JP2019104365A - Vehicle washing system - Google Patents

Abstract

To provide a vehicle washing system that can automatically wash a plurality of washing targets (including a sensor surface of an optical sensor) mounted on a vehicle, and that can appropriately set washing priorities for each washing target depending on a traveling state or environmental conditions when a washing request for a plurality of washing means is made.SOLUTION: The vehicle washing system includes washing means that washes washing targets including a sensor surface of an optical sensor mounted on a vehicle, and control means that can control the washing means automatically. The control means controls priorities for operating the washing means depending on the traveling conditions and/or environmental conditions of the vehicle when a washing request for the washing means is made.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a system for cleaning various objects to be cleaned mounted on a vehicle.

  In recent years, development of technology for mounting a driving support system on a vehicle has been advanced. In order to mount a driving support system on a vehicle, various on-vehicle sensors are required to detect the traveling state of the vehicle. Among these on-vehicle sensors, there are other sensors mounted inside the vehicle body such as GPS, acceleration sensor, gyro sensor, temperature sensor, level sensor, speed sensor, rotation number sensor, travel distance sensor, driving operation detector, etc. Radar to detect the condition around the vehicle using radio waves such as millimeter wave radar, the traveling condition of the vehicle, traveling lanes, signs, traveling division lines, other vehicles, obstacles outside the vehicle, etc. Optical sensors are also included.

  By the way, on the lens surface of the in-vehicle sensor or on the translucent cover or glass (sensor surface / sensing surface) in front of the lens surface, dirt such as mud may adhere to the lens surface, or attached matter such as water droplets. If a deposit adheres to the front window or the rear window, the deposit can be removed because a cleaning device such as a washer or a wiper is attached. However, if an extraneous substance adheres to the lens surface of the on-vehicle sensor disposed outside the vehicle or the cover in front of the lens surface, the detection capability of the on-vehicle sensor may be reduced. Then, the technique which wash | cleans the lens surface and cover of a vehicle-mounted sensor is proposed.

  Patent Document 1 discloses a technique for removing dirt attached to the lens surface of an optical sensor. In the technology disclosed in Patent Document 1, after pressurized cleaning water is jetted from the liquid nozzle to clean the dirt on the lens surface with respect to the lens surface of the optical sensor, pressurized air is jetted from the air nozzle and the lens is cleaned. The washing water remaining on the surface is dried. In this technique, both pressurized wash water and pressurized air are generated using a common liquid pump.

JP, 2015-224032, A

  A vehicle equipped with a driving support system is equipped with a large number of on-vehicle sensors. Among these on-vehicle sensors, the detection capability of the optical sensor is degraded particularly when deposits adhere to the lens surface and the cover of the optical sensor. There is a risk of In the technique described in Patent Document 1 described above, cleaning of one optical sensor is described. However, since the technique of Patent Document 1 is not intended to clean a large number of on-vehicle sensors including an optical sensor, it is difficult to use this technique as it is on a vehicle equipped with a driving support system.

  That is, the on-vehicle sensors are dispersedly disposed outside the vehicle and in the vehicle, and widely distributed, for example, on the front grille, the front corner, the front window inner surface, the side, the rear, the rear, the rear window inner surface, and the like. For this reason, if all the onboard sensors are cleaned frequently, a large amount of cleaning solution will be consumed. Since the capacity of the washer tank is limited, if the amount of the cleaning solution used is large, the cleaning solution may run out while traveling. In particular, in the case of a vehicle equipped with a driving support system, if there is a shortage of the cleaning liquid, the detection capability of the on-vehicle sensor may be reduced, which may hinder the driving support.

  In addition, when it is desired to wash many washing targets, the washing targets are to be washed in order. However, the number of washing targets must be between the start of washing and the end of the last washing of washing targets. Depending on the situation, it may take several seconds to several tens of seconds. In the case of cleaning a highly urgent sensor such as a collision avoidance sensor, such a cleaning delay is not preferable.

  Further, in Patent Document 1, the user manually operates the cleaning system, but it is difficult for the user to determine the degree of contamination of all the objects to be cleaned. For this reason, when manually issuing a cleaning command, many cleaning targets tend to be cleaned. Therefore, it is assumed that a control device for automatically operating the cleaning device of each part is provided to automatically control the cleaning device of each part. Also in this case, for example, at the start of the vehicle after parking for a long time, when there is a large amount of mud splashing when traveling on a bad road in rainy weather, etc., cleaning commands are simultaneously sent to many cleaning targets. It may be emitted. In such a case, a large number of objects to be cleaned are cleaned in order, so there is a problem that it takes time for the aforementioned cleaning.

  Therefore, an object of the present invention is to automatically clean a plurality of cleaning objects mounted on a vehicle, and when there is a cleaning request for a plurality of cleaning means, each of them is selected according to the traveling condition and the environmental condition. An object of the present invention is to provide a vehicle cleaning system capable of appropriately setting the priority of cleaning to be cleaned.

The above object of the present invention can be achieved by the following constitution. That is, the vehicle cleaning system according to the first aspect of the present invention
A plurality of cleaning means for cleaning an object to be cleaned including a sensor surface of an optical sensor mounted on a vehicle;
Control means capable of automatically controlling the cleaning means;
In a vehicle cleaning system comprising
The control means is characterized in that, when there is a cleaning request for the cleaning means, the control means controls the priority for operating the cleaning means according to the traveling condition and / or the environmental condition of the vehicle.

  In the vehicle cleaning system according to the second aspect of the present invention, in the vehicle cleaning system according to the first aspect, the control means is configured to prioritize the cleaning means when there is a cleaning request for a plurality of cleaning means substantially simultaneously. The washing means may be operated sequentially according to the order.

A vehicle cleaning system according to a third aspect of the present invention is the vehicle cleaning system according to the first or second aspect, wherein
The vehicle cleaning system further includes a deposit detection means for detecting an adhesion state of the cleaning object,
The control means determines the cleaning request based on an attached matter detection signal from the attached matter detection means, and controls the cleaning means.

  The optical apparatus cleaning system for a vehicle according to a fourth aspect of the present invention is the cleaning apparatus for a vehicle according to the third aspect, wherein the attached substance from the attached substance detecting means is subjected to the predetermined number of washings within a predetermined time. When the detection signal is issued, an alarm is performed.

  The vehicle cleaning system according to a fifth aspect of the present invention is the vehicle cleaning system according to any one of the first to fourth aspects, wherein the control means controls the priority according to the traveling direction of the vehicle. It features.

  The vehicle cleaning system according to a sixth aspect of the present invention is characterized in that, in the vehicle cleaning system according to any one of the first to fifth aspects, the control means controls the priority according to weather information. I assume.

  The vehicle cleaning system according to a seventh aspect of the present invention is the vehicle cleaning system according to any one of the first to sixth aspects, wherein the control means controls the priority according to the traveling speed of the vehicle. It features.

  The cleaning system for a vehicle according to the eighth aspect of the present invention is the cleaning system for a vehicle according to any one of the first to seventh aspects, wherein the control means controls the priority according to a traveling route of the vehicle. I assume.

