MOTOR VEHICLE AND METHOD FOR CLEANING SENSORS OF A VEHICLE

Description

[0001] The present disclosure relates to a vehicle having a system for cleaning sensors of a vehicle and a method for cleaning sensors of this vehicle. In particular, the present disclosure relates to the efficient removal of contamination from sensors, such as in a field of view of a camera, which are used, for example, in automated, and in particular autonomous, driving. State of the art

[0002] Modern vehicles incorporate a multitude of different sensor systems, such as a LiDAR system, a radar system, a camera, and an ultrasound system. Such sensor systems can be used for a variety of different applications, such as driver assistance systems for automated driving. Automated driving can involve extended driving, for example, on the highway, or limited-time driving during parking or maneuvering. Such a driver assistance system uses data from the sensor systems to control the vehicle. It is essential that the vehicle's surroundings are determined clearly and as accurately as possible.

[0003] Depending on weather conditions, the sensors may become contaminated, thus impairing their detection range or field of view. To ensure reliable environmental detection by the sensors, it is advantageous to efficiently remove contaminants from the detection range or field of view.

[0004] US 10 173 646 B1 describes a sensor cleaning system for cleaning one or more sensors on an autonomous vehicle. A computer system receives data indicating a sensor state of the autonomous vehicle and, based on the data, determines a sensor cleaning sequence for one or more sensor cleaning units of the autonomous vehicle. The sensor cleaning units are each configured to clean one or more sensors of the autonomous vehicle and are controlled by the computer system to clean the sensor cleaning units based on the sensor cleaning sequence.

[0005] WO 2019 / 073975 A1 describes a vehicle cleaning system comprising a plurality of cleaning sections configured to clean cleaning targets comprising sensor surfaces of optical sensors installed on a vehicle, and a control section capable of automatically controlling the cleaning sections. The control section is configured to activate the cleaning sections sequentially according to a priority ranking in response to a driving situation and / or an environmental situation of the vehicle, in cases where a cleaning request has been made for the cleaning sections. Disclosure of the invention

[0006] It is an object of the present disclosure to provide a vehicle with a system for cleaning sensors of a vehicle and a method for cleaning sensors of this vehicle, which can ensure environmental detection by the sensors. In particular, it is an object of the present disclosure to make a driver assistance function for automated, and in particular autonomous, driving safer.

[0007] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0008] According to an independent aspect of the present disclosure, a vehicle with a system for cleaning sensors of a vehicle, in particular a motor vehicle, is specified. The vehicle comprises at least one cleaning device configured to clean a plurality of sensors of a vehicle; a driver assistance system for automated driving configured to determine a driving strategy and to effect autonomous steering and / or braking and / or acceleration of the vehicle based on the driving strategy, wherein the driver assistance system uses at least some of the plurality of sensors; and a control device configured to control the at least one cleaning device. The control device is further configured to select, based on at least one situation parameter, a plurality of sensors from the plurality of sensors to be cleaned and to determine in which order orthe prioritization with which the selected multiple sensors should be cleaned. The prioritization can be based at least partially on the same at least one situation parameter as the selection, at least one different situation parameter than the selection, or in a different way than the selection.

[0009] Based on at least one situation parameter, several sensors are first selected and then prioritized. This minimizes the number of sensors to be cleaned, saving resources and time during cleaning. For example, sensors that are not needed in the current or upcoming situation can be avoided from being cleaned unnecessarily. Furthermore, sensor prioritization allows for efficient use of resources, which can, for example, improve the safety of an automated driving function.

[0010] In the context of this disclosure, the term "situation parameter" refers to a circumstance that occurs and / or is relevant to a current or upcoming situation of the vehicle. This allows the sensors to be cleaned depending on the situation. In particular, the cleaning procedure can be dynamically and flexibly adapted, allowing for efficient and resource-saving cleaning of the vehicle's sensors.

[0011] Preferably, the control device is further configured to dynamically update the selection of the plurality of sensors from the plurality of sensors and the cleaning sequence of the selected plurality of sensors during operation of the vehicle. In other words, the selection and sequence of the sensors to be cleaned are continuously adjusted. This allows for flexible response to changes in circumstances, ensuring optimal and resource-efficient cleaning of the sensors in every situation.

[0012] According to the invention, the control device is configured to select the plurality of sensors from the plurality of sensors and to determine the order of cleaning the selected plurality of sensors based on the determined driving strategy.

[0013] An automated vehicle steers and / or brakes and / or accelerates independently based on a driving strategy. The driving strategy can be determined based on environmental data from the environmental sensors, road conditions, traffic situation, weather conditions, etc. The specific driving strategy is implemented by the drive, steering, and / or brakes. By cleaning the sensors based on the driving strategy, it can be ensured that the sensors required to implement the specific driving strategy provide precise and correct data. This allows the driving strategy to be implemented reliably and improves safety.

