KR102519400B1 - Vehicle autonomous driving sensor cleaning system and method therefor - Google Patents

Abstract

A vehicle autonomous driving sensor cleaning system and method are disclosed.
According to an embodiment of the present invention, an autonomous driving sensor cleaning system for a vehicle includes a sensor housing having an autonomous driving sensor for detecting the surroundings through an opening; a washer fluid nozzle installed outside the opening; a fixed wiper installed on an inner circumferential surface of the opening; a lens cover rotatably installed by a rotating shaft in a state of being in contact with the fixed wiper inside the sensor housing; And when operating in the sensor cleaning mode, the washer fluid is sprayed on the lens cover through the washer fluid nozzle and at the same time, the lens cover is rotated around the rotational axis through an electric mechanism unit to control the fixed wiper to remove foreign substances from the lens cover. It includes; a control unit to do.

Description

Vehicle autonomous driving sensor cleaning system and method {VEHICLE AUTONOMOUS DRIVING SENSOR CLEANING SYSTEM AND METHOD THEREFOR}

The present invention relates to an autonomous driving sensor cleaning system and method for a vehicle, and more particularly, to a vehicle autonomous driving sensor cleaning system and method for maintaining recognition performance of an autonomous driving sensor such as a lidar or a camera.

In general, autonomous vehicles are equipped with one or more LiDAR sensors to recognize surrounding objects.

LiDAR sensors work like the eyes of a vehicle that supports safe autonomous driving by irradiating laser signals and receiving the reflected signals to detect terrain and objects around the vehicle.

Since the LIDAR sensor has a great influence on the detection (recognition) performance of the laser signal transmission and reception sensitivity due to its optical characteristics, it must be managed cleanly so that foreign substances are not smeared on the lens cover.

However, foreign substances such as dust, flying insects, and muddy water are inevitably smeared on the lens cover of the lidar sensor during vehicle operation due to the external environment, and thus the detection performance is degraded.

Conventionally, in order to improve these disadvantages, a technique for spraying washer fluid to the lens cover of the lidar sensor has been developed, but a complete cleaning effect cannot be expected only by spraying the washer fluid.

For example, if time passes while the vehicle is not driven, foreign substances on the lens cover harden as it is, or if highly viscous foreign substances adhere to the lens cover, there is a problem in that even if the washer fluid is sprayed, it is not completely cleaned.

Matters described in this background art section are prepared to enhance understanding of the background of the invention, and may include matters that are not prior art already known to those skilled in the art to which this technique belongs.

An embodiment of the present invention sprays washer fluid on the lens cover of the autonomous driving sensor to clean it, and at the same time remove foreign substances on the rotating lens cover through a fixed wiper to secure a clear view for autonomous driving control through maintaining a clear image Autonomy of a vehicle An object of the present invention is to provide a driving sensor cleaning system and method therefor.

According to one aspect of the present invention, an autonomous driving sensor cleaning system for a vehicle includes a sensor housing having an autonomous driving sensor for detecting surroundings through an opening; a washer fluid nozzle installed outside the opening; a fixed wiper installed on an inner circumferential surface of the opening; a lens cover rotatably installed by a rotating shaft in a state of being in contact with the fixed wiper inside the sensor housing; And when operating in the sensor cleaning mode, the washer fluid is sprayed on the lens cover through the washer fluid nozzle and at the same time, the lens cover is rotated around the rotational axis through an electric mechanism unit to control the fixed wiper to remove foreign substances from the lens cover. It includes; a control unit to do.

In addition, the opening may be bent toward the inside of the sensor housing to form an installation surface for the washer liquid nozzle and the fixed wiper.

In addition, the washer fluid nozzle may be fixedly mounted outside the installation surface of the opening and supply washer fluid from a washer fluid tank configured in the vehicle.

In addition, the fixed wiper may be fixedly mounted inside the installation surface of the opening.

In addition, the fixed wiper is made of a rubber material, and a blade having a triangular cross section for physically removing the foreign matter may be formed at an end contacting the lens cover.