  The vehicle cleaning system according to a ninth aspect of the present invention is characterized in that, in the vehicle cleaning system according to any one of the first to eighth aspects, the control means controls an operation pattern of the cleaning means.

  The vehicle cleaning system according to a tenth aspect of the present invention is the vehicle cleaning system according to the ninth aspect, wherein the cleaning means includes means for injecting a fluid to the object to be cleaned, and the operation pattern is the fluid It is characterized by including an injection period and an injection rest period.

  The vehicle cleaning system according to an eleventh aspect of the present invention is characterized in that, in the vehicle cleaning system according to any one of the first to tenth aspects, the vehicle is equipped with a driving assistance device or an automatic driving device. .

  According to the vehicle cleaning system of the first aspect of the present invention, by providing control means capable of automatically controlling the cleaning means, a plurality of cleaning objects (including the sensor surface of the optical sensor) mounted on the vehicle Can be cleaned automatically. Further, when there is a cleaning request for the cleaning means, the control means controls the priority of operating the cleaning means according to the traveling condition and / or the environmental condition of the vehicle, so that the traveling condition and / or the vehicle Cleaning can be performed in order from high priority cleaning targets in accordance with environmental conditions and always based on appropriate priorities. Furthermore, since only the necessary cleaning objects are cleaned by the automatic cleaning, it is possible to reduce the consumption of the cleaning solution of the vehicle.

  According to the vehicle cleaning system of the second aspect of the present invention, when there is a cleaning request for a plurality of cleaning means substantially simultaneously, the cleaning means can be sequentially operated according to a predetermined priority. Therefore, even when a large number of cleaning requirements overlap, it is possible to always clean the high priority cleaning targets. For this reason, in a vehicle equipped with a driving support system, in particular, a decrease in detection capability caused by deposits on an optical sensor or the like required for driving support can be suppressed, so the influence on driving support can also be suppressed. be able to.

  According to the vehicle cleaning system of the third aspect of the present invention, the control means determines the cleaning request based on the deposit detection signal from the deposit detection means, and controls only the cleaning means. Can be operated with the required degree of cleaning. As a result, the consumption of the cleaning liquid can be reduced while maintaining a state in which there is no deposit on the object to be cleaned such as the optical sensor (a state where the optical sensor etc can be suitably used).

  According to the cleaning system for a vehicle of the fourth aspect of the present invention, even if the cleaning is performed a predetermined number of times or more within a predetermined time, an alarm is notified when the adhesion detection signal from the adhesion detection means is issued. As a result, the driver can know from this warning that it is necessary to manually clean a specific cleaning target.

  According to the cleaning system for a vehicle of the fifth aspect of the present invention, the control means controls the priority required to clean each cleaning target of the vehicle according to the traveling direction of the vehicle. In addition, it is always possible to wash the cleaning target based on the appropriate priority.

  According to the vehicle cleaning system of the sixth aspect of the present invention, the control means is always appropriate regardless of the weather because it controls the priority required to clean each cleaning object of the vehicle according to the weather information. The objects to be cleaned can be cleaned based on certain priorities.

  According to the cleaning system for a vehicle of the seventh aspect of the present invention, the control means controls the priority which requires cleaning of each cleaning target of the vehicle according to the traveling speed of the vehicle, thereby controlling the traveling speed of the vehicle. Regardless, it is always possible to clean the objects to be cleaned on the basis of appropriate priorities.

According to the cleaning system for a vehicle of the eighth aspect of the present invention, the control means controls the priority which requires cleaning of each cleaning target of the vehicle according to the traveling route of the vehicle, thereby setting the traveling route of the vehicle. Regardless, it is always possible to clean the objects to be cleaned on the basis of appropriate priorities.

  According to the vehicle cleaning system of the ninth aspect of the present invention, since the control means can control the operation pattern of the cleaning means, it is possible to appropriately set the degree of cleaning. Therefore, the deposit | attachment of washing | cleaning object can be removed suitably.

  According to the vehicle cleaning system of the tenth aspect of the present invention, since the operation pattern of the cleaning means includes the injection period and the injection rest period of the fluid (cleaning liquid and air), the fluid injection period and the rest period Can be combined to set various cleaning patterns, so that appropriate cleaning can be performed according to the required degree of cleaning.

  According to the vehicle cleaning system of the eleventh aspect of the present invention, it is possible to provide a vehicle optical device cleaning system suitable for a driving assistance device or an automatic driving device. That is, by controlling the priority to operate the cleaning means according to the traveling condition and / or the environmental condition of the vehicle, it is suppressed that the detection capability of the optical sensor or the like which is highly necessary always decreases due to the extraneous matter. It is possible to avoid abnormal termination of the automatic driving due to a decrease in detection capability of each sensor.

It is a model top view of the cleaning system for vehicles concerning the embodiment of the present invention. It is a block diagram which shows the priority of the washing object of Example 1 (at the time of vehicle advance). It is a block diagram which shows the priority of the washing | cleaning object of Example 2 (at the time of vehicle reverse travel).

  Hereinafter, a cleaning system for a vehicle according to the present invention will be described in detail with reference to the drawings. However, the embodiment described below is described by taking a vehicle having an automatic driving system as an example for embodying the technical concept of the present invention, and the present invention is specified to that shown in this embodiment. It is not intended to do. The present invention is equally applicable to a vehicle cleaning system within the scope of the claims, such as a vehicle equipped with an object to be cleaned such as an optical sensor, even without an automatic driving system.

First, the level of automatic operation will be described for the understanding of the present invention. According to "SAE J3016" defined by the United States SAE International (US non-profit organization with mobility experts), the level of autonomous driving is classified as follows.
・ Level 0 (without operation automation)
・ Level 1 (driving support)
・ Level 2 (Partial operation automation)
・ Level 3 (conditional automatic operation)
・ Level 4 (Advanced automatic operation)
・ Level 5 (fully automatic operation)

  A level 0 vehicle is a vehicle that requires the driver to carry out all driving operations, and corresponds to a general vehicle without a driving automation system. In the level 1 vehicle, the driving automation system performs either steering wheel operation or acceleration / deceleration control of the vehicle, and other operations are performed by the driver. At this level of vehicle, it is necessary for the driver to appropriately control the vehicle according to surrounding phenomena and to monitor the operation of the autonomous driving system. This corresponds to a vehicle having an adaptive cruise control function (constant speed traveling and inter-vehicle distance control device). In a Level 2 vehicle, a driving automation system controls both steering wheel operation and acceleration / deceleration of the vehicle, and other operations are performed by the driver. Even at this level of vehicle, it is necessary for the driver to control the vehicle according to the surrounding conditions and to monitor the operation of the autonomous driving system.

  Vehicles at levels 3 to 5 are classified as vehicles having a so-called automatic driving system. In a Level 3 vehicle, the driving automation system performs all driving operations in response to the surrounding conditions, but in an emergency, driver intervention is required. In a level 4 vehicle, a driving automation system performs all driving operations in response to surrounding conditions, and driver intervention is not expected. In this level 4 vehicle, although depending on the surrounding environment, unmanned operation can be performed temporarily. In the level 5 vehicle, the driving automation system performs all driving operations unconditionally in response to the surrounding conditions, and complete unmanned driving becomes possible.