[0014] According to the invention, the control device is configured to determine the cleaning order of the selected plurality of sensors based on the priorities of the plurality of sensors for the driving strategy. The term "priority" in the context of the present disclosure refers to the importance of the sensors, for example, with regard to a necessary cleaning and / or a function of the vehicle, such as an automated driving function. For example, heavily contaminated sensors may have a higher priority and thus be cleaned before less contaminated sensors. Additionally or alternatively, sensors important for a vehicle function may be cleaned before or instead of less important sensors.

[0015] Preferably, the at least one situation parameter is selected from the group comprising, or consisting of, a driving condition, a vehicle condition, a degree of contamination of the plurality of sensors (e.g., coverage of a sensor surface by foreign material), and an environmental situation of the vehicle. However, the present disclosure is not limited thereto, and the at least one situation parameter may include any parameter suitable for appropriately describing a situation of the vehicle with regard to cleaning the sensors.

[0016] Preferably, the driving state is selected from the group comprising or consisting of a position of the vehicle (e.g. in real time and / or on the road, e.g. in which lane the vehicle is traveling), a speed of the vehicle, a traffic situation (e.g. traffic density) and a driving route.

[0017] Preferably, the vehicle condition is selected from the group comprising or consisting of a cleaning agent supply, an availability of the at least one cleaning device, and a vehicle's energy consumption. The availability of the at least one cleaning device may be limited, for example, if a cleaning device is defective or no cleaning agent is available. By taking the vehicle's energy consumption into account, the energy consumption required for cleaning can be adjusted, for example, to save energy during cleaning when energy consumption for air conditioning is high.

[0018] Preferably, the environmental situation of the vehicle is selected from the group comprising, or consisting of, a weather condition and an outside temperature. The weather condition can be a weather pattern, such as sun, rain, snow, ice, fog, wind, etc. The weather condition can, for example, be a weather condition along the route, such as rain in 2 km. This allows the sensors to be proactively cleaned so that optimally functioning sensors are already provided when the weather conditions change. The vehicle comprises the system for cleaning sensors and the plurality of sensors according to the embodiments of the present disclosure.

[0019] The term "vehicle" includes cars, trucks, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0020] Preferably, the plurality of sensors is selected from the group comprising or consisting of a LiDAR sensor, a radar sensor, a camera, and an ultrasonic sensor. The plurality of sensors can also be referred to as "environmental sensor system." The environmental sensor system can provide environmental data (also referred to as "ambient data") that maps an area surrounding the vehicle and can be used, for example, in a driver assistance system to control the vehicle.

[0021] For the purposes of this document, the term "automated driving" can be understood as driving with automated longitudinal or lateral guidance, or autonomous driving with automated longitudinal and lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving during parking or maneuvering. The term "automated driving" encompasses automated driving with any degree of automation. Examples of automation levels include assisted, partially automated, highly automated, fully automated, and autonomous driving. The first four of these automation levels were defined by the Federal Highway Research Institute (BASt) (see the BASt publication "Research Compact," issue 11 / 2012).

[0022] In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system takes over the other function within certain limits. In partially automated driving (TAF), the system takes over longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver must continuously monitor the system, as with assisted driving. In highly automated driving (HAF), the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to continuously monitor the system; however, the driver must be able to take over vehicle control after a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; for this application, a driver is no longer required.

[0023] The four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard. Furthermore, SAE J3016 also provides for SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required. The embodiments of the present disclosure can be used for all levels of automation, and in particular the above-mentioned SAE Levels 1 to 5.

[0024] According to a further independent aspect of the present disclosure, a method for cleaning sensors of a vehicle is provided. The method comprises determining a driving strategy for automated driving of the vehicle, wherein the vehicle is to steer and / or brake and / or accelerate independently based on the determined driving strategy; selecting a plurality of sensors to be cleaned based on at least one situation parameter; determining the order in which the selected plurality of sensors are to be cleaned (e.g., based on the at least one situation parameter); and cleaning the plurality of sensors in the previously determined order. The selection of the plurality of sensors from the plurality of sensors and the determination of the order of cleaning the selected plurality of sensors are carried out based on priorities of the plurality of sensors for the determined driving strategy.

[0025] The method may implement the aspects of the system described in this document.

