frame, where the total duration of a frame includes the measurement period Tn and the non-distance measurement period Tf. For example, referring to subfigure (a) of Fig. 3. The LiDAR frame rate can remain unchanged (e.g., the number of times the LiDAR samples the field of view per second remains unchanged), and the total duration of each LiDAR frame can remain unchanged (e.g., Ta = T). The distance measurement time within the LiDAR frame can be shortened, e.g., so that Tan <Tn). Dadurch kann die Nicht-Abstandsmesszeit des LiDAR-Frames verlängert werden, wobei Taf größer als Tf sein kann.

[0090] In some embodiments, the distance measurement duration within the LiDAR frame can remain unchanged. This can extend the non-distance measurement time of the LiDAR frame and also reduce the LiDAR frame rate.

[0091] For example, with reference to subfigure (b) of Fig. 3. The LiDAR frame rate can be reduced (e.g., reducing the number of times the LiDAR samples the field of view per second). The distance measurement duration within the LiDAR frame can remain unchanged (e.g., Tbn = Tn). This will increase the overall duration of each LiDAR frame (e.g., Tb>T), and the non-distance measurement time of the LiDAR frame can be extended (e.g., Tbf>Tf).

[0092] In some embodiments, the non-distance measurement time of the LiDAR frame can also be extended by reducing the frame rate of the LiDAR and shortening the distance measurement duration within the LiDAR frame.

[0093] For example, referring to subfigure (c) of Fig. 3. The distance measurement duration within the LiDAR frame can be shortened while the LiDAR frame rate is reduced (e.g., Tc > T and Tcf > Tf). This can lengthen the non-distance measurement time of the LiDAR frame (e.g., Tcf > Tf).

[0094] In accordance with the embodiments of the present disclosure, each of the above-mentioned methods can increase the non-distance measurement duration of the LiDAR, thereby providing sufficient time for the wiper to sweep across the projection area so that the normal operation of the LiDAR is less affected or not affected at all when the wiper cleans the LiDAR window. It should be noted that the driver can actively change the wiper speed to suit their needs due to environmental changes. When a change in the wiper speed is detected, the above-mentioned determination can be made again as to whether the duration during which the wiper sweeps across the projection area is less than or equal to the non-distance measurement duration of the LiDAR frame, and the synchronization of the wiper and LiDAR can be completed again.

[0095] In some embodiments, the area of ​​the projection surface can be reduced so that the duration of the wiper's wiping movement over the projection surface can be shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0096] Fig. Figure 4a shows a schematic diagram of an exemplary projection area formed by the LiDAR's field of view on the vehicle cover, according to some embodiments of the present disclosure. Fig. Figure 4b shows a schematic diagram of another exemplary projection surface formed by the field of view of a LiDAR on a vehicle cover, according to some embodiments of the present disclosure. Fig. Figure 5 shows a schematic diagram of a range of wiper scanning angles corresponding to an exemplary projection surface, according to some embodiments of the present disclosure. For example, with reference to Fig. 4a to Fig. 5. Passenger cars can enable assisted driving or autonomous driving by installing a LiDAR LA. In some embodiments, the LiDAR can be mounted on the inside of the vehicle cover. The LiDAR's field of view can form a projection area on the vehicle cover. The wiper's cleaning area can at least partially coincide with the projection area. As in Fig. As shown in Figure 4a, P1 represents the projection area formed by the LiDAR LA's field of view V1 on the vehicle cover G before any change to the LiDAR LA's field of view (e.g., before any change to the projection area). The horizontal field of view of the LiDAR LA can be 120°. For a LiDAR with a rotating mirror, the frame rate can be, for example, 10 Hz (i.e., the total duration of each frame can be 100 ms). Each frame can include a measurement period and a non-measurement period (non-measurement period). The measurement period can be 50 ms, during which the LiDAR collects data; and the non-measurement period (e.g., the non-measurement duration) can be 50 ms, during which the LiDAR does not collect any data. If the wiper W wipes across the projection surface P1 within the non-distance measurement period of 50 ms, the normal operation of the LiDAR LA can remain unaffected.

[0097] In some embodiments, a car wiper may require 1 second to complete one back-and-forth wiping cycle at its highest setting (e.g., fastest operating speed), with a one-way time of 500 ms and a one-way operating angle of approximately 120°. For example, with reference to Fig. 4a. The wiper may require 300 ms to travel at a constant speed in its highest gear and 200 ms to change direction at one end. The wiper's angular range A1, corresponding to the projection area P1, may be 30°. The duration that the wiper W sweeps across the projection area P1 may be 75 ms (e.g., 300 ms * 30° / 120° = 75 ms). Therefore, the time the wiper sweeps across the projection area may be greater than the LiDAR's non-distance measurement duration. In this case, the LiDAR may become blocked while the wiper sweeps across the projection area, thus affecting the LiDAR's data acquisition. The time the wiper sweeps across the projection area can be reduced by decreasing the size of the projection area. For example, the LiDAR LA's field of view can be changed. Referring to Fig. 4a and Fig. 4b The projection area can be reduced by decreasing the horizontal field of view of the LiDAR. It should be noted that if the wiper W is located on the side of the vehicle cover G and the wiper W swings up and down, the projection area can be reduced by decreasing the vertical field of view. The wiper W can be located in any position and orientation, and the projection area can be reduced similarly without limitation as described in this disclosure.