  Here, the cleaning system for vehicles in the vehicle of an embodiment is explained using FIG. FIG. 1 is a schematic plan view of the cleaning system for a vehicle according to the embodiment.

  In FIG. 1, the vehicle cleaning system 1 includes a front control unit 2 and a rear control unit 3. First, the cleaning means of the front control unit 2 will be described.

  A front camera 21 is disposed at an upper inside of a front window 20 of the vehicle. The front camera 21 is installed on the front of the vehicle above the front window 20 in the vehicle compartment and behind the rearview mirror, and shoots the front of the front window 20 through the glass. The image taken by the front camera 21 can be processed by an image processing processor built in the front camera 21 or to an ADAS (Advanced Driver Assistance System) -ECU (Electronic Control Unit). After being sent, image recognition processing is performed. Although the front camera 21 is installed on the back of the rearview mirror, the present invention is not limited to this. For example, the front camera 21 may be directly attached to the upper side of the front window 20 on the vehicle interior side. Moreover, although one front camera 21 is provided in the embodiment, two or more may be provided depending on the role.

  The detection of an object by the front camera 21 can identify the object, can distinguish vehicles and pedestrians from other objects, and can detect road signs and lane marks on road surfaces. is there.

  A single-eye camera is often used as the front camera 21 and is used for the purpose of detecting an object. However, the front camera 21 is not limited to a single application camera, and may be a so-called stereo camera having a plurality of (for example, two) camera functions. The distance to the object may be estimated from the parallax by photographing with a stereo camera.

  If the lens of the camera or the translucent cover (sensor surface or imaging surface) or the like covering the front of the lens is contaminated with mud or the like, a shadow will be reflected in the image. In addition, it is also assumed that water droplets adhere during rainfall. As a result, the image becomes unclear and the image analysis is disturbed. For this reason, there is a need to clean the translucent cover that covers the front of the camera lens or lenses.

  Therefore, in order to clean the front window 20 disposed in front of the front camera 21, a wiper 40 and a washer nozzle 40 a are provided at the lower front of the front window 20. While spraying the cleaning liquid from the washer nozzle 40 a, the wiper 40 can wipe off deposits on the front window 20 including the front surface of the front camera 21.

  A lidar (LIDAR; Light Detection and Ranging or Laser Imaging Detection and Ranging) 26, a front grille camera 27 and a millimeter wave radar 28 for long distance are provided in the center on the front side of the front grille 25; A distance millimeter wave radar 29 is provided, and a pair of headlights 30 is further provided.

  The lidar 26 is a sensor that irradiates, for example, infrared laser light in a pulse shape, and measures the distance from the time from the time it is reflected by the object to the return, and changes the direction of the finely narrowed infrared laser light by the movable mirror. The orientation of the object can also be detected by scanning.

  Since the lidar 26 uses infrared laser light, it can detect an object having a low radio wave reflectance, and in particular, it can detect an object that interferes with traveling as a road scatterer such as a cardboard box, wood, or polystyrene foam. Furthermore, because the lidar 26 can detect distance and orientation with high spatial resolution, not only object detection but also detection of free space between them is possible.

  The lidar 26 is, for example, a sensor using light such as infrared light, so if dirt adheres to the sensor surface, the detection capability may be reduced. For this reason, there is a demand to clean the sensor surface of the lidar 26.

  In the vehicle of the embodiment, in order to clean the sensor surface of the lidar 26 in the vicinity of the sensor surface of the lidar 26, the washer nozzle 26a that sprays the cleaning liquid toward the sensor surface and the air nozzle that sprays the air toward the sensor surface 26b is provided.

  The millimeter wave radars 28 and 29 as radio wave sensors emit radio waves of very short wavelength called millimeter waves and detect the radio waves reflected back from the object to detect the distance and direction to the object be able to.

  Since the millimeter wave radars 28 and 29 detect using the radio waves emitted by themselves, they can maintain good detection characteristics regardless of the light source and the weather, and can accurately measure the distance to the object. In particular, according to the millimeter wave radar 28 for long distance, it is possible to accurately detect the vehicle ahead while traveling during heavy rain, thick fog or snowfall.

  Since the millimeter wave radars 28 and 29 use radio waves, even if deposits such as dirt or water droplets adhere to the detection surface, detection is not hindered as long as the radio waves are transmitted. For this reason, the need for providing a cleaning means on the detection surface is low. However, it is also possible to provide cleaning means such as a washer nozzle and an air nozzle as required.

  A front grille camera 27 is provided at the center of the front grille 25. The front grille camera 27 can identify an object, can distinguish vehicles and pedestrians from other objects and detect them, and can also recognize road signs and lane marks on road surfaces. Furthermore, it can also be used for round views. If the lens of the front grille camera 27 or the translucent cover (sensor surface or imaging surface) covering the front of the lens is contaminated with mud or the like, a shadow will be reflected in the image. In addition, it is also assumed that water droplets adhere during rainfall. As a result, the image becomes unclear and the image analysis is disturbed. For this reason, there is a demand for cleaning the lens of the front grille camera 27 or the translucent cover covering the front of the lens.

  Therefore, in order to clean the lens or the cover of the front grille camera 27, air is directed to the washer nozzle 27a that sprays the cleaning liquid toward the lens or the cover of the front grille camera 27 and the lens or the cover of the front grille camera 27. An air nozzle 27b is provided to jet.

  The headlights 30 are provided on the left and right sides on the front side of the front grille 25 and illuminate the front of the vehicle at night or when it rains. The headlights 30 are provided near both ends of the front grille 25. For example, there is a possibility that the light amount may become insufficient if soiled with mud splash or the like when traveling on a rough road or when it is raining. .

  In the vehicle of the embodiment, in the vicinity of the headlight 30, in order to clean the irradiation surface of the headlight 30, a washer nozzle 30a that sprays a cleaning liquid toward the irradiation surface is provided. In addition to the headlight 30, it is also possible to provide a washer nozzle for lighting such as a sidemark light and a turn signal.

  The door mirror 35 of the vehicle is provided with a door mirror camera 36 for photographing the rear, and can display an image photographed in the vehicle for the driver. Further, by providing a lower door mirror camera 37 below the door mirror, it is possible to detect surrounding vehicles, pedestrians and the like.

  Although it is assumed that the cleaning means is also provided to the door mirror camera 36 and the door mirror lower camera 37, the cleaning means is not provided in the vehicle of the embodiment. However, it is also possible to provide cleaning means such as an air nozzle, if necessary.

  Furthermore, if necessary, it is also possible to provide a cleaning means such as an air nozzle on the reflection surface of the door mirror or fender mirror. For example, when it is difficult to see the mirror due to water droplets or the like, it is possible to blow off the water droplets on the reflective surface of the mirror by injecting air with an air nozzle.

  Further, a side rider 38 is provided on the side of the vehicle, and can detect a side vehicle, a pedestrian or the like. Since the lidar is a sensor using light such as infrared light, for example, if dirt adheres to the sensor surface, the detection capability may be reduced. For this reason, there is a demand for cleaning the sensor surface of the side rider 38.

