DE102020207444A1 - Method for removing external soiling from a vehicle with a device for removing such soiling - Google Patents

Abstract

In the method according to the invention for removing external dirt on another vehicle (A), a vehicle (B) equipped with a cleaning unit receives (20) a cleaning request from the other vehicle (A). After approaching the other vehicle (A), the soiled area on the other vehicle (A) is detected by sensors (22). The contaminated area is then cleaned (23) with the cleaning unit (35). In particular, the cleaning request relates to soiling of at least one sensor (31) of the other vehicle (A).

Description

The present invention relates to a method for removing external soiling on a third-party vehicle, in particular for cleaning vehicle sensors of a third-party vehicle. The present invention further relates to a vehicle with a device for removing such soiling from a foreign vehicle.

A large number of sensors are built into today's vehicles. For driver assistance systems, for example, the vehicle environment is continuously monitored by sensors in order to support the driver in the driving task and to inform him of potential dangerous situations at an early stage. The sensor-based detection of the vehicle environment is even more important for autonomous vehicles, since automatic driving of self-driving vehicles is only possible when the roadway and potential obstacles are detected. Different types of sensors based on different technologies can be used to identify the surroundings, whereby a particularly reliable image of the surroundings is often generated through a combination of the data from different sensors, i.e. through what is known as sensor fusion. In addition to radar and ultrasonic sensors, sensors that are based on optical detection of the environment are used here.

In this way, detailed image information can be evaluated by one or more cameras aimed at the vehicle surroundings, with traffic signs or other objects and, when using a stereo camera, also the distance and speed of potential obstacles can be recognized. One or more lidar sensors (Light Detection and Ranging) can also be used to high-resolution laser light and scan and measure the vehicle's surroundings, regardless of the external light conditions.

For autonomous vehicles in particular, it is necessary that the sensor-based detection of the vehicle's surroundings functions correctly at all times. This is the only way to ensure, for example, that obstacles are recognized at an early stage and an appropriate response can be made. However, if the sensors become dirty, especially with optical methods such as LIDAR, it can happen that the vehicle surroundings can no longer be correctly recorded and the vehicle cannot continue its journey safely.

In this case, the sensor must be cleaned before the journey can be safely continued. For this purpose, a passenger can be asked to get out after the vehicle has stopped and to clean the sensor. However, if an autonomously driving vehicle were to run empty, this vehicle would have to rely on external help, as no passenger could get out to remove the pollution. Furthermore, the vehicle could start a car wash if the pollution was detected early enough and the current degree of pollution still allows it.

Automatic cleaning systems for the various sensors can also be permanently installed on the vehicle. Such a cleaning system for one or more vehicle sensors of an autonomously driving vehicle is for example in the US 2019/0008345 A1 and the US 2019/0009752 A1 disclosed.

However, such automatic cleaning systems provided on the vehicle also have disadvantages. At least all safety-critical sensors would have to be equipped with such cleaning systems, which would lead to additional costs that should not be neglected, especially given the large number of sensors installed in autonomous vehicles. Furthermore, for reasons of view or design, these sensors are often mounted on the vehicle at locations that are difficult to reach from the cleaning systems in the vehicle's own vehicle.

It is an object of the invention to provide an improved method for removing external contamination from a vehicle and a vehicle with a device for removing such contamination.

This object is achieved by a method with the features of claim 1, a method with the features of claim 6 and by a corresponding vehicle according to claim 9. Preferred embodiments of the invention are the subject matter of the dependent claims.

In a method according to the invention for removing external soiling from a vehicle, a vehicle equipped with a cleaning unit receives a cleaning request from an external vehicle. After approaching the third-party vehicle, the contaminated area on the third-party vehicle is detected by sensors. The contaminated area is then cleaned with the cleaning unit.

In this way, soiling of the third-party vehicle and, in particular, contaminated sensors of the third-party vehicle can be cleaned immediately, even in poorly accessible places, so that driving safety for the third-party vehicle can also be guaranteed without interrupting the journey.

