LiDAR Cleaning Control Around Collision Avoidance Maneuvers
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Solution Overview
Problem
Existing vehicle control systems face a challenge in maintaining detection accuracy of on-board sensors during driving assist operations, as cleaning operations can degrade sensor performance, especially when dirtiness reaches critical levels immediately before or during collision avoidance maneuvers.
Innovation Solution
The vehicle control apparatus implements a dual cleaning process strategy, performing a light-degree cleaning when dirtiness is below a certain threshold but approaching critical levels, ensuring detection accuracy is maintained by scheduling cleaning operations to avoid interference with driving assist operations, using a control unit to manage the timing of cleaning based on collision probability and sensor dirty degree indicators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning unit performs cleaning operation when dirtiness reaches certain level, then the sensor maintaining cleanliness is improved, but the detection accuracy is degraded during driving assist operation
Solution Approach 1:
The control unit schedules cleaning operations to be completed before the driving assist operation starts. When an obstacle is detected and cleaning is required, the system calculates the time needed for cleaning and determines whether it can be completed before the assist operation begins. If so, cleaning starts immediately; if not, cleaning is postponed until after the assist operation completes, ensuring detection accuracy is not compromised during critical driving assist periods.
2Speed
If cleaning operation is performed immediately when dirtiness threshold is reached, then the cleaning responsiveness is improved, but the detection accuracy during driving assist operation is degraded
Solution Approach 1:
The cleaning control system dynamically adjusts its behavior based on the vehicle's operational state. The control unit continuously monitors whether a driving assist operation is in progress and modifies the cleaning execution timing accordingly. When assist operation is active, cleaning timing is dynamically postponed; when inactive, cleaning proceeds immediately. This dynamic adaptation allows the system to maintain high cleaning responsiveness during non-critical periods while protecting detection accuracy during critical driving assist operations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach reduces the likelihood of detection accuracy degradation during driving assist operations by optimizing cleaning timing to prevent sensor performance issues, ensuring accurate obstacle detection and collision avoidance.
Implementation Method 1
a first on-board sensor (11) configured to obtain object information on object that is present around (in the vicinity of, or surroundings of) a vehicle (SV), using electromagnetic wave which passes through a first detecting surface part exposed to outside of the vehicle (SV)
Implementation Method 2
a first cleaning unit (U1) configured to be capable of performing a first cleaning operation to clean (or wash) the first detecting surface part using cleaning fluid
Data Source
AI summary
The vehicle control apparatus is mounted on a vehicle. The vehicle control apparatus includes a cleaning unit capable of performing a first cleaning operation to clean a detecting surface part of a LiDAR using cleaning fluid, and a cleaning control ECU configured to execute a first light-degree cleaning process to let the first cleaning unit perform a first cleaning operation for a first light-degree cleaning time. The cleaning control ECU executes the first light-degree cleaning process when a first light-degree cleaning condition becomes satisfied within a first allowable period.