  In the vehicle of the embodiment, in order to clean the sensor surface of the side lidar 38 in the vicinity of the sensor surface of the side lidar 38, air is directed to the washer nozzle 38a and the sensor surface that jets the cleaning liquid toward the sensor surface. An air nozzle (not shown) for jetting is provided.

  Next, the cleaning means of the rear control unit 3 will be described.

  A rear camera 46 is provided inside the central upper surface of the rear window 45. The rear camera 46 is a camera for a so-called inner mirror, and is used in place of the rear mirror by projecting an image of the rear camera 46 to a driver at a position of the rear mirror, for example. Furthermore, in an automatic driving system, it is possible to use as an image sensor by analyzing an image of the rear camera 46. The rear camera 46 can also have a function as a camera for round view.

  In the vehicle of the embodiment, in order to clean the rear window 45 disposed on the imaging surface side of the rear camera 46, a washer nozzle 46a is provided in the upper center of the rear window 45, and in the lower center of the rear window 45. A rear wiper 47 is provided. While spraying the cleaning liquid from the washer nozzle 46a, the rear wiper 47 can wipe off dirt on the rear window 45 including the imaging surface side of the rear camera 46.

  Also, the rear camera 46 may be provided at the center of the rear bumper 50. In this case, in order to clean the lens surface or the cover surface of the rear camera 46, a washer nozzle that sprays the cleaning liquid toward the lens surface or the cover surface and an air nozzle that sprays air toward the lens surface or the cover surface are provided. It is also good.

  At the center of the rear bumper 50, a rider 52 is provided. The lidar 52 is, for example, a sensor using light such as infrared rays, and therefore if there is adhesion such as dirt on the sensor surface, the detection capability may be reduced.

  Therefore, in the vehicle of the embodiment, in order to clean the sensor surface of the lidar 52 near the sensor surface of the lidar 52, the air is jetted toward the washer nozzle 52a and sensor surface that sprays the cleaning liquid toward the sensor surface. An air nozzle 52b is provided.

  In addition, in the vehicle of the embodiment, in order to detect a vehicle, a pedestrian or the like on the rear side, a side rider 56 is also provided on the rear side. Also in the vicinity of the sensor surface of the side lidar 56, in order to clean the sensor surface of the side lidar 56, a washer nozzle 56a that sprays a cleaning liquid toward the sensor surface and an air nozzle that sprays air toward the sensor surface (Not shown) is provided.

  Further, at the center of the rear bumper 50, a rear camera 53 is provided. The rear camera 53 is used to capture an image of the rear of the vehicle for display on the monitor of the driver's seat during reverse travel. In the automatic driving system, the image of the rear camera 46 can be used as an image sensor by analyzing the image.

  In the vehicle of the embodiment, in order to clean the lens surface or the cover surface of the rear camera 53 in the vicinity of the rear camera 53, the washer nozzle 53a and the lens surface or the cover surface spray the cleaning liquid toward the lens surface or the cover surface. An air nozzle 53b is provided to jet air toward the end.

  Near the both ends of the rear bumper 50 or near the rear of the rear fender, a mid-range millimeter wave radar 55 is provided, which is mainly used to detect a vehicle from the rear to the side or to measure the distance between the vehicles. .

  Since the millimeter wave radar uses radio waves, even if dirt adheres to the detection surface, as long as the radio waves are transmitted, there is no hindrance to the detection. For this reason, the need for providing a cleaning means on the detection surface is low. Therefore, in the embodiment, the cleaning means is not provided in the medium distance millimeter wave radar 55. However, it is also possible to provide cleaning means such as a washer nozzle and an air nozzle as required.

  Moreover, it is also possible to provide a washing means such as a washer nozzle or an air nozzle as necessary for the brake lamp, the rear blinker and the rear side lamp. For example, when the brake lamp becomes dirty due to splashing of mud in wet weather, mud dirt can be blown away with rain water by injecting air from the air nozzle.

  Next, the washer device will be described. A washer tank 12 as storage means is provided in the engine room of the vehicle, and the washer tank 12 is provided with a level sensor 13 for detecting the remaining amount of the cleaning liquid in the washer tank 12. In the washer tank 12 or in the vicinity of the washer tank 12, a front washer pump 14 is provided as a pressurizing means for supplying the cleaning liquid for the washer tank 12 to the front multi valve 16. The front washer pump 14 and the front multi valve 16 are connected by a hose as a conduction means.

  Similarly, in the washer tank 12 or in the vicinity of the washer tank 12, a rear washer pump 15 is provided to supply the cleaning liquid for the washer tank 12 to the rear multi-valve 17 as pressurizing means. ing. The rear washer pump 15 and the rear multi valve 17 are connected by a hose as a conduction means.

  Cleaning fluid is supplied from the washer tank 12 to the front multi valve 16 by a front washer pump 14 via a hose. The output side of the front multi-valve 16 is provided with a plurality of valves that can be individually controlled to open and close individually, and for the lidar 26 provided in the center on the front side of the front grill 25 on the output side of each valve. Washer nozzle 26a for the front grille, washer nozzle 27a for the front grille camera 27 provided in the center on the front side of the front grille 25, washer nozzle 30a for the headlights 30 on both left and right sides, sensor surface of the side lidar 38 A washer nozzle 38a for the purpose and a washer nozzle 40a provided at the lower front of the front window are individually connected via a hose as a conducting means. The cleaning fluid is supplied to the washer nozzle 26a, the washer nozzle 27a, the washer nozzle 30a, the washer nozzle 38a, and the washer nozzle 40a in a pressurized state, so that when the valve is controlled to open, the corresponding washer nozzle 26a, The cleaning liquid is sprayed from the parts 27a, 30a, 38a and 40a to the object to be cleaned.

  Cleaning fluid is supplied to the rear multi-valve 17 from the washer tank 12 by the rear washer pump 15 through a hose. The output side of the rear multi-valve 17 is provided with a plurality of valves that can be individually controlled to open and close. A washer nozzle 46 a and a lidar 52 provided at the upper center of the rear window 45 are provided on the output side of each valve. The washer nozzle 52a for cleaning the sensor surface of the second embodiment, the washer nozzle 53a for cleaning the lens surface or the cover surface of the rear camera 53, and the washer nozzle 56a for cleaning the sensor surface of the side lidar 56 are individually provided. Are connected to each other via a hose as a conducting means. The cleaning liquid is supplied to the washer nozzles 46a, 52a, 53a, 56a in a pressurized state, so when the valve is controlled to be opened, the cleaning liquid is sprayed from the corresponding washer nozzles 46a, 52a, 53a, 56a to the cleaning object Be done.

  Next, the air nozzle will be described. In the front control unit 2, an air nozzle 26 b for injecting air toward the sensor surface of the lidar 26 provided in the center on the front side of the front grill 25, a front grille provided in the center on the front side of the front grill 25 An air nozzle 27 b for injecting air toward the lens or the cover of the camera 27 and an air nozzle (not shown) for ejecting air toward the sensor surface of the side lidar 38 are both connected to the air actuator air pump 41 via an air hose. Is connected. The air pressurized by the air actuator air pump 41 is supplied to the air nozzles 26b, 27b, etc. via the air hose.