[0098] The examples above are described based on the LiDAR LA's horizontal field of view of 120°. In some embodiments, the LiDAR LA's horizontal field of view can be changed to 80°, thereby reducing the projection area so that the duration the wiper sweeps across the projection area can be shorter than or equal to the non-distance measurement duration of the LiDAR frame.

[0099] For example, referring further to Fig. 4b and Fig. Figure 5 represents P2, the projection surface formed by the LiDAR LA's field of view V2 and the vehicle coverage G, where the LiDAR LA's horizontal field of view is 80°. If the frame rate remains unchanged, the LiDAR's measurement period can be reduced to 33.4 ms, and the LiDAR LA's non-distance measurement period increases from 50 ms to 66.6 ms (e.g., 100 ms - 50 ms * 80° / 120° = 66.6 ms). The wiper's angular range A2, corresponding to the projection surface P2, can be reduced from 30° to approximately 20°, and the duration the wiper W sweeps across the projection surface P2 can be 50 ms (e.g., 300 ms * 20° / 120° = 50 ms). The duration (e.g., 50 ms) during which the wiper W sweeps across the projection surface P2 can be shorter than the non-distance measurement period (e.g., 66.6 ms) of the LiDAR LA. In such a case, the duration of the wiper's sweeping motion across the projection surface can be shorter than or equal to the non-distance measurement period of the LiDAR frame.It should be noted that the above-mentioned duration and angle data only illustrate that a reduction in the projection area may result in the duration during which the wiper sweeps across the projection area being shorter than or equal to the non-distance measurement duration of the LiDAR frame, and do not represent any limitations for the actual application of the solution of the present disclosure.

[0100] The following are some example procedures for controlling the operating parameter of the wiper or LiDAR so that the period during which the wiper wipes over the projection surface can be within the non-distance measurement period of the LiDAR frame.

[0101] Fig. Figure 6 shows a first exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. In some embodiments, referring to Fig. 6. The following steps can be implemented to change the operating parameter of at least one of the wipers or the LiDAR in order to synchronize the cleaning operation of the wiper with the detection operation of the LiDAR. This ensures that the period during which the wiper wipes across the projection surface lies within the non-distance measurement period of the LiDAR frame.

[0102] In step S11, the non-distance measurement period of the LiDAR frame can be determined. The LiDAR can, for example, be connected to a controller via a communication interface. The non-distance measurement period of the LiDAR frame can be determined by the controller.

[0103] For relevant descriptions of the non-distance measurement period of the LiDAR frame, reference can be made, for example, to the above embodiments.

[0104] In step S12, an initial duration for which the wiper engages the projection surface can be determined. For example, the wiper can be connected to a controller via a communication interface. The controller can then determine this initial duration.

[0105] For example, referring further to Fig. 4a. When the wiper is at position S1, it is assumed that the wiper has entered the projection surface. The time required to travel from the wiper's starting position to position S1 can be the initial duration for which the wiper enters the projection surface.

[0106] In some embodiments, for example, the wiper's starting position, the positional relationship between the wiper and the projection surface, and the wiper's operating speed can be predetermined. The initial duration for which the wiper engages the projection surface can be determined based on these three factors. As another example, an angle sensor can be arranged to detect the wiper's starting position, and the wiper's operating speed and the position at which the wiper engages the projection surface can be determined. The initial duration for which the wiper engages the projection surface can then be determined based on these three factors.

[0107] In step S13, an initial waiting time can be determined based on the non-distance measurement period of the LiDAR frame and the initial duration. This initial waiting time can be the waiting period before the wiper is started. The LiDAR and the wiper can, for example, be connected to a controller via a communication interface. The controller can then determine this initial waiting time based on the non-distance measurement period of the LiDAR frame and the initial duration of the wiper.

[0108] In step S14, the wiper can be controlled in response to a start signal received by the wiper so that it starts after the initial waiting period, and the wiper can then wipe across the projection surface during the LiDAR's non-distance measurement period. For example, the wiper can be connected to a controller via a communication interface. In response to a start signal received by the wiper, it can be controlled to start after the initial waiting period. Accordingly, the wiper can then wipe across the projection surface during the LiDAR's non-distance measurement period.

[0109] In some embodiments, the non-distance measurement period of the LiDAR frame and the initial duration for which the wiper enters the projection area can be determined. The initial waiting time can be determined based on the non-distance measurement period of the LiDAR frame and the initial duration. The wiper can be controlled to start after the initial waiting time, allowing it to wipe the projection area during the non-distance measurement period of the LiDAR. This effectively ensures that normal LiDAR operation is minimally or not at all affected when the wiper is operating, thereby improving the accuracy of the LiDAR detection results. The wiper can also be directly controlled to start after the initial waiting time. In some embodiments, both the measurement time and the non-distance measurement time of each LiDAR frame can be on the order of milliseconds.In some embodiments, the initial waiting time can be on the order of milliseconds. In some embodiments, the wiper's waiting time can be short, with little or no impact on the user experience.