In addition, the opening is composed of a quadrangular shape, the fixed wiper is installed along the longitudinal direction at the open top and bottom, respectively, and the outer circumferential surface of the lens cover configured in a cylindrical shape can be installed in close contact with the fixed wiper. .

In addition, the opening may be formed in a circular shape, a ring-shaped fixed wiper may be installed along the opened inner circumferential surface, and an outer circumferential surface of the ball-type lens cover may be installed in a state of being in close contact with the ring-shaped fixed wiper.

In addition, the electric mechanism unit is composed of a bi-directional step motor and can repeatedly rotate the lens cover in forward and reverse directions a predetermined number of times according to an angle set with respect to the exposed front surface.

In addition, the control unit may enter a manual sensor cleaning mode to spray the washer fluid nozzle and rotate the lens cover when an operation switch signal according to a driver's manipulation is input while the vehicle is running.

In addition, the operation switch may be a hardware control system installed near a driver's seat or a digital control system installed in a vehicle navigation system.

In addition, the control unit may control an individual sensor cleaning mode or an integrated sensor cleaning mode of autonomous driving sensors installed in at least one of the front, rear, left and right sides, and roof of the vehicle according to the driver's selection of an operation switch.

In addition, the control unit may check the sharpness of the image received from the self-driving sensor and, if it is below a set standard, enter an automatic sensor cleaning mode to spray the washer fluid nozzle and rotate the lens cover.

In addition, the controller may enter the automatic sensor cleaning mode when an object is detected at a fixed position in an image received while the vehicle is moving or object recognition is impossible due to a detection blind spot caused by a foreign substance.

On the other hand, according to one aspect of the present invention, a method for cleaning an autonomous driving sensor of a vehicle in which a washer fluid nozzle, a fixed wiper, and a rotatable lens cover are installed in an opening of a sensor housing in which an autonomous driving sensor is embedded, a) the driver's Determining whether an operating switch signal is input according to manipulation; b) manually entering a sensor cleaning mode when the operation switch signal is input; and c) when operating in the sensor cleaning mode, washer fluid is sprayed on the lens cover through the washer fluid nozzle, and at the same time, the lens cover is rotated around a rotational axis through a motorized mechanism unit to remove foreign matter deposited on the lens cover through the fixed wiper. Step of removing; may include.

In addition, the step b) includes determining whether the vehicle is stopped when the operation switch signal is input, entering the sensor cleaning mode when the vehicle is stopped, and restricting entry into the sensor cleaning mode when the vehicle is moving. can include more.

In addition, step c) may include repeatedly rotating the lens cover a predetermined number of times in forward and reverse directions according to an angle set with respect to the front surface exposed through the opening.

In addition, the step b) may include determining whether the sharpness of an image based on the sensing data received from the autonomous driving sensor is equal to or less than a reference value when the operation switch signal is not input; and if the sharpness is less than or equal to a reference value, entering an automatic sensor cleaning mode, spraying washer fluid through the washer fluid nozzle, and rotating the lens cover to remove foreign substances through the fixed wiper.

In addition, after the step c), d) determining whether a sensor cleaning condition is satisfied by calculating a current accumulated mileage when the vehicle is turned off; and e) entering an automatic sensor cleaning mode when the cumulative mileage satisfies the sensor cleaning condition, spraying washer fluid through the washer fluid nozzle, and rotating the lens cover to remove foreign substances through the fixed wiper. can include

In addition, the sensor cleaning condition is characterized in that it is set in units of a predetermined cumulative mileage from the previous sensor cleaning time point.

According to an embodiment of the present invention, according to an embodiment of the present invention, the lens cover of the autonomous driving sensor is washed by spraying washer fluid, and at the same time, foreign substances on the rotating lens cover are removed through a fixed wiper to secure the view of the sensor. This has the effect of maintaining optimal recognition performance.