In particular, the cleaning request here relates to soiling of at least one sensor in the third-party vehicle.

• - werden mit der Reinigungsanfrage auch Angaben über den mindestens einen verschmutzten Sensor empfangen;
• - positioniert sich das mit der Reinigungseinheit ausgestattete Fahrzeug basierend auf den Angaben über den mindestens einen verschmutzten Sensor so in der Nähe des Fremdfahrzeugs, dass eine Reinigung des mindestens einen verschmutzten Sensors möglich ist; und
• - wird daraufhin der mindestens eine verschmutzte Sensor gereinigt.

According to one embodiment of the invention

• - Information about the at least one contaminated sensor is also received with the cleaning request;
• the vehicle equipped with the cleaning unit is positioned based on the information about the at least one dirty sensor in the vicinity of the other vehicle in such a way that cleaning of the at least one dirty sensor is possible; and
• - The at least one dirty sensor is then cleaned.

In this case, the information about the at least one contaminated sensor preferably includes position data of this at least one contaminated sensor in a coordinate system of the external vehicle that is fixed to the vehicle.

In particular, the cleaning request is received from the third-party vehicle via a mobile data connection.

• - eine Verschmutzung erfasst; und
• - eine Reinigungsanfrage an ein Fremdfahrzeug mit einer Reinigungseinheit gesendet.

Furthermore, in a method according to the invention for removing external soiling on a vehicle by the soiled vehicle

• - detects pollution; and
• - A cleaning request is sent to a third-party vehicle with a cleaning unit.

In particular, soiling is detected by at least one sensor of the soiled vehicle, the cleaning request relating to the soiling of the at least one sensor.

In this case, information about the at least one soiled sensor is advantageously also sent to the third-party vehicle with the cleaning request.

• - eine Reinigungseinheit;
• - eine Kommunikationseinheit, über welche eine Reinigungsanfrage von dem Fremdfahrzeug empfangen werden kann;
• - eine Sensoreinheit, mit der das Fremdfahrzeug erfasst werden kann; und
• - eine Auswerte- und Steuereinheit, der nach Empfang einer Reinigungsanfrage Sensordaten der Sensoreinheit, zugeführt werden und die mittels der Sensordaten die Position der Verschmutzung an dem Fremdfahrzeug ermittelt und die Reinigungseinheit so ansteuert, dass eine Reinigung des Fremdfahrzeugs erfolgt.

Correspondingly, a vehicle includes a device for removing external dirt from a third-party vehicle

• - a cleaning unit;
• - A communication unit via which a cleaning request can be received from the other vehicle;
• - A sensor unit with which the foreign vehicle can be detected; and
• - An evaluation and control unit which, after receiving a cleaning request, receives sensor data from the sensor unit and which uses the sensor data to determine the position of the contamination on the third-party vehicle and controls the cleaning unit so that the third-party vehicle is cleaned.

In this case, the cleaning unit advantageously comprises a cleaning nozzle and / or the sensor unit comprises an external camera.

• 1 zeigt schematisch das erfindungsgemäße Verfahren zur Beseitigung von äußeren Verschmutzungen an einem Fremdfahrzeug; und
• 2 zeigt schematisch eine Draufsicht zweier Fahrzeuge mit einer Reinigung eines ersten Fahrzeugs durch eine Reinigungsdüse eines zweiten Fahrzeugs.

Further features of the present invention will become apparent from the following description and the claims in connection with the figures.

• 1 shows schematically the method according to the invention for removing external soiling on a third-party vehicle; and
• 2 shows schematically a top view of two vehicles with a cleaning of a first vehicle by a cleaning nozzle of a second vehicle.

For a better understanding of the principles of the present invention, embodiments of the invention are explained in more detail below with reference to the figures. It goes without saying that the invention is not restricted to these embodiments and that the features described can also be combined or modified without departing from the scope of protection of the invention as defined in the claims.