  In the rear control unit 3, the air nozzle 52 b for injecting air toward the sensor surface of the lidar 52 provided at the center of the rear bumper 50, and the lens surface or the cover surface of the rear camera 53 provided at the center of the rear bumper 50 An air nozzle 53 b for injecting air and an air nozzle (not shown) for cleaning the sensor surface of the side lidar 56 are both connected to an air actuator air pump 49 via an air hose. The air pressurized by the air actuator air pump 49 is supplied to the air nozzles 52b, 53b, etc. via the air hose.

  Next, the control unit will be described. Signals from the respective on-vehicle sensors (front camera 21 and rider 26 etc.) are sent to the ADAS-ECU 10 as a driving support control device, and are used for the automatic driving system in the ADAS-ECU 10. In addition, the ADAS-ECU 10 can determine the necessity of the cleaning of the object to be cleaned such as the sensor surface by using the signals sent from the respective on-vehicle sensors.

  For example, when dirt adheres to the sensor surface of the lidar, there is a characteristic that the output signal of the lidar attenuates according to the amount of dirt only in the direction in which the dirt adheres. By analyzing this characteristic, it can be determined whether or not a predetermined dirt is attached to the lidar sensor surface. In addition, for example, when dirt adheres to the sensor surface of the camera (the imaging surface of the camera), a specific shadow fixed on only the portion to which the dirt adheres will appear. By analyzing the pattern of this particular shadow, it can be determined if the sensor surface of the camera has a predetermined contamination. By analyzing the output signal of each in-vehicle sensor in this manner, it can be determined whether or not an attached substance such as dirt adheres to the sensor surface of the in-vehicle sensor. That is, each camera and each lidar correspond to the deposit detection unit of the present invention.

  In addition, it is also possible to provide an extraneous substance detection means (not shown) as an extraneous substance detection unit for detecting extraneous substances such as dirt on the sensor surface to be cleaned. For example, additional deposit detection means may be provided to detect dirt on the headlights. In this case, a detection signal of the attached matter detection means is sent to the ADAS-ECU 10.

  Moreover, it is also possible to determine the irradiation range of the headlights and the illuminance (luminance) from the image captured by the front camera 21 and to determine that the headlights are soiled. In this case, it is not necessary to separately provide a deposit detector for the headlight.

  The cleaning command to each cleaning means output from the ADAS-ECU 10 is transmitted to the front wiper ECU 11 and the rear wiper ECU 48. That is, the cleaning control in the front control unit 2 is performed by the front wiper ECU 11, and the cleaning control in the rear control unit 3 is performed by the rear wiper ECU 48.

  The detection signal of the level sensor 13 is input to the front wiper ECU 11. Further, the front wiper ECU 11 is connected by a signal line or a power supply line so that the front washer pump 14, the rear washer pump 15, and the front multi valve 16 can be driven and controlled. For example, the front wiper ECU 11 can individually control opening and closing of the plurality of valves of the front multi-valve 16. Further, the front wiper ECU 11 can control driving and stopping of the front washer pump 14 and the rear washer pump 15. Furthermore, the front wiper ECU 11 is connected by a signal line or a power supply line so as to be capable of individually controlling the air nozzles 26b, 27b and the like corresponding to the front control unit 2. In addition, by controlling the wiper 40, the front wiper ECU 11 can wipe and clean the front window 20 using the washer nozzle 40a and the wiper 40 provided on the lower front of the front window.

  The rear wiper ECU 48 is connected by a signal line or a power supply line so as to drive and control the rear multi-valve 17. That is, the plurality of valves of the rear multi-valve 17 can be individually controlled to open and close by the rear wiper ECU 48. In addition, the rear wiper ECU 48 is connected by a signal line or a power supply line so as to be capable of individually controlling the air nozzles 52b, 53b and the like corresponding to the rear control unit 3. In addition, the rear wiper ECU 48 can also wipe and clean the rear window 45 by using the washer nozzle 46 a and the rear wiper 47 provided at the upper center of the rear window 45 by also controlling the rear wiper 47.

  When the cleaning means corresponding to the front control unit 2 is controlled by the front wiper ECU 11 when the cleaning means not shown in FIG. 1 is provided, the cleaning means corresponding to the rear control unit 3 is controlled by the rear wiper ECU 48. It is controlled.

  In the vehicle of the embodiment, the control of the front control unit 2 is performed by the front wiper ECU 11 and the control of the rear control unit 3 is performed by the rear wiper ECU 48, but the present invention is not limited thereto. For example, the control of the front control unit 2 may be performed by a control unit different from the front wiper ECU 11 and the ADAS-ECU 10, and similarly, the control of the rear control unit 3 is a control unit different from the rear wiper ECU 48 and the ADAS-ECU 10. You may go.

  Moreover, although the cleaning system 1 for vehicles of embodiment was demonstrated as what consists of two control parts, the front control part 2 and the rear control part 3, this invention is not limited to this. For example, the vehicle cleaning system 1 can be configured from three controllers in front, side, and rear, or can be configured from four or more controllers. Moreover, although the rear control part 3 of embodiment was arrange | positioned at the vehicle rear, it is not limited to this. For example, the rear control unit 3 may be disposed at an upper part (vertically upper side) of the center of the vehicle.

  Moreover, although the washing | cleaning system 1 for vehicles of embodiment was demonstrated as what provides one washer tank 12, this invention is not limited to this. For example, it is also possible to distribute the washer tanks 12 in accordance with the arrangement of the control units (front control unit 2 and rear control unit 3). Specifically, one washer tank may be provided in the vicinity of the front control unit 2 and one washer tank may be provided in the vicinity of the rear control unit 3 to provide a total of two washer tanks. As a result, it is possible to omit the hose connecting the front and rear direction of the vehicle and to increase the capacity of the washer tank. When a plurality of washer tanks are provided, each washer tank is connected with a hose, and when the capacity of one of the washer tanks decreases, the washing liquid is supplied from the other washer tank to the one washer tank. You may do so.

  In the embodiment, the front wiper ECU 11 controls the drive and stop of the rear washer pump 15, but the present invention is not limited thereto. For example, the rear wiper ECU 48 may control driving and stopping of the rear washer pump 15. In this case, it is necessary to connect the rear wiper ECU 48 to the rear washer pump 15 with a signal line or a power supply line. For example, in the case where the washer tanks 12 are dispersedly disposed as described above, the wiring should be shorter. Is possible.

  In the embodiment, the signal sent from each sensor is used in the ADAS-ECU 10 to determine the necessity of cleaning the object such as the sensor surface, but the present invention is specified by this Instead, for example, the front wiper ECU 11 and the rear wiper ECU 48 may perform part or all of the calculation related to the determination of the necessity of cleaning. For example, when the front wiper ECU 11 and the rear wiper ECU 48 perform part of the calculation related to the determination of the necessity of cleaning, the calculation load of the ADAS-ECU 10 is reduced by that amount. According to the situation of the calculation load of each ECU, it is possible to allocate the calculation load related to the determination of the necessity of cleaning to each ECU.