In addition, the sharpness of the image detected through the autonomous driving sensor is checked, and if it falls below the standard value, it enters the automatic sensor cleaning mode to remove foreign substances from the lens cover to secure the field of vision and clarity of the sensor, and the foreign matter on the lens cover is hardened. that can be prevented

In addition, by automatically managing the sensor cleaning mode to periodically perform the sensor cleaning mode for each predetermined cumulative mileage after the end of vehicle operation, there is an effect of maintaining optimal conditions at all times without the driver's intervention and without deterioration in sensitivity due to external environmental factors.

1 is a conceptual diagram in which an autonomous driving sensor cleaning system is applied to a vehicle according to an embodiment of the present invention.
2 is a cross-sectional view along the line AA' showing the configuration of an autonomous driving sensor cleaning system according to an embodiment of the present invention.
3 shows a state in which the autonomous driving sensor cleaning system according to an embodiment of the present invention operates in a sensor cleaning mode.
4 shows a state in which foreign substances are removed through a sensor cleaning mode according to an embodiment of the present invention.
5 is a flowchart schematically illustrating a method for cleaning an autonomous driving sensor of a vehicle according to an embodiment of the present invention.
6 is a flowchart schematically illustrating a method for cleaning an autonomous driving sensor of a vehicle according to an additional embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated. In addition, terms such as “… unit”, “… unit”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. there is.

Throughout the specification, terms such as first, second, A, B, (a), (b), etc. may be used to describe various components, but the components should not be limited by the terms. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term.

Throughout the specification, when a component is referred to as being 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but there may be other components in the middle. It should be understood that it may be On the other hand, when a component is referred to as 'directly connected' or 'directly connected' to another component, it should be understood that no other component exists in the middle.

Throughout the specification, terms used are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

Throughout the specification, terms related to 'comprise', 'have', etc. are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features. It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless otherwise defined herein, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as consistent with the meaning in the context of the related art, and are not interpreted in an ideal or overly formal sense unless explicitly defined herein.

Now, an autonomous driving sensor cleaning system and method according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a conceptual diagram in which an autonomous driving sensor cleaning system is applied to a vehicle according to an embodiment of the present invention.

2 is a cross-sectional view along the line AA' showing the configuration of an autonomous driving sensor cleaning system according to an embodiment of the present invention.

1 and 2, the self-driving sensor cleaning system 100 according to an embodiment of the present invention includes a sensor housing 110 incorporating an autonomous driving sensor 10 that detects the surroundings through an opening 111, A washer fluid nozzle 120 installed outside the opening 111, a fixed wiper 130 installed on the inner circumferential surface of the opening 111, and a rotating shaft in contact with the fixed wiper 130 inside the sensor housing 110 When operating in the lens cover 140 rotatably installed by 141 and the sensor cleaning mode, the washer fluid is sprayed to the lens cover 140 through the washer fluid nozzle 120 and at the same time through the electric mechanism unit 150 A control unit 160 controls to rotate the lens cover 140 around the rotating shaft 141 to wipe and remove foreign substances with the fixed wiper 130 .

The autonomous driving sensor 10 may include at least one sensor of LIDAR, camera, radar, and laser, and is installed inside the lens cover 140 .

For example, the self-driving sensor 10 may recognize the surrounding situation based on LIDAR or mainly use a camera according to an application method of autonomous driving technology for each vehicle manufacturer. In addition, in the case of the LIDAR-based vehicle, autonomous driving may be assisted through at least one of a camera, a radar, and a laser. On the other hand, in the case of a camera-based vehicle, lidar may be omitted and autonomous driving may be assisted through at least one of radar and laser.

The self-driving sensor 10 may be installed at one or more of the front, rear, left and right sides, and the roof according to the design of the vehicle, and the self-driving sensor cleaning system 100 may be applied to each installed portion.

Hereinafter, in the embodiment of the present invention, for convenience of description, the autonomous driving sensor 10 is a lidar sensor and will be described assuming that it is installed in the front of the vehicle, but is not limited thereto.

The opening 111 is bent toward the inside of the sensor housing 110 to form an installation surface for the washer fluid nozzle 120 and the fixed wiper 130 .