1 schematically shows a flow chart of a method according to the invention. Two vehicles are involved in this process, one that is dirty and therefore needs to be cleaned, in the following vehicle A. called, and another vehicle that cleans the dirty vehicle and, in the following, with the vehicle B. referred to as.

In the process, the vehicle provides A. initially in one process step 10 determine that it has contamination and therefore cleaning is required. In particular, this can be done by the vehicle A. it can be detected that one or more sensors no longer function or only function to a limited extent due to contamination and need to be cleaned.

The vehicle then sends A. now in process step 11th Via a mobile data connection, a request or request to clean the affected sensors and the position of the sensors in relation to a reference point of the vehicle A. to a nearby vehicle B. . As reference points, for example Features of vehicle A. how the windows, door handles, tires or also the front end or rear end of the vehicle are used, since these features can be grasped particularly well by another vehicle.

The signal transmission between the vehicle A. and vehicle B. takes place here as vehicle-to-vehicle communication, as well as car-to-car, C2C, Car2Car, vehicle-to-vehicle, V2V communication. The vehicle-to-vehicle communication can take place directly between the two vehicles involved, for example based on Bluetooth, WLAN or similar radio technologies, or else indirectly via a base station.

vehicle A. can also determine its own position, for example by means of a GPS receiver of a navigation system, and also transmit this current vehicle position data. On the one hand, this enables the vehicle B. can identify the correct vehicle for cleaning even when there is heavy traffic. On the other hand, the method is then not restricted by the limited communication range of these technologies, for example when communicating via short-range technologies such as Bluetooth or WLAN. This enables the cleaning to be planned in good time, even if the vehicles involved are involved A. and B. still have a greater distance from one another. For example, based on digital map data, the course of the road ahead of the vehicles can be taken into account and the cleaning can be notified for a straight and clear course of the road over a longer period of time.

In addition, information about whether the vehicle is being transmitted can also be transmitted A. is standing when the position data is being transmitted and therefore does not change its position or is in motion. In the latter case it can be provided that the vehicle A. repeatedly, for example at regular intervals, transmits its current position. It can also be provided that during the original transmission of the position data from a navigation device in the vehicle A. Data are transmitted on a programmed route and used for an estimate of future position data. So can based on the routes and expected speeds of the vehicles A. and B. the earliest possible rendezvous point can be determined.

Finally, information about the vehicle can also be provided A. , such as the vehicle model, the vehicle color, the vehicle registration number or, if applicable, the vehicle identification number, can be transmitted in order to enable the correct vehicle to be identified for cleaning.

In process step 20th receives a vehicle B. , which has technical means for vehicle-to-vehicle communication, the request or request and the assigned position data via the mobile data connection. If this vehicle B. is still equipped with a suitable cleaning system, it is first checked in one process step 21 whether the request should be accepted. This can be done, for example, based on the vehicle user's presettings. For example, the user can enter in the vehicle settings that a cleaning request from a third-party vehicle should always, never, or only under certain conditions be accepted.

Such a prerequisite can, for example, be stipulated that a cleaning request is only accepted if it is rewarded in the form of “cleaning credits”. Likewise, the assumption can be made dependent on whether the cleaning unit is in the vehicle B. for cleaning the dirty sensor of the vehicle A. , for example depending on the position of the dirty sensor, is well suited or currently has sufficient cleaning fluid. In the case of a cleaning process that would require a longer period of time, the acceptance of the cleaning request can also depend on whether a travel delay caused thereby for the user of the vehicle B. is acceptable at the scheduled cleaning time.

Furthermore, the cleaning request can be accepted automatically or only after a confirmation by the vehicle user, to whom a corresponding request is issued for this purpose by means of a user interface, for example by representation on a display or a voice output.

If vehicle B. the request of vehicle A. assumes, it measures in process step 22nd the vehicle A. on when it is in the immediate vicinity, for example when it is overtaken on the motorway or the vehicles come to a stop next to each other at a traffic light. Vehicle intervenes for this B. back to your own vehicle sensors.