  In the embodiment, the signal sent from each sensor is used in the ADAS-ECU 10 to determine the necessity of cleaning the object such as the sensor surface, but the present invention is specified by this It is also possible to determine the degree of contamination, for example, in conjunction with determining the need for cleaning. In this case, for example, the degree of cleaning can be adjusted according to the degree of contamination.

As the time of cleaning of the object to be cleaned such as the sensor surface,
(A) A detection signal is issued by the attached matter detection means, and the cleaning object is determined by the ADAS-ECU 10 based on the detection signal, and a cleaning command to each cleaning means is transmitted from the ADAS-ECU 10 to the front wiper ECU 11 and the rear wiper ECU 48 Timing,
It is not limited to

  In the ADAS-ECU 10, since information such as traveling conditions and environmental conditions can be grasped, it is possible to automatically determine the timing of cleaning of the object to be cleaned such as the sensor surface by using these information. it can. As the driving status, vehicle status (remaining amount of cleaning liquid, ignition on / off state, information such as vehicle type, etc.), traveling direction, traveling speed, traveling route (classification of routes such as urban area or expressway, etc., congestion information etc. Etc.) is included. The environmental conditions include information such as weather, temperature, road surface conditions and the like.

Therefore, the timing of cleaning of the object to be cleaned such as the sensor surface, which is automatically determined based on the traveling condition and the environmental condition in the ADAS-ECU 10, is not particularly limited.
(B) When switched from ignition off to on,
(C) When rainfall is detected
(D) When traveling for a predetermined speed or longer continues at a predetermined speed,
(E) When it is determined that the travel route is a predetermined route,
(F) When an emergency is detected by the ADAS-ECU 10,
Etc.

  In this case, the cleaning instruction (b) to (f) may be issued simultaneously. Also, for example, when a vehicle is parked for a long time, when a large amount of mud splashes when traveling on a bad road when the vehicle is driven on a bad road, etc., a cleaning command is issued simultaneously to many cleaning targets There is also. In such a case, many objects to be cleaned will be cleaned in order. However, when it is desired to clean all the many cleaning targets, the cleaning targets will be cleaned in order, but the number of cleaning targets is from the start of the cleaning until the end of the last cleaning of the cleaning targets. Depending on the situation, it may take several seconds to several tens of seconds. Therefore, when cleaning a sensor with high degree of urgency such as a collision avoidance sensor, such cleaning delay is not preferable.

  Therefore, in the embodiment, the priority of cleaning of each cleaning target is appropriately set according to the traveling condition and the environmental condition. That is, priorities are set for the respective cleaning targets in accordance with the traveling conditions and the environmental conditions, and cleaning commands are issued to the respective cleaning targets in accordance with the priorities. In this case, the same priority may be assigned to a plurality of cleaning targets. In addition, as a specific example of issuing a cleaning command to each cleaning target according to the priority order, it is not limited to the one that issues a cleaning command to all the cleaning targets, for example, the remaining amount of cleaning liquid If the amount is too small, it is possible to cancel the cleaning instruction to the lower priority cleaning object.

  As specific examples in the embodiment, Example 1 and Example 2 will be described.

  The first embodiment will be described with reference to FIG. In addition, FIG. 2 is a block diagram which shows the washing | cleaning means priority at the time of general road forward of the driving vehicle of Example 1. FIG.

When the vehicle travels forward on a general road, the priorities of the objects to be cleaned or the respective cleaning devices are as shown in the following (1-1) to (1-8) in descending order of priority.
(1-1) Rider 26 (61) at the center of the front grille
(1-2) Camera 27 (62) at the center of the front grille
(1-3) Windscreen washer nozzle 40a (63)
(1-4) Side rider 38 (64)
(1-5) Rear fender rider 56 (65)
(1-6) Rear rider 52 (66)
(1-7) Rear camera 46 (67)
(1-8) Rear camera 53 (68)

  The lidar 26 at the center of the front grille is mainly used for detecting obstacles ahead and detecting sudden jumps out, so it is safe from the viewpoint of vehicle control when traveling forward on a general road. It is the highest priority from the viewpoint as well.

  The camera 27 at the center of the front grille is used for detection of obstacles ahead, detection of lanes and signs, etc. Therefore, when traveling forward on a general road, the second priority is given to vehicle control. High.

  The windshield washer nozzle 40a, together with the wiper 40, is used to secure the driver's field of vision and, if installed, for cleaning deposits on the front of the front camera 21 above the front window. High priority to

  The side rider 38 is required to detect an obstacle on the side at the time of course change, and the like, and thus the fourth highest priority is set.

  The rear fender rider 56 is required to detect an obstacle from the rear to the side, and the like, and thus has the fifth highest priority.

  The rear rider 52 is used to detect a vehicle behind the vehicle, and is therefore set to the sixth priority because the importance of the vehicle during forward traveling is low.

  The rear camera 46 is a camera for the inner mirror, and can be used as an image sensor by analyzing an image of the rear camera 46, and the rear camera 46 can be used as a camera for round view. Since it can also have a function, it is set to the seventh priority.

  The rear camera 53 is used to capture an image of the rear of the vehicle to be displayed on the monitor of the driver's seat during reverse travel, so checking the image of the rear during forward travel is less important, so the eighth It is set to priority.

  Because the capacity of the washer pump is limited, it may be difficult to inject the cleaning liquid simultaneously to multiple cleaning targets. In this case, for example, when the vehicle is traveling forward on a general road, the front grille having a high priority is required when the rider 26 at the center of the front grill and the rider 38 at the side simultaneously request cleaning. The central lidar 26 is washed first, and then the side lidar 38 is washed. In addition, if the capacity of the washer pump has a margin and it is possible to simultaneously inject the cleaning liquid to two or more cleaning targets, the two cleaning targets are simultaneously cleaned in the order of high priority.

  Also, for example, when the vehicle travels forward on a general road, a large amount of mud water is applied, and when all cleaning targets are required to be cleaned, (1-1) in descending order of priority (1-1) to The washing liquid is sprayed from the washer nozzle to the washing target in the order of (1-8). In addition, if the capacity of the washer pump has a margin and it is possible to simultaneously spray the cleaning liquid to two or more cleaning targets, it is possible to simultaneously wash a plurality of cleaning targets in descending order of priority.

  Moreover, also about an air nozzle, when sharing an air pump, since there is a restriction | limiting in the capacity | capacitance of an air pump, it may be difficult to inject air to several washing | cleaning objects simultaneously. In this case, for example, when a cleaning request simultaneously occurs for the air nozzle 26b for the lidar 26 at the center of the front grille and the air nozzle 26b for the camera 27 at the center of the front grille, the lidar 26 for the front grille center with high priority. Air is first jetted to the object to be cleaned by the air nozzle 26b for the air, and then air is jetted to the object to be cleaned by the air nozzle 27b for the camera 27 at the center of the front grille. If air can be jetted simultaneously to two or more objects to be cleaned, or if an air pump is individually provided for the objects to be cleaned, a plurality of the cleaning patterns may be sequentially arranged in the descending order of priority. It is also possible to simultaneously inject air to the object to be cleaned.