[0026] According to a further independent aspect, a storage medium is provided. The storage medium can comprise a software program configured to be executed on one or more processors and thereby to carry out the method described in this document. Short description of the drawings

[0027] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show: Figure 1 schematically shows a system for cleaning sensors of a vehicle according to embodiments of the present disclosure, Figure 2 schematically shows a vehicle with a driver assistance system according to embodiments of the present disclosure, and Figure 3schematically shows a flowchart of a method for cleaning sensors of a vehicle according to embodiments of the present disclosure. Embodiments of the disclosure

[0028] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0029] Automated driving generally requires the use of multiple redundant sensor systems. One of the biggest challenges is ensuring the clearest possible visibility across a wide range of road conditions, even when there are conditions that would cause contamination of, for example, the camera lenses. Since the likelihood of functional deterioration due to dirt, snow, ice, etc., depends heavily on sensor position and aerodynamics, most sensors require a cleaning system to ensure high availability.

[0030] Figure 1schematically shows a system 100 for cleaning sensors of a vehicle according to embodiments of the present disclosure.

[0031] The system 100 comprises at least one cleaning device 110 configured to clean a plurality of sensors 10 of a vehicle; and a control device 120 configured to control the at least one cleaning device 110. The control device 120 is further configured to select, based on at least one situation parameter, a plurality of sensors from the plurality of sensors 10 to be cleaned, and to determine the order or prioritization in which the selected plurality of sensors should be cleaned.

[0032] This allows the sensors to be cleaned depending on the situation. In particular, the cleaning procedure can be flexibly adapted to ensure efficient and resource-saving cleaning of the sensors. Depending on the current driving situation, an autonomous vehicle could, for example, dispense with a redundant sensor. This allows the system to clean the sensor surface to restore availability for later scenarios in which this sensor could be crucial. To accommodate different driving situations, a priority for important sensors and, optionally, their cleaning time are defined. This cleaning priority can change during the journey.

[0033] In some embodiments, a cleaning device 110 may be associated with a single sensor or clean a single sensor. Furthermore, a cleaning device 110 may be associated with two or more sensors or clean two or more sensors. However, the association between the at least one cleaning device 110 and the plurality of sensors 10 is not limited thereto and may be provided in any suitable manner.

[0034] In some embodiments, the at least one cleaning device 110 may be configured to clean one or more corresponding sensors using air, gas, and / or a cleaning agent (e.g., water, optionally containing a cleaning agent and / or antifreeze). The at least one cleaning device 110 may, for example, comprise a nozzle directed toward a corresponding sensor.

[0035] Preferably, the control device 120 is further configured to dynamically update the selection of the plurality of sensors from the plurality of sensors 10 and the order of cleaning the selected plurality of sensors during operation of the vehicle. In other words, the selection and order of the sensors to be cleaned are continuously adjusted. This allows for a flexible response to changes in circumstances, ensuring optimal and resource-saving cleaning of the sensors 10 in every situation.

[0036] The control device 120 is configured to select the plurality of sensors from the plurality of sensors 10 and to determine the cleaning order of the selected plurality of sensors based on a driving strategy. By cleaning the sensors based on the driving strategy, it can be ensured that the sensors required for implementing the specific driving strategy provide precise and correct data. This allows the driving strategy to be implemented reliably and improves safety.

[0037] According to the invention, the control device 120 is configured to determine the order of cleaning the selected plurality of sensors based on the priorities of the plurality of sensors, e.g., for the driving strategy. The term "priority" refers to the importance or contribution of the sensors, for example, with respect to a function of the vehicle, such as an automated driving function. For example, sensors that are important for a function of the vehicle or sensors that make a significant contribution to the functioning of the function can be cleaned first or with higher priority.

[0038] Typically, at least one situation parameter is selected from the group comprising or consisting of a driving condition, a vehicle condition, a degree of contamination of the plurality of sensors, an environmental situation of the vehicle, and combinations thereof.

[0039] The driving state may be selected from the group comprising or consisting of a position of the vehicle, a speed of the vehicle, a traffic situation and a driving route.

[0040] The vehicle state can be selected from the group comprising, or consisting of, a cleaning agent supply, an availability of the at least one cleaning device, and a vehicle's energy consumption. The availability of the at least one cleaning device can be limited, for example, if a cleaning device is defective or no cleaning agent is available. By taking the vehicle's energy consumption into account, the energy consumption required for cleaning can be adjusted, for example, to save energy during cleaning when energy consumption for air conditioning is high.

[0041] The vehicle's environmental situation can be selected from the group that includes a weather condition and an outside temperature, or consists of both. The weather condition can be a weather pattern, such as wind, sun, rain, snow, ice, fog, etc.

[0042] Figure 2 schematically shows a vehicle 1 with a driver assistance system 200 for automated driving according to embodiments of the present disclosure. The vehicle 1 can, in particular, be a motor vehicle.