The washer fluid nozzle 120 is fixedly mounted outside the installation surface of the opening 111 to spray washer fluid to the lens cover 140, and the washer fluid can be supplied from a washer fluid tank (not shown) configured in the vehicle. . Here, there is a limit to completely cleaning foreign substances only by spraying washer fluid on the lens cover 140 . In addition, there is a disadvantage in that the sharpness (sensitivity) of the image is reduced by forming or leaving water marks on the sprayed washer liquid lens cover 140.

Therefore, the present invention constitutes a rotary lens cover 140 and a fixed wiper 130, sprays washer fluid on the lens cover 140 of the autonomous driving sensor 10 to clean it, and at the same time removes foreign substances on the rotary lens cover 140. By removing it through the fixed wiper 130, it is possible to increase the sharpness of the image through securing a clear view.

The fixed wiper 130 is fixedly mounted inside the installation surface of the opening 111 .

The fixed wiper 130 is made of a rubber material and has a blade having a triangular cross-section for physically removing foreign substances at an end in contact with the lens cover 140 .

At this time, as shown in FIG. 1, when the opening 111 is formed in a quadrangular shape, a fixed wiper 130 is installed along the longitudinal direction in the open upper and lower parts, and the outer circumferential surface of the lens cover 140 configured in a cylindrical shape is It may be installed in a state of being in close contact with the fixed wiper 130 .

However, the embodiment of the present invention is not limited to this, and when the opening 111 is configured in a circular shape, a ring-shaped fixed wiper 130 is installed along the open inner circumferential surface, and a ball type lens cover 140 ) may be installed in a state in which the outer circumferential surface of the ring-shaped fixed wiper 130 is in close contact with each other.

Since the lens cover 140 is configured in a cylindrical or spherical shape and only a part of the outer circumferential surface is exposed through the opening 111, when severe contamination occurs on the currently exposed front surface, the reference rotational position is switched so that the other uncontaminated side is exposed. can do.

Therefore, the present invention has the effect of using one lens cover 140 as if several spare lens covers are configured, and through this, there is an advantage that the recognition performance of the lidar sensor 10 can be improved.

3 shows a state in which the autonomous driving sensor cleaning system according to an embodiment of the present invention operates in a sensor cleaning mode.

4 shows a state in which foreign substances are removed through a sensor cleaning mode according to an embodiment of the present invention.

Referring to FIGS. 3 and 4 , the electric motor unit 150 according to the embodiment of the present invention includes a power transmission means such as a speed reducer and is driven according to a control signal to rotate the lens cover 140 through the rotation shaft 141. let it

The electric mechanism unit 150 may repeatedly rotate the lens cover 140 in one direction a predetermined number of times through the rotation shaft 141 .

The electric mechanism unit 150 is composed of a bidirectional step motor (DC Motor) and repeats a certain number of times in the forward (clockwise) and reverse (counterclockwise) directions according to a predetermined angle set based on the front surface exposed to the lens cover 140. can be rotated

The controller 160 controls the overall operation of the autonomous driving sensor cleaning system 100 according to an embodiment of the present invention, and includes at least one program and data for the control. The control unit 160 may be configured as an electronic control unit (ECU) for controlling autonomous driving of the vehicle based on data collected from the autonomous driving sensor 10 during driving.

The control unit 160 may manually enter a sensor cleaning mode to spray the washer fluid nozzle 120 and rotate the lens cover 140 when a signal from the operation switch 161 according to the driver's operation is input while the vehicle is driving.

The operation switch 161 may be a hardware control system configured near a driver's seat, such as a center fascia or a steering wheel, or a digital control system configured in a vehicle navigation system.

Here, the controller 160 performs individual sensor cleaning mode or integrated sensor cleaning of the autonomous driving sensor cleaning system 100 installed in one or more of the front, rear, left and right sides, and roof of the vehicle according to the driver's selection of the operation switch 161. mode can be controlled.