Once vehicle B. with its cleaning unit the vehicle sensor or sensors to be cleaned A. it then begins in process step 23 the cleaning process. The positioning and timing of the cleaning can be done by evaluating the sensor signals from the distance-measuring sensors Vehicle B. and taking into account the position and movement of the vehicle B. as well as by evaluating video images from the vehicle A. having an outside camera from vehicle B. are recorded. The alignment of the cleaning unit, for example a cleaning nozzle, can also be checked with the external camera and corrected if necessary. The effectiveness of the cleaning can also be checked using the external camera. The cleaning can, however, also take place independently of such a check for a predefined period of time, which experience has shown is sufficient to clean the respective vehicle sensor.

When the cleaning process by vehicle B. has been successfully completed, so can in a subsequent process step 24 a corresponding notification to the vehicle A. be transmitted. This notification is then used in procedural step 13th of vehicle A. received and processed. For example, vehicle A. Re-activate a sensor that was giving incorrect signals due to contamination and was therefore switched off.

If vehicle B. in process step 21 the vehicle cleaning request A. has refused to do so, it is submitted in procedural step 25th a corresponding message to the vehicle A. . After vehicle A. the rejection in procedural step 12th received, it can then send the cleaning request to other vehicles without delay.

Furthermore, it can be provided that the vehicle B. after receiving a cleaning request, a corresponding confirmation message to the vehicle first, even if the cleaning request is accepted A. transmitted.

2 shows schematically a plan view of two vehicles A. and B. with a cleaning of the vehicle A. by a cleaning unit of the vehicle B. . Both vehicle A. as well as vehicle B. have only schematically indicated sensors for detecting the respective vehicle surroundings and each have a communication unit for the vehicle-to-vehicle communication as described above for transmitting the cleaning requests.

In the example shown, there is a vehicle A. before a stop line 30th , which is attached to the roadway in the area of a traffic light intersection in front of this intersection, has come to a standstill. vehicle A. has two sensors 31 , 32 , for example lidar sensors mounted on the roof, and has recognized that the sensor 31 is dirty and therefore not functional. vehicle B. that is from the vehicle A. a request for cleaning sensor 31 has received and accepted, is approaching the stop line 30th also on.

vehicle B. now measures the vehicle A. one. Vehicle intervenes for this B. on your own sensors 33 , 34 back, which can be designed in particular as RADAR, LIDAR, ultrasonic sensors and / or external cameras. About the exact location of the sensor to be cleaned 31 to determine the sensor data of the sensors 33 , 34 via a digital data bus in the vehicle to an evaluation and control unit 37 fed. In particular, video signals generated with the sensor configured as an external camera in the figure 33 are recorded in the evaluation and control unit 37 can be evaluated with suitable image processing methods to identify the contaminated sensor 31 to recognize and to determine its exact location. Based on this, the evaluation and control unit controls 37 then a cleaning unit from the vehicle B. suitable to. Furthermore, there is the evaluation and control unit 37 with a communication unit 36 connected via which the cleaning request from the vehicle A. was received.

The cleaning unit of the vehicle B. has a cleaning nozzle 35 , which is arranged in the example shown at the upper end of the B-pillar in the area of the vehicle roof. However, this can also be arranged in another favorable position, for example in the area of the A-pillar, or for example integrated in the exterior mirrors. In particular, the cleaning unit can also have several cleaning nozzles, which can be arranged in different positions, for example on the A, B and C-pillars and / or on the driver's and passenger's side.

The cleaning nozzle can preferably be rotatably mounted in order to be able to adapt or change its alignment during the cleaning process by means of adjusting devices provided for this purpose, such as, for example, servomotors. In this way it can be ensured that also in different areas of the vehicle A. arranged sensors are easily accessible and a slight relative movement between the vehicle A. and B. can be compensated. Likewise, the cleaning nozzle can optionally also be moved laterally, for example by attaching it to a telescopic rod.

By using such an adjustable cleaning unit and / or carrying out the cleaning when the vehicles are in different positions relative to one another, the cleaning unit can then use a large part of the outside of the vehicle A. reach and purify.