[0110] According to the embodiments of the present disclosure, step S12, after completion of steps S11 to S14, if the driver changes the speed of the wiper due to changes in the environment, may further include the following steps after changing the speed of the wiper.

[0111] In step S121, the wiper can swivel to an edge position and end the swiveling.

[0112] In step S122, the initial duration for which the wiper moves from its edge position into the projection area can be determined. For example, the wiper can be connected to a controller via a communication interface. The controller can then define this initial duration.

[0113] The edge position can, for example, be a position at which the wiper changes its direction of rotation. In some embodiments, the edge position can be the wiper's starting position.

[0114] Fig. Figure 7 shows a second exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. In some other embodiments of the present disclosure, with reference to Fig. 7. The following steps can also be implemented to change the operating parameter of the wiper or the LiDAR so that the period in which the wiper wipes over the projection surface can be within the non-distance measurement period of the LiDAR frame.

[0115] In step S21, the first period can be determined. During this first period, the wiper can be located within the projection area. For example, the wiper can be connected to a controller via a communication interface. The controller can determine the initial period during which the wiper is located within the projection area.

[0116] For example, with reference to Fig. 4a. It can be assumed that the wiper has entered the projection surface when the wiper is at position S1. When the wiper is at position S2, it can be assumed that the wiper has left the projection surface. The time the wiper takes to move from position S1 to position S2 is the initial period during which the wiper is within the projection surface.

[0117] In some embodiments, the time at which the wiper enters the projection surface and the time at which the wiper leaves the projection surface can be determined based on the wiper's initial position, the positional relationship between the wiper and the projection surface, and the wiper's operating speed. This allows the initial period during which the wiper is within the projection surface to be determined.

[0118] In some embodiments, the wiper's position can also be determined using an angle sensor. The positional relationship between the wiper and the projection surface can be known. The time at which the wiper enters the projection surface and the time at which the wiper leaves the projection surface can be determined using the angle sensor; and the initial period during which the wiper is located within the projection surface can be determined.

[0119] In some other embodiments, the time at which the wiper enters the projection area and the time at which the wiper leaves the projection area can also be determined based on the acquired point cloud data, and then the initial period during which the wiper is located in the projection area can be determined. For example, after the start signal for the wiper has been received, in a given frame the time at which the wiper's point cloud appears in the LiDAR's field of view can be the time at which the wiper enters the projection area; and the time at which the wiper's point cloud disappears from the LiDAR's field of view can be the time at which the wiper leaves the projection area.

[0120] In step S22, the operating parameter of the LiDAR can be changed, whereby the non-distance measurement period of the LiDAR can coincide with the first period. The LiDAR can, for example, be connected to a controller via a communication interface. The operating parameter of the LiDAR can be changed by the controller.

[0121] Since the wiper can, for example, pivot regularly and periodically, the initial period can also be regular. By changing the speed or phase of the LiDAR motor based on the initial period during which the wiper is within the projection area, the LiDAR's non-distance measurement period can coincide with the initial period.

[0122] In some embodiments, the initial period during which the wiper is within the projection area can be determined, and the LiDAR's operating parameters can be modified accordingly. This allows the LiDAR's non-measuring period to align with this initial period, effectively ensuring that normal LiDAR operation is minimally or not at all affected when the wiper is active, thereby improving the accuracy of the LiDAR's detection results. This method can be implemented by setting a suitable control algorithm within the LiDAR, or an additional control unit can be provided to control the LiDAR's parameter changes.

[0123] In some embodiments, after completing steps S21 to S22, the vehicle driver can change the wiper speed due to environmental changes. After the wiper speed has been changed, the initial period during which the wiper is within the projection area can be re-determined; and the LiDAR operating parameter can be changed again so that the LiDAR's non-distance measurement period can coincide with the initial period.

[0124] In some embodiments, as an optional example for step A, to maintain a predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR, the operating parameter of the wiper or the LiDAR can be controlled such that the current position of the wiper can be in front of or behind the current scanning direction of the LiDAR.

[0125] For example, when scanning at the current scan angle, the LiDAR can acquire the point cloud data for that angle. The operating parameters of the wiper or the LiDAR can be controlled so that the wiper's current position can be ahead of or behind the LiDAR's current scan direction. This effectively improves or ensures that the LiDAR's normal operation is less affected, or not affected at all, when the wiper is in operation, thereby improving the accuracy of the LiDAR's detection results. For some LiDARs that have no non-measurement period or have a very short non-measurement period (e.g., one that cannot meet the wiper's time requirement to sweep across the projection area), the method described in this disclosure can also clean the LiDAR window with little or no impact on the LiDAR's normal operation.