[0043] Vehicle 1 includes driver assistance system 200 and the sensor cleaning system. Driver assistance system 200 is configured for automated driving. During automated driving, the longitudinal and lateral guidance of vehicle 1 occurs automatically. Driver assistance system 200 thus assumes vehicle guidance. To this end, driver assistance system 200 controls drive 20, transmission 22, hydraulic service brake 24, and steering 26 via intermediate units (not shown).

[0044] To plan and implement automated driving, driver assistance system 200 receives environmental information from an environmental sensor system that monitors the vehicle's surroundings. In particular, vehicle 1 may include the plurality of sensors 10 according to embodiments of the present disclosure, which are configured to record environmental data indicating the vehicle's surroundings. The plurality of sensors 10 may include, for example, a lidar system, a radar system, and / or a camera. The sensors 10 are dynamically prioritized and cleaned accordingly by the system of the present disclosure.

[0045] Figure 3 schematically shows a flowchart of a method 300 for cleaning sensors of a vehicle according to embodiments of the present disclosure. The method 300 can be implemented by appropriate software executable by a processor (e.g., a CPU).

[0046] The method 300 includes, in block 310, selecting a plurality of sensors to be cleaned based on at least one situation parameter; in block 320, determining in which order the selected plurality of sensors should be cleaned (e.g., based on the at least one situation parameter); and, in block 330, cleaning the plurality of sensors in the determined order.

[0047] The method 300 may implement the aspects of the system for cleaning sensors of a vehicle described in this document.

[0048] Based on at least one situational parameter, several sensors are selected and prioritized. This minimizes the number of sensors to be cleaned, saving resources and time during cleaning. For example, sensors that are not needed in the current situation cannot be cleaned unnecessarily. Furthermore, the prioritization allows resources to be used efficiently, which can, for example, improve the safety of an automated driving function.

Claims

1. Vehicle, in particular a motor vehicle, comprising a system (100) for cleaning sensors (10) of a vehicle (1), comprising at least one cleaning apparatus (110) which is configured to clean a multiplicity of sensors (10) of a vehicle (1); and a control apparatus (120) which is configured to control the at least one cleaning apparatus (110), wherein the control apparatus (120) is also configured to select a plurality of sensors from the multiplicity of sensors (10), which are intended to be cleaned, on the basis of at least one situation parameter and to determine the order in which the selected plurality of sensors are intended to be cleaned, characterized in that the vehicle also comprises a driving assistance system (200) for automated driving, which driving assistance system is configured to determine a driving strategy and to automatically steer and / or brake and / or accelerate the vehicle (1) on the basis of the driving strategy, wherein the driving assistance system (200) uses at least some of the multiplicity of sensors (10), and in that the control apparatus (120) is also configured to select the plurality of sensors from the multiplicity of sensors (10) and to determine the order in which the selected plurality of sensors are cleaned on the basis of priorities of the plurality of sensors for the determined driving strategy.

2. Vehicle according to Claim 1, wherein the control apparatus (120) is also configured to dynamically update the selection of the plurality of sensors from the multiplicity of sensors (10) and the order in which the selected plurality of sensors are cleaned during operation of the vehicle (1).

3. Vehicle according to either of Claims 1 and 2, wherein the at least one situation parameter is selected from the group consisting of a driving state, a vehicle state, a degree of soiling of the multiplicity of sensors (10) and an environmental situation of the vehicle (1).

4. Vehicle according to Claim 3, wherein: the driving state is selected from the group consisting of a position of the vehicle (1), a speed of the vehicle (1), a traffic situation and a route; and / or the vehicle state is selected from the group consisting of a cleaning agent supply, an availability of the at least one cleaning apparatus and an energy consumption of the vehicle (1); and / or the environmental situation of the vehicle (1) is selected from the group consisting of a weather condition and an outside temperature.

5. Method (300) for cleaning sensors of the vehicle according to Claim 1, comprising: determining a driving strategy for automated driving of the vehicle, wherein the vehicle is intended to automatically steer and / or brake and / or accelerate on the basis of the determined driving strategy; selecting (310) a multiplicity of sensors, which are intended to be cleaned, on the basis of at least one situation parameter; determining (320) the order in which the selected plurality of sensors are intended to be cleaned; and cleaning (330) the plurality of sensors in the determined order; wherein the plurality of sensors are selected from the multiplicity of sensors (10) and the order in which the selected plurality of sensors are cleaned is determined on the basis of priorities of the plurality of sensors for the determined driving strategy.

6. Storage medium comprising a software program which is configured to be executed on one or more processors and to thereby carry out the method (300) according to Claim 5.