Since the system of the cleaning device by the injection of the cleaning liquid and the system of the cleaning device by the injection of air are provided separately, when using the cleaning by the injection of the cleaning liquid according to the priority order, For example, the cleaning by the jet of air to a certain cleaning target may overlap with the timing of the cleaning by the jet of the cleaning liquid to another cleaning target. For example, when the washing request for the lidar 26 at the center of the front grille and the washing request for the camera 27 at the center of the front grille simultaneously occur, for example, the wash pattern at each wash point is a pattern for injecting air next to the jet of washing liquid. If
<1> First, the lidar 26 is cleaned by spraying the cleaning liquid from the washer nozzle 26a against the lidar 26 at the center of the front grille,
<2> Next, the lidar 26 at the center of the front grille is washed with air from the air nozzle 26b by washing the lidar 26. Without waiting for the end of the washing by the air nozzle 26b, the washer nozzle 26a is cleaned. Then, immediately after that, cleaning of the camera 27 is started by spraying the cleaning liquid from the washer nozzle 27a against the camera 27 at the center of the front grille, immediately.
<3> After washing by the washer nozzle 27a is finished, after washing of the lidar 26 by jet of air from the air nozzle 26b is finished, jetting of air from the air nozzle 27b to the camera 27 at the center of the front grille Cleaning of the camera 27 is performed. As described above, the timing of cleaning by the jet of the cleaning liquid from the washer nozzle to a certain cleaning target may overlap with the timing of the cleaning by the jet of air from the air nozzle to another cleaning target. However, this cleaning sequence is only an example, and the cleaning sequence of the present invention is not limited to this example, for example, the timing of cleaning by spraying the cleaning liquid from the washer nozzle to a certain cleaning target, and other cleaning targets. It is also possible to set so that it does not overlap with the time of cleaning by injection of air from the air nozzle with respect to.

  A second embodiment will now be described with reference to FIG. In addition, FIG. 3 is a block diagram which shows the priority of the washing object of Example 2 (at the time of a vehicle reverse movement). The description of the same aspects as those of Experimental Example 1 will be omitted.

When the vehicle reverses, the priorities of the respective cleaning targets or the respective cleaning devices are as shown in the following (2-1) to (2-8) in descending order of priority.
(2-1) Rear rider 52 (71)
(2-2) Rear camera 53 (72)
(2-3) Rear camera 46 (73)
(2-4) Rear fender rider 56 (74)
(2-5) Side rider 38 (75)
(2-6) Rider 26 (76) at the center of the front grille
(2-7) Camera 27 (77) at the center of the front grille
(2-8) Windscreen washer nozzle 40a (78)

  The rear rider 52 is used for the detection of an obstacle behind the vehicle, the detection of a sudden jump, and the like, and therefore has the highest priority from the viewpoint of vehicle control and safety as well when the vehicle reverses.

  The rear camera 53 is used to capture an image of the rear of the vehicle to be displayed on the monitor of the driver's seat during reverse travel, so the rear camera 53 is secondly prioritized from the viewpoint of presenting the rear image to the driver that is difficult to see from the driver. The degree is high.

  The rear camera 46 is a camera for the inner mirror, and can be used as an image sensor by analyzing an image of the rear camera 46, and the rear camera 46 can be used as a camera for round view. Since it can also have a function, it is set to the third priority.

  The rear fender rider 56 is used to detect an obstacle from the rear to the side, and so is useful for detecting an obstacle during reverse travel, so it has the fourth highest priority.

  The side rider 38 is used to detect an obstacle from the side to the front, and so is useful for obstacle detection at the time of reverse travel, so it has the fifth highest priority.

  The lidar 26 at the center of the front grille is used to detect obstacles in front, detect sudden jumps in the front, etc. However, the information on obstacles in front of the vehicle is not useful at the time of reverse travel, so the sixth priority Set to

  The camera 27 at the center of the front grille is used to detect an image in front, but is set to the seventh priority because the image in front of the vehicle is less useful during reverse.

  The windshield washer nozzle 40a, together with the wiper 40, affects the driver's front view and, if installed, the image of the camera above the front window, but when going backwards, the driver's view in front of the vehicle and the vehicle Because the usefulness of the forward video is low, it is set to the eighth priority.

  In addition, Example 1 and Example 2 are only an example to the last, and the method of the setting of a priority can be variously changed and set according to a vehicle condition and / or an environmental condition. For example, in addition to the traveling direction mentioned in the above example, highways, general roads (even between general urban areas and by-passes and suburbs), distinction by traveling route such as congestion information etc., distinction by traveling speed, fine weather・ Different priorities are set according to the vehicle condition and / or the environmental condition such as distinction of weather conditions during rainfall and snowfall, distinction of road surface conditions, distinction between cold and hot areas, distinction by vehicle type be able to.

  For example, on highways, the priority for long distance sensors is higher than for general roads, in urban areas the priority for sensors for pop-out detection is high, and for high travel speeds the priority for long distance sensors is high. Sometimes the priority of the camera sensor is set higher than when it is raining or snowing. The control relating to the priority may be performed by the ADAS-ECU 10, or part or all of the control may be performed by the front wiper ECU 11 and the rear wiper ECU 48.

  In addition, even if the same object to be cleaned is washed a predetermined number of times or more, if the determination result that the necessity for cleaning is necessary does not go over (when the deposit can not be removed), the cleaning of the object to be washed It is also possible to provide an alarm means for notifying the driver of the need for maintenance such as manual cleaning and for notifying the driver of the object to be cleaned. Accordingly, when the attached matter can not be removed automatically, the cleaning solution is sprayed from the washer nozzle toward the cleaning target such as the sensor surface frequently and continuously, and the air is sprayed from the air nozzle. Can be prevented from being repeated. Further, since the driver is informed that the deposit can not be removed automatically, the driver can know from this warning that it is necessary to manually wash the specific cleaning object. If the deposit can not be removed automatically, an announcement may be made to urge safe traveling, or the vehicle may be guided to a safe place (automatically).

  And the pattern which injects a washing | cleaning liquid from a washer nozzle, and the pattern which injects air from an air nozzle can be changed according to the washing | cleaning object, the grade of stain | pollution | contamination, a running condition, and an environmental condition. For example, depending on how long the vehicle has been parked, the degree of washing may be determined as high, medium or low. In addition to the necessity for cleaning, for example, when information on the degree of contamination is added to the cleaning request signal, the degree of cleaning can be adjusted according to the degree of contamination, for example.

Examples of the cleaning pattern include the following patterns.
(A) a pattern for continuously injecting for a predetermined time (b) a pattern for alternately repeating injection for a predetermined time and a rest for a predetermined time a plurality of times (c) a pattern of only the injection of cleaning liquid from the washer nozzle (d) from the air nozzle Pattern of only air injection (e) Pattern of injecting air nozzle after injection from washer nozzle (f) Pattern of repeating injection from washer nozzle (g) Pattern of repeating injection of air from air nozzle (h) Pattern for driving only the wiper or rear wiper (i) Pattern for changing the driving speed of the wiper or rear wiper and the stop time of intermittent operation (j) Pattern combining the injection of the cleaning liquid from the washer nozzle and the driving of the wiper or rear wiper ( k) Pattern of adjusting the injection time of the cleaning liquid (1) The injection strength of the cleaning liquid was made variable Turn (m) pattern that combines air air injection intensity pattern (o) said plurality of patterns in the variable of the injection time from the adjustment pattern (n) air nozzles from the air nozzle

  For example, the greater the degree of cleaning, the longer the predetermined time of (a), the greater the number of repetitions of (b), the greater the number of repetitions of (f), the greater the number of repetitions of (g), the drive of (i) Increase the speed or shorten the stop time, increase the injection time of (k), increase the injection strength of (l), increase the injection time of (m), or increase the injection strength of (n) Do.