[0126] In some embodiments, the vehicle LiDAR can scan in a horizontal direction, such as a LiDAR with a rotating mirror or an electronic scanning LiDAR. Fig. Figure 8a shows a schematic top view of an exemplary operating process of a LiDAR and a wiper according to some embodiments of the present disclosure. Fig. Figure 8b shows a schematic top view of another exemplary operating process of a LiDAR and a wiper according to some embodiments of the present disclosure. Fig. Figure 9 shows a third exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. For easier understanding, the operating processes of the LiDAR and the wiper are shown in Figure 9. Fig. Figures 8a to 8b are illustrated by a partial top view of the LiDAR and the wiper below. Referring to Fig. 4a, Fig. 4b, Fig. 8a, Fig. 8b and Fig. 9 scans the LiDAR LA, for example, in the direction of R1. The wiper W moves in the direction of R2. A predefined distance between the current position of the wiper and the current scanning direction Vn of the LiDAR (e.g., the position of the current scanning angle An of the LiDAR LA in the projection surface P) can be maintained. The current position of the wiper is in front of the current scanning direction Vn of the LiDAR. Fig. As can be seen in Figure 8b, the current position of the wiper is located behind the current scanning direction Vn of the LiDAR. Referring to Fig. 9. For example, the following steps can be performed to change the operating parameter of the wiper or the LiDAR so that the current position of the wiper can be in front of or behind the current scanning direction of the LiDAR.

[0127] In step S31, the current scanning direction of the LiDAR can be determined. The LiDAR can, for example, be connected to a controller via a communication interface. The controller can then determine the current scanning direction of the LiDAR.

[0128] In step S32, the current position of the wiper can be determined. For example, the wiper can be connected to a controller via a communication interface. The controller can then determine the wiper's current position.

[0129] In some embodiments, the position of the wiper can also be determined by means of an angle sensor.

[0130] In step S33, a second waiting time can be determined based on the current scanning direction of the LiDAR and the current position of the wiper. This second waiting time can be a delay before the wiper is started. The LiDAR and the wiper can be connected to a controller, for example, via a communication interface. The controller can then determine this second waiting time based on the current scanning direction of the LiDAR and the current position of the wiper.

[0131] In step S34, in response to the wiper receiving a start signal, the wiper can be controlled to start after the second waiting period, with the wiper's current position being either ahead of or behind the current scanning direction of the LiDAR. For example, the wiper can be connected to a controller via a communication interface. In response to the wiper receiving a start signal, the controller can then control the wiper to start after the second waiting period. Accordingly, the wiper's current position can be either ahead of or behind the current scanning direction of the LiDAR.

[0132] In some embodiments, the current scanning direction of the LiDAR and the current position of the wiper can be determined. The second waiting period can be determined based on the current scanning direction of the LiDAR and the current position of the wiper. The wiper can be controlled to start after the second waiting period, positioning itself ahead of or behind the current scanning direction of the LiDAR. This prevents or reduces the wiper from blocking the current scanning direction of the LiDAR and effectively ensures that normal LiDAR operation is minimally or not at all affected when the wiper is operating, thereby improving the accuracy of the LiDAR's detection results.

[0133] Fig. Figure 10 shows a fourth exemplary flowchart for controlling an operating parameter of a wiper or a LiDAR according to some embodiments of the present disclosure. In some other embodiments of the present disclosure, referring to Fig. 10. The following steps can also be implemented to change the operating parameter of the wiper or the LiDAR so that the current position of the wiper can be in front of or behind the current scanning direction of the LiDAR.

[0134] In step S41, the current position of the wiper can be determined. For example, the wiper can be connected to a controller via a communication interface. The controller can then determine the wiper's current position.

[0135] In step S42, the operating parameter of the LiDAR can be changed, whereby the current scanning direction of the LiDAR can be in front of or behind the current position of the wiper. The LiDAR can, for example, be connected to a controller via a communication interface. An operating parameter of the LiDAR can be changed by the controller. Accordingly, the current scanning direction of the LiDAR can be in front of or behind the current position of the wiper.

[0136] For example, the speed or phase of the LiDAR motor can be changed based on the current position of the wiper to position the wiper ahead of or behind the current scanning direction of the LiDAR.

[0137] In some embodiments, the current position of the wiper can be determined, and the operating parameter of the LiDAR can be changed so that the current scanning direction of the LiDAR can be in front of or behind the current position of the wiper. This effectively ensures that the normal operation of the LiDAR is less affected, or not affected at all, when the wiper is in operation, thereby improving the accuracy of the LiDAR's detection results.

[0138] In some embodiments, the vehicle LiDAR can be a galvanometer LiDAR, a flash LiDAR, or any LiDAR that does not scan horizontally. In some embodiments, the vehicle LiDAR can be a rotating mirror LiDAR that scans vertically. In some embodiments, the wiper can block the current scanning direction of the LiDAR. Referring to Fig. 1. For example, the procedure for cleaning the window of the LiDAR for vehicles may further include the following step.

[0139] In step C, the LiDAR can be controlled to remove the point cloud data under a scanning direction when the specified distance is zero.

[0140] In some embodiments, the speed at which the wiper moves across the projection surface can differ from the speed at which the LiDAR scans. The LiDAR's current scanning direction may initially be ahead of or behind the wiper's current position, but the predefined distance may be zero during cleaning. For example, when the wiper begins to pan, its current position may be ahead of the LiDAR's current scanning direction. The LiDAR's scanning speed may be faster than the wiper's. The LiDAR's current scanning direction may catch up with the wiper's current position before the wiper leaves the projection surface. Another example: When the wiper begins to pan, its current position may be ahead of the LiDAR's current scanning direction.After several sweeping motions, the wiper may pivot in the opposite direction to the LiDAR's scanning direction. In this case, the current scanning direction of the LiDAR and the wiper's current position may coincide at a given moment. Another example: The vehicle driver may change the wiper's sweep speed, so it cannot always be guaranteed that the wiper's current position is ahead of or behind the LiDAR's current scanning direction. If the wiper blocks the LiDAR's current scanning direction, the predefined distance between the wiper's current position and the LiDAR's current scanning direction can be assumed to be zero. By removing point cloud data in the scanning direction when the predefined distance is zero (e.g., removing point cloud data disturbed by the wiper), the accuracy of the LiDAR's detection results can be improved.