In addition, the control unit 160 checks the sharpness of the data received from the autonomous driving sensor (LIDAR), and if it is below the set standard value, automatically enters the sensor cleaning mode, sprays the washer fluid nozzle 120, and cleans the lens cover 140. can be rotated

In addition, the control unit 160 automatically detects an object (foreign substance) at a fixed position (pixel) in the image of the data collected while the vehicle is moving or when it is impossible to recognize the object due to the occurrence of a blind spot due to the foreign substance, the sensor automatically After entering the cleaning mode, the washer fluid nozzle 120 may be sprayed and the lens cover 140 may be rotated.

The control unit may be implemented as one or more processors that operate according to a set program, and the set program may be programmed to perform each step of the vehicle autonomous driving sensor cleaning method according to an embodiment of the present invention.

A method for cleaning an autonomous driving sensor of a vehicle will be described in more detail with reference to the drawings below.

5 is a flowchart schematically illustrating a method for cleaning an autonomous driving sensor of a vehicle according to an embodiment of the present invention.

Referring to FIG. 5 , the control unit 160 according to an embodiment of the present invention collects driving information from various sensors in the vehicle when the vehicle is started and driven (S11).

The control unit 160 determines whether or not the vehicle is stopped based on the driving information when the operation switch 161 signal according to the driver's operation is input (S12; Yes), and if the vehicle is stopped (S3; Yes), the manual sensor It enters the cleaning mode (S16), sprays washer fluid through the washer fluid nozzle 120 (S17), and rotates the lens cover 140 to physically remove foreign substances (S18). At this time, the controller 160 may repeatedly rotate the lens cover 40 in forward and reverse directions a predetermined number of times according to an angle set with respect to the front surface exposed to the opening 111 . However, if the vehicle is moving (S3; No), the control unit 160 may limit entry into the sensor cleaning mode for safe driving since the sensor function may be deteriorated due to washer fluid spraying.

On the other hand, the control unit 160 collects sensing data from the autonomous driving sensor 10 (S14) when the operation switch 161 signal according to the driver's operation is not input (S12; No), and an image based on the sensing data It is determined whether the sharpness of is less than the standard value (S15).

At this time, the control unit 160 returns if the sharpness is greater than the reference value (S15; No), and if the sharpness is less than the reference value (S15; Yes), enters the automatic sensor cleaning mode (S16), and the washer fluid nozzle 120 Washer liquid is sprayed through (S17), and foreign substances are removed by rotating the lens cover 140 (S18).

In the above, the embodiments of the present invention have been described, but the present invention is not limited to the above embodiments, and various other additions/changes are possible.

For example, FIG. 6 is a flowchart schematically illustrating a method for cleaning an autonomous driving sensor of a vehicle according to a further embodiment of the present invention.

Referring to FIG. 6 , when the vehicle is turned off, the control unit 160 according to an additional embodiment of the present invention calculates the current accumulated mileage ( S21 ) and determines whether the sensor cleaning condition is satisfied ( S21 ). S23). The sensor cleaning condition may be set in units of a predetermined cumulative mileage, such as 50 km or 100 km from the previous sensor cleaning time point, for example.

At this time, if the cumulative mileage satisfies the sensor cleaning condition (S23; Yes), the controller 160 enters the automatic sensor cleaning mode (S24), sprays washer fluid through the washer fluid nozzle 120 (S25) , At the same time, the lens cover 140 is rotated to remove foreign substances (S26).

On the other hand, if the accumulated mileage does not satisfy the sensor cleaning condition (S23; No), the control unit 160 ends. The self-driving sensor cleaning logic according to this additional embodiment may be performed by temporarily delaying power cut-off or using remaining power when the ignition is turned off.

In this way, according to the embodiment of the present invention, the lens cover of the autonomous driving sensor is cleaned by spraying washer fluid, and at the same time, the foreign matter on the rotating lens cover is removed through a fixed wiper, thereby securing a clean sensor field of view. Optimum recognition performance has the effect of maintaining

In addition, the sharpness of the image detected through the autonomous driving sensor is checked, and if it falls below the standard value, it enters the automatic sensor cleaning mode to remove foreign substances from the lens cover to secure the field of vision and clarity of the sensor, and the foreign matter on the lens cover is hardened. that can be prevented

In addition, by automatically managing the sensor cleaning mode to periodically perform the sensor cleaning mode for each predetermined cumulative mileage after the end of vehicle operation, there is an effect of maintaining optimal conditions at all times without the driver's intervention and without deterioration in sensitivity due to external environmental factors.