  For example, in (f) a pattern in which spraying from the washer nozzle is repeated, a pattern in which the first preliminary cleaning for wetting and the second main cleaning are performed, or a first main cleaning and the second final cleaning cleaning pattern Alternatively, it is possible to provide various patterns such as a pre-wash for wetting at the first time and a main cleaning at the second time and a finish cleaning at the third time. Furthermore, pre-washing and finish-washing can set injection time or injection intensity small, and can also set injection time or injection intensity of main cleaning large.

  For example, the cleaning solution is injected short for the first time with respect to the cleaning target in one place, the cleaning solution is injected long for the second time, air from the air nozzle is injected for a short time the third time, air from the air nozzle for the fourth time It is also possible to set a pattern that causes long injection.

  Also, in (l) and (n), the injection intensity can be changed as a function of time. In addition, as shown in (o), it is possible to set various patterns in which (a) to (n) are combined.

  In a vehicle equipped with the vehicle cleaning system 1, the cleaning target such as an optical sensor is cleaned even if the driver is not aware of it, so the cleaning solution may be consumed more than the driver recognizes and the cleaning solution may run short There is. Therefore, it is also effective to provide means for notifying the driver of the remaining amount of the cleaning liquid in accordance with the detection value of the level sensor 13 provided in the washer tank 12. Thus, the driver can always check the remaining amount of the cleaning liquid.

  Although not shown in the vehicle of the embodiment, for example, an ultrasonic sensor may be installed in front of, behind, or to the side of the vehicle. The ultrasonic sensor is for detecting an obstacle such as another vehicle while emitting ultrasonic waves to the surroundings, and is mainly used to detect a vehicle coming into a running lane. Besides, it is also used for obstacle detection in a parking assistance system. Since the ultrasonic sensor uses sound waves, even if dirt adheres to the sensor surface, obstacles can be detected as long as the sound waves are transmitted. For this reason, the request for cleaning the sensor surface of the ultrasonic sensor is small. However, if necessary, cleaning means such as a washer nozzle or an air nozzle can be provided.

  In the embodiment, the air nozzles 26b and 27b inject air respectively delivered by air from the air actuator air pump 41 and the air nozzles 52b and 53b from the air actuator air pump 49 to the respective cleaning objects. It is not specified. For example, one air actuator air pump may be provided corresponding to each air nozzle, or one air pump may be provided at the front of the vehicle and one at the rear of the vehicle. When one air actuator air pump is provided at the front and the rear of the vehicle, air is supplied from the air pump provided at the front of the vehicle to the air nozzle disposed at the front of the vehicle, and the air nozzle provided at the rear of the vehicle Air is supplied from an air pump provided at the rear of the vehicle.

  In addition, the position of each in-vehicle sensor arrange | positioned at the vehicle is not limited to the position demonstrated by embodiment. Furthermore, although the example which provided the multi valve | bulb 16 for fronts and the multi valve | bulb 17 for rears was shown in embodiment, this invention is not limited to this. For example, in place of these multi-valves, a plurality of valves are provided on the front washer pump 14 or the rear washer pump 15 respectively, and the plurality of valves are controlled by the wiper ECUs 11 and 48 respectively. The cleaning liquid may be supplied to the nozzle.

DESCRIPTION OF SYMBOLS 1 ... Cleaning system for vehicles 2 ... Front control part 3 ... Rear control part 10 ... ADAS-ECU 11 ... Wiper ECU 12 ... Washer tank 13 ... Level sensor 14 ... Washer pump 15 for fronts ... Washer pump 15 for rears ...... Multi for fronts Valve 17 ... Multi-bulb for rear 20 ... Front window 21 ... Front camera 25 ... Front grille 26 ... Rider 26a ... Washer nozzle 26b ... Air nozzle 27 ... Front grille camera 28 ... Millimeter wave radar 29 for long distance Millimeter wave for medium distance Radar 30-Headlight 30a-Washer nozzle 35-Door mirror 36-Door mirror camera 37-Door mirror lower camera 38-Side lider 38a-Washer nozzle 40-Wiper 40a-Washer nozzle 41-Air actuator d Apump 45 Rear window 46 Rear camera 46a Washer nozzle 47 Rear wiper 48 Rear wiper ECU
49 ... air actuator air pump 50 ... rear bumper 52 ... lidar 52a ... washer nozzle 52b ... air nozzle 53 ... rear camera 53a ... washer nozzle 53b ... air nozzle 55 ... middle distance millimeter wave radar 56 ... side lidar 56a ... washer nozzle

Claims (11)

A plurality of cleaning means for cleaning an object to be cleaned including a sensor surface of an optical sensor mounted on a vehicle;
Control means capable of automatically controlling the cleaning means;
In a vehicle cleaning system comprising
The control means controls the priority for operating the cleaning means according to the traveling condition and / or the environmental condition of the vehicle when there is a cleaning request for the cleaning means. system.   The vehicle cleaning system according to claim 1, wherein said control means operates said cleaning means sequentially according to said priority when there is a cleaning request for said plurality of cleaning means substantially simultaneously. . The vehicle cleaning system further includes a deposit detection means for detecting an adhesion state of the deposit on the cleaning target,
3. The vehicle cleaning system according to claim 1, wherein the control unit determines the cleaning request based on a deposit detection signal from the deposit detection unit, and controls the cleaning unit. 4.   The vehicle cleaning according to claim 3, wherein an alarm is performed when the attached matter detection signal is issued from the attached matter detecting means even if the cleaning is performed a predetermined number of times or more within a predetermined time. system.   The said control means controls the said priority according to the advancing direction of a vehicle, The washing | cleaning system for vehicles of any one of the Claims 1-4 characterized by the above-mentioned.   The vehicle control system according to any one of claims 1 to 5, wherein the control means controls the priority in accordance with weather information.   The said control means controls the said priority according to the traveling speed of a vehicle, The washing | cleaning system for vehicles of any one of Claims 1-6 characterized by the above-mentioned.   The vehicle control system according to any one of claims 1 to 7, wherein the control means controls the priority according to a traveling route of the vehicle.   The said control means controls the operation | movement pattern of a washing | cleaning means, The washing | cleaning system for vehicles of any one of the Claims 1-8 characterized by the above-mentioned. The cleaning means includes means for injecting a fluid to the object to be cleaned;
The vehicle cleaning system according to claim 9, wherein the operation pattern includes a fluid injection period and a fluid injection period.   The vehicle washing system according to any one of claims 1 to 10, wherein the vehicle is equipped with a driving support device or an automatic driving device.

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