[0141] In some embodiments, the LiDAR can be controlled to remove point cloud data below the scanning direction when the predefined distance is zero. This effectively reduces or eliminates the effect of the wiper on the LiDAR's detection results. This not only improves the accuracy of the LiDAR's detection results but is also easy to implement.

[0142] In some embodiments, if the wiper blocks the current scanning direction of the LiDAR, it can be controlled so that it does not collect point cloud data in that direction. This allows the point cloud data in that direction to be removed when the predefined distance is zero.

[0143] In some embodiments, the LiDAR can be controlled to delete the point cloud data collected under the scanning direction blocked by the wiper. This allows the point cloud data under the scanning direction to be removed when the predefined distance is zero.

[0144] In some embodiments, the LiDAR can be controlled so that, when the specified distance is zero, the point cloud data under the scanning direction is replaced by the point cloud data in adjacent frames, which can not only effectively reduce or avoid the influence of the wiper on the detection results of the LiDAR, but also ensure the integrity of the point cloud data output by the LiDAR.

[0145] To make cleaning the vehicle LiDAR field of view more convenient, some embodiments further provide a distance measuring device that can be used by any embodiment of the above method for cleaning the vehicle LiDAR window. Fig. Figure 11 shows a schematic structure diagram of an exemplary distance measuring device according to some embodiments of the present disclosure. In some embodiments, referring to Fig. 11. The distance measuring device D comprises a LiDAR, a communicator, and a controller. The LiDAR LA can be located within a vehicle cover. A field of view of the LiDAR can form a projection area on the vehicle cover. A cleaning area of ​​a wiper can at least partially coincide with the projection area. The communicator D1 can communicate with the wiper and the LiDAR LA. The controller D2 can regulate the operating parameters of the wiper or the LiDAR LA to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR.

[0146] In some embodiments, the distance measuring device D can communicate with the wiper and the LiDAR LA via the communicator D1 and control the operating parameters of the wiper or the LiDAR via the controller D2, so that the predetermined distance between the current position of the wiper and the current scanning directions of the LiDAR can be maintained. This minimizes or even completely eliminates any impact on the normal operation of the LiDAR LA when the wiper is in operation, thus ensuring the detection performance of the LiDAR LA.

[0147] In some embodiments, the distance measuring device may also include a mounting device for attaching the LiDAR, wherein the mounting device comprises a bracket and at least one seal. The bracket may be located on the inside of the vehicle cover and serves to secure the LiDAR. The multiple seals may be attached to the inside of the vehicle cover. The multiple seals, the inside of the vehicle cover, and the LiDAR may form an enclosed space.

[0148] The installation device, through the use of multiple seals, creates a sealed space between the inside of the vehicle cover and the LiDAR. This allows cleaning of the vehicle cover without disturbing the LiDAR's light cover, ensuring long-term stable and reliable operation. Furthermore, the sealed space reduces or prevents laser light from escaping through the gap between the LiDAR's light cover and the vehicle cover, thus mitigating safety risks.

[0149] Fig. Figure 12 shows a schematic diagram of the installation and position of an exemplary distance measuring device according to some embodiments of the present disclosure. Fig. Figure 13 shows a schematic side view of the installation and position of an exemplary distance measuring device according to some embodiments of the present disclosure. In some embodiments, referring to Fig. 12 and Fig. 13 The seals J1 and J2 form an enclosed space K with the inside of the vehicle cover and the LiDAR LA.

[0150] In some embodiments, the inside of the seal may further include a light-absorbing layer (not shown) to reduce the generation of scattered light.

[0151] In some embodiments, the vehicle cover can be a windshield, a rear window, or other vehicle windows. Referring to Fig. 12. For example, the LiDAR can be installed in the center of the upper part of the windshield. As another example, the LiDAR can also be installed in other suitable positions on the windshield, such as in the left, center, or right part of the upper edge of the windshield. As yet another example, the LiDAR can also be installed in the left, center, or right part of the lower edge of the windshield.

[0152] It is understood that some embodiments of the present disclosure do not restrict the installation location of the LiDAR.

[0153] In some embodiments, the LiDAR may include a light cover, with the LiDAR being installed together with the light cover inside the vehicle cover.

[0154] In some other embodiments, the LiDAR may not require a light cover, and the vehicle's body can be reused as the light cover for the LiDAR. For example, the windshield can be reused as the light cover for the LiDAR. The number of components through which the laser light is transmitted can be reduced, consequently improving laser transmission and lowering system costs.