The cleaning unit can in particular have a tank for a cleaning fluid and a pump with which the cleaning fluid passes through the cleaning nozzle 35 is sprayed onto the sensor to be cleaned. However, cleaning by air pressure, optionally enriched with a cleaning liquid, can also take place. In this case, a compressed air tank can be provided which is connected to an electronically controllable valve followed by a pressure reducer and a compressed air cleaning device. When the valve is operated, the compressed air then flows through the cleaning nozzle 35 out. In addition, cleaning liquid can be drawn in from a tank for the cleaning liquid, as a result of which the surface to be cleaned can be irradiated with a mixture of a cleaning liquid and air.

The cleaning process here is not limited to cleaning the vehicle's sensors A. limited, but in addition to cleaning the sensors, it can also remove spot dirt from any point on the outer skin of the vehicle A. include. For example, vehicle can B. Remove fresh bird droppings that have just soiled advertising or a window on the vehicle arm in good time.

Furthermore, in addition to cleaning a vehicle sensor, which takes place as immediately as possible due to a detected contamination of the vehicle sensor, cleaning can also take place at regular service intervals independently of a detected contamination in the event of increasing contamination over time.

The invention can be used for cleaning any externally accessible vehicle sensors on any vehicles.

List of reference symbols

A.

Vehicle with a dirty sensor

B.

Vehicle with cleaning unit

10-13

in vehicle A. executed procedural steps

20-25

in vehicle B. executed procedural steps

30th

Stop line

31 - 34

Vehicle sensors

35

Cleaning nozzle

36

Communication unit

37

Evaluation and control unit

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 2019/0008345 A1 [0006]
• US 2019/0009752 A1 [0006]

Claims (10)

Method for removing external soiling from a vehicle (A), in which a vehicle equipped with a cleaning unit (B) - receives (20) a cleaning request from an external vehicle (A); - after approaching the third-party vehicle (A), the contaminated area on the third-party vehicle (A) is sensed (22); and - cleans the contaminated area with the cleaning unit (35) (23). Procedure according to Claim 1 , wherein the cleaning request relates to soiling of at least one sensor (31) of the other vehicle (A). Procedure according to Claim 2 wherein - information about the at least one soiled sensor (31) is also received with the cleaning request; - The vehicle (B) equipped with the cleaning unit is positioned based on the information about the at least one soiled sensor (31) in the vicinity of the other vehicle (A) in such a way that the at least one soiled sensor (31) can be cleaned; and - the at least one dirty sensor (31) is then cleaned. Procedure according to Claim 3 , wherein the information about the at least one soiled sensor includes position data of this at least one soiled sensor in a vehicle-fixed coordinate system of the other vehicle (A). Method according to one of the preceding claims, wherein the cleaning request is received from the other vehicle (A) via a mobile data connection. Procedure for removing external soiling from a vehicle (A), in which the soiled vehicle (A) - Detects external contamination (10); and - Sends (11) a cleaning request to an external vehicle (B) with a cleaning unit. Procedure according to Claim 6 , whereby a soiling of at least one sensor (31) of the soiled vehicle (A) is detected and the cleaning request relates to the soiling of the at least one sensor. Procedure according to Claim 7 , with the cleaning request also sending information about the at least one soiled sensor (31) to the third-party vehicle (B). Vehicle (B) with a device for removing external dirt from another vehicle (A), with - a cleaning unit (35); - A communication unit (36) via which a cleaning request can be received from the external vehicle (A); - A sensor unit (33, 34) with which the foreign vehicle (A) can be detected; and - An evaluation and control unit (37) which, after receiving a cleaning request, receives sensor data from the sensor unit (33, 34) and which uses the sensor data to determine the position of the contamination on the external vehicle (A) and thus controls the cleaning unit (35) that the third-party vehicle (A) is being cleaned. Vehicle (B) after Claim 9 , wherein the cleaning unit (35) comprises a cleaning nozzle and / or the sensor unit (33, 34) comprises an external camera.

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