[0155] Some embodiments of the present disclosure also provide a vehicle capable of performing any of the embodiments of the above-mentioned method for cleaning the window of a vehicle LiDAR. Continued with reference to Fig. 11 and Fig.12. The vehicle can comprise a vehicle cover G, a wiper W, a LiDAR LA, a communicator D1, and a controller D2. The LiDAR LA is located inside the vehicle cover G, with a field of view of the LiDAR LA forming a projection area P on the vehicle cover G, and a cleaning area of ​​the wiper W at least partially coinciding with the projection area P. The communicator D1 can be used to communicate with the wiper W and the LiDAR LA. The controller D2 can be used to control the operating parameters of the wiper W or the LiDAR LA, and thus to maintain a predetermined distance between a current position of the wiper W and a current scanning direction of the LiDAR LA.

[0156] In some embodiments, the LiDAR LA can be installed within the vehicle cover G, and the vehicle can communicate with the wiper W and the LiDAR LA via the communicator D1. The vehicle can control the operating parameters of the wiper W or the LiDAR LA via the controller D2 to maintain a predefined distance between the current position of the wiper W and the current scanning direction of the LiDAR, ensuring that the normal operation of the LiDAR LA is minimally or not at all affected when the wiper W is in operation. This improves or ensures the detection performance of the LiDAR LA. Furthermore, when the wiper is reused to clear the LiDAR's field of view, no cleaning device is required, which enhances the overall appearance of the vehicle and ensures effective cleaning.

[0157] In some embodiments, to further improve the detection performance of the LiDAR, the transmission of the projection area of ​​the vehicle cover for the laser light emitted by the LiDAR can be greater than that of other areas of the vehicle cover.

[0158] For example, an anti-reflective coating can be provided in the projection surface to increase its transmission for the laser light emitted by the LiDAR.

[0159] In another example, the composition of the vehicle cover in the projection area can be changed to increase its transmission for the laser light emitted by the LiDAR.

[0160] In some embodiments, heating wires can be arranged in the projection surface to further improve the detection performance of the LiDAR and to reduce or prevent the freezing of rain and snow in the projection surface in winter, which would impair the detection performance of the LiDAR and the normal operation of the wiper.

[0161] In some embodiments, the methods of the present application can be performed by a LiDAR, a wiper, or a vehicle. Some steps can be performed by a LiDAR. For example, the LiDAR can send signals to the wiper or to the LiDAR's own controller to change the operating parameters. In another example, the wiper can receive the non-distance measurement period of the LiDAR frame. In yet another example, the vehicle can send signals to the wiper or to the LiDAR to change the operating parameters.

[0162] The terms "or" and "and / or" in this disclosure describe a relationship of association between associated objects and represent a non-exclusive inclusion. For example, each of "A and / or B" and "A or B" can include: only "A" exists, only "B" exists, and "A" and "B" both exist, where "A" and "B" can be singular or plural. By another example, each of "A, B and / or C" and "A, B or C" can include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" both exist, "A" and "C" both exist, "B" and "C" both exist, and "A," "B," and "C" all exist, where "A," "B," and "C" can be singular or plural. Additionally, the symbol " / " here indicates that the associated objects before and after the sign are in an "or" relationship.In the present revelation, the term “at least one of A or B” has a meaning equivalent to “A or B” as described above. The term “at least one of A, B, or C” has an equivalent meaning to “A, B, or C” as described above.

[0163] In this revelation, the terms “one”, “a”, and “the” are to be understood as singular or plural forms, unless expressly stated otherwise in the context. The term “several” in this revelation refers to a number of two or more. For example, several objects may comprise two objects or more than two objects.

[0164] It is understood that the module units in the embodiments of the present disclosure consist of discrete devices or can be implemented by a single electrical chip.

[0165] It should be noted that the terms “first” and “second” are used in the embodiments of the present disclosure only for the purpose of differentiation and do not impose any restrictions regarding the models of components.

[0166] Although the embodiments of the present disclosure are disclosed as above, the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be limited to the scope defined by the claims. 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] CN 202211676008.0

[0001]

Claims

[1] Method for cleaning a window of a LiDAR for a vehicle, the method comprising: Rules of an operating parameter of at least one of the vehicle's wipers or the LiDAR, wherein a cleaning operation of the wiper is configured to work in conjunction with a detection operation of the LiDAR, wherein the LiDAR is mounted on the inside of a vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover, and wherein a cleaning area of ​​the wiper is configured to at least partially coincide with the projection surface; and Controlling the wiper to carry out the cleaning operation. [2] The method of claim 1, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Rules the operating parameter of at least one of the wipers or the LiDAR to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR. [3] Method according to claim 2, wherein controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR comprises: Rules of the operating parameter of at least one of the wipers or the LiDAR, wherein a period lies within a non-distance measurement period of a frame of the LiDAR and the wiper is configured to wipe over the projection surface during the period. [4] Method according to claim 3, wherein controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR further comprises: Determine whether the duration of the wiper's sweeping motion across the projection surface is shorter than or equal to the non-distance measurement duration of the LiDAR frame; and Changing the operating parameter of at least one of the wipers or the LiDAR based on a determination that the duration of the wiper's wiping motion over the projection surface is not shorter than or equal to the non-distance measurement duration of the LiDAR frame, in order to cause the duration of the wiper's wiping motion over the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame. [5] The method of claim 4, wherein changing the operating parameter of at least one of the wipers or the LiDAR to cause the duration of the wiper's wiping motion over the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame comprises at least one of the following: Accelerating the operating speed of the wiper; or Extending the non-distance measurement duration of the LiDAR frame; or Reducing the size of an area of ​​the projection surface. [6] Method according to claim 5, wherein extending the non-distance measurement time of the LiDAR frame comprises: Maintaining a LiDAR frame rate and shortening the distance measurement duration within the LiDAR frame; or Maintain the distance measurement duration within the LiDAR frame and reduce the LiDAR frame rate; or Reducing the frame rate of the LiDAR and shortening the distance measurement time within the LiDAR frame. [7] Method according to claim 4, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining the non-distance measurement period of the LiDAR frame; Determining an initial duration for which the wiper enters the projection surface; Determining an initial wait time based on the non-distance measurement period of the LiDAR frame and the initial duration, where the initial wait time is a wait before starting the wiper; and Controlling the wiper in response to the wiper receiving a start signal to start after the initial waiting period, with the wiper configured to wipe across the projection surface during the non-distance measurement period of the LiDAR. [8] Method according to claim 4, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining a first time period, whereby the wiper is located within the projection surface during the first time period; and Changing the operating parameter of the LiDAR, where the non-distance measurement period of the LiDAR is configured to match the first period. [9] Method according to claim 2, wherein controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR comprises: Rules of the operating parameter of at least one of the wipers or the LiDAR, wherein the current position of the wiper is configured to be in front of or behind the current scanning direction of the LiDAR. [10] Method according to claim 9, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining the current scanning direction of the LiDAR; Determining the current position of the wiper; determining a second waiting time based on the current scanning direction of the LiDAR and the current position of the wiper, where the second waiting time is a waiting period before the wiper is started; and Controlling the wiper in response to the wiper receiving a start signal, so that it starts after the second waiting period, with the current position of the wiper configured to be in front of or behind the current scanning direction of the LiDAR. [11] Method according to claim 9, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining the current position of the wiper; and Changing the operating parameter of the LiDAR, where the current scanning direction of the LiDAR is configured to be in front of or behind the current position of the wiper. [12] The method of claim 2, further comprising: Control the LiDAR to remove point cloud data under a scanning direction when the specified distance is zero. [13] Method according to claim 12, wherein controlling the LiDAR to remove the point cloud data under the scanning direction when the predetermined distance is zero comprises at least one of the following: Control the LiDAR to avoid collecting point cloud data in the current scanning direction; or Control the LiDAR to delete the point cloud data captured in the current scanning direction. [14] The method of claim 12, further comprising: Control the LiDAR to replace the point cloud data under the scanning direction with the point cloud data in adjacent frames when the specified distance is zero. [15] Distance measuring device configured to perform the method according to any one of claims 1 to 14, comprising: a LiDAR located within a vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover, and wherein a cleaning area of ​​a wiper is configured to coincide at least partially with the projection surface; a communicator configured to communicate with the wiper and the LiDAR; and a controller configured to regulate an operating parameter of at least one of the wipers or the LiDAR, in order to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR. [16] Distance measuring device according to claim 15, further comprising an installation device for attaching the LiDAR, the installation device comprising the following: a bracket that is located on the inside of the vehicle cover and configured to mount the LiDAR; and a multitude of seals installed on the inside of the vehicle cover, the multitude of seals, the inside of the vehicle cover and the LiDAR forming an enclosed space. [17] Distance measuring device according to claim 16, wherein the seal comprises a light-absorbing layer. [18] Distance measuring device according to claim 17, wherein the vehicle cover comprises at least one windscreen or one rear window. [19] Vehicle configured to perform the method according to any one of claims 1 to 14, the vehicle comprising: a vehicle cover; a wiper; a LiDAR located within the vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover; wherein a cleaning area of ​​the wiper is configured to coincide at least partially with the projection surface; a communicator configured to communicate with the wiper and the LiDAR; and a controller configured to regulate an operating parameter of at least one of the wipers or the LiDAR, in order to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR. [20] Vehicle according to claim 19, wherein the transmission of the projection area of ​​the vehicle cover for a laser emitted by the LiDAR is greater than the transmission of other areas of the vehicle cover. [21] Vehicle according to claim 20, wherein the projection surface of the vehicle cover further comprises at least an anti-reflective coating or a heating wire. [22] Method for cleaning a window of a LiDAR for a vehicle, the method comprising: Control of an operating parameter of at least one of the vehicle's wipers or the LiDAR, wherein a cleaning operation of the wiper is configured to interact with a detection operation of the LiDAR. [23] Method according to claim 22, wherein the LiDAR is attached to an inside of a vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover, and wherein a cleaning area of ​​the wiper is configured to coincide at least partially with the projection surface. [24] Method according to one of claims 22-23, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Rules the operating parameter of at least one of the wipers or the LiDAR to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR. [25] Method according to claim 24, wherein controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the predetermined distance between the current position of the wiper and the current scanning direction of the LiDAR comprises: Rules of the operating parameter of at least one of the wipers or the LiDAR, wherein a period lies within a non-distance measurement period of a frame of the LiDAR and the wiper is configured to wipe over the projection surface during the period. [26] Method according to claim 25, wherein controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the intended distance between the current position of the wiper and the current scanning direction of the LiDAR further comprises: Determine whether the duration of the wiper's sweeping motion across the projection surface is shorter than or equal to the non-distance measurement duration of the LiDAR frame; and Changing the operating parameter of at least one of the wipers or the LiDAR based on a determination that the duration of the wiper's wiping motion over the projection surface is not shorter than or equal to the non-distance measurement duration of the LiDAR frame, in order to cause the duration of the wiper's wiping motion over the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame. [27] Method according to claim 26, wherein changing the operating parameter of at least one of the wipers or the LiDAR to cause the duration of the wiper's wiping motion over the projection surface to be shorter than or equal to the non-distance measurement duration of the LiDAR frame comprises at least one of the following: Accelerating the operating speed of the wiper; or Extending the non-distance measurement duration of the LiDAR frame; or Reducing the size of an area of ​​the projection surface. [27-1] Method according to claim 26, wherein extending the non-distance measurement time of the LiDAR frame comprises: Maintaining a LiDAR frame rate and shortening the distance measurement duration within the LiDAR frame; or Maintain the distance measurement duration within the LiDAR frame and reduce the LiDAR frame rate; or Reducing the frame rate of the LiDAR and shortening the distance measurement time within the LiDAR frame. [28] Method according to claim 25, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining the non-distance measurement period of the LiDAR frame; Determining an initial duration for which the wiper enters the projection surface; Determining an initial wait time based on the non-distance measurement period of the LiDAR frame and the initial duration, where the initial wait time is a wait before starting the wiper; and Controlling the wiper to start after the initial waiting period, with the wiper wiping across the projection surface during the non-distance measurement period of the LiDAR. [29] Method according to claim 25, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining a first time period, whereby the wiper is located within the projection surface during the first time period; and Changing the operating parameter of the LiDAR, where the non-distance measurement period of the LiDAR is configured to match the first period. [30] Method according to claim 23, wherein controlling the operating parameter of at least one of the wipers or the LiDAR to maintain the intended distance between the current position of the wiper and the current scanning direction of the LiDAR further comprises: Rules of the operating parameter of at least one of the wipers or the LiDAR, wherein the current position of the wiper is in front of or behind the current scanning direction of the LiDAR. [31] Method according to claim 30, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining the current scanning direction of the LiDAR; Determining the current position of the wiper; Determining a second waiting time based on the current scanning direction of the LiDAR and the current position of the wiper, where the second waiting time is a waiting period before the wiper is started; and Controlling the wiper to start after the second waiting period, where the current position of the wiper is in front of or behind the current scanning direction of the LiDAR. [32] Method according to claim 30, wherein controlling the operating parameter of at least one of the wipers or the LiDAR comprises: Determining the current position of the wiper; and Changing the operating parameter of the LiDAR, where the current scanning direction of the LiDAR is in front of or behind the current position of the wiper. [33] The method of claim 23, further comprising: Control the LiDAR to remove point cloud data under a scanning direction when the specified distance is zero. [34] Method according to claim 33, wherein controlling the LiDAR to remove the point cloud data below the scanning direction when the intended distance is zero comprises at least one of the following: Control the LiDAR to avoid collecting point cloud data in the current scanning direction; or Control the LiDAR to delete the point cloud data captured in the current scanning direction. [35] The method of claim 33, further comprising: Control the LiDAR to replace the point cloud data under the scanning direction with point cloud data in adjacent frames at the specified distance of zero. [36] Distance measuring device comprising: a LiDAR located within a vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover, and wherein a cleaning area of ​​a wiper of a vehicle is configured to coincide at least partially with the projection surface; a communicator configured to communicate with the wiper and the LiDAR; and a controller configured to regulate an operating parameter of at least one of the wipers or the LiDAR, in order to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR. [37] Distance measuring device according to claim 36, further comprising an installation device for attaching the LiDAR, the installation device comprising the following: a bracket that is located on the inside of the vehicle cover and configured to mount the LiDAR; and a seal, wherein the seal is installed on the inside of the vehicle cover, and wherein the seal, the vehicle cover and the LiDAR form an enclosed space. [38] Distance measuring device according to claim 37, wherein the seal comprises a light-absorbing layer. [39] Distance measuring device according to claim 38, wherein the vehicle cover comprises at least one windscreen or one rear window. [40] Vehicle, comprising: a vehicle cover; a wiper; a LiDAR located within the vehicle cover, wherein a field of view of the LiDAR is configured to form a projection surface on the vehicle cover; wherein a cleaning area of ​​the wiper is configured to coincide at least partially with the projection surface; a communicator configured to communicate with the wiper and the LiDAR; and a controller configured to regulate an operating parameter of at least one of the wipers or the LiDAR, in order to maintain a predetermined distance between a current position of the wiper and a current scanning direction of the LiDAR. [41] Vehicle according to claim 40, wherein the transmission of the projection area of ​​the vehicle cover for a laser emitted by the LiDAR is greater than the transmission of any other area of ​​the vehicle cover. [42] Vehicle according to claim 41, wherein the projection surface of the vehicle cover comprises at least an anti-reflective coating or a heating wire.

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