Embodiments of the present invention are not implemented only through the devices and/or methods described above, and may be implemented through a program for realizing functions corresponding to the configuration of the embodiments of the present invention, a recording medium on which the program is recorded, and the like. Also, such an implementation can be easily implemented by an expert in the technical field to which the present invention belongs based on the description of the above-described embodiment.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also included in the scope of the present invention. that fall within the scope of the right.

10: autonomous driving sensor
100: autonomous driving sensor cleaning system
110: sensor housing
111: opening
120: washer fluid nozzle
130: fixed wiper
140: lens cover
161: axis of rotation
150: electric mechanism
160: control unit
161: operation switch

Claims (19)

A sensor housing with a built-in self-driving sensor that detects surroundings through an opening;
a washer fluid nozzle installed outside the opening;
a fixed wiper installed on an inner circumferential surface of the opening;
a lens cover rotatably installed by a rotating shaft in a state of being in contact with the fixed wiper inside the sensor housing; and
When operating in the sensor cleaning mode, the washer fluid is sprayed on the lens cover through the washer fluid nozzle and at the same time the lens cover is rotated around the rotation axis through the electric mechanism unit to control the fixed wiper to remove foreign substances on the lens cover Including; control unit;
The controller manually enters the sensor cleaning mode when an operation switch signal according to the driver's operation is input while the vehicle is running, sprays the washer fluid nozzle, and rotates the lens cover. Self-driving sensor cleaning system for vehicles that restrict entry. According to claim 1,
the opening is
An autonomous driving sensor cleaning system for a vehicle that is bent toward the inside of the sensor housing to form an installation surface for the washer fluid nozzle and the fixed wiper. According to claim 2,
The washer fluid nozzle
An autonomous driving sensor cleaning system of a vehicle that is fixedly mounted outside the installation surface of the opening and supplies washer fluid from a washer fluid tank configured in the vehicle. According to claim 3,
The fixed wiper
An autonomous driving sensor cleaning system of a vehicle fixedly mounted on the inside of the installation surface of the opening. According to claim 1,
The fixed wiper
An autonomous driving sensor cleaning system for a vehicle that is made of rubber and has a blade having a triangular cross-section for physically removing the foreign matter at an end in contact with the lens cover. According to claim 1,
the opening is
Consisting of a quadrangle, the fixed wiper is installed along the longitudinal direction at the open top and bottom, respectively, and the outer circumferential surface of the lens cover configured in a cylindrical shape is installed in close contact with the fixed wiper Autonomous driving sensor cleaning system of a vehicle . According to claim 1,
the opening is
It is composed of a circular shape, a ring-shaped fixed wiper is installed along the open inner circumferential surface, and an autonomous driving sensor cleaning system of a vehicle in which the outer circumferential surface of the ball type lens cover is installed in close contact with the ring-shaped fixed wiper. According to claim 1,
The electric mechanism part
An autonomous driving sensor cleaning system of a vehicle composed of a bi-directional step motor and repeatedly rotating the lens cover in forward and reverse directions a predetermined number of times according to a set angle based on an exposed front surface. delete According to claim 1,
The operating switch
Autonomous driving sensor cleaning system of a vehicle composed of a hardware control system near the driver's seat or a digital control system composed of vehicle navigation. According to claim 1,
The control unit
An autonomous driving sensor cleaning system of a vehicle that controls an individual sensor cleaning mode or an integrated sensor cleaning mode of autonomous driving sensors installed in one or more of the front, rear, left and right sides, and roof of the vehicle according to the driver's operation switch selection. According to claim 1,
The control unit
An autonomous driving sensor cleaning system for a vehicle that checks the sharpness of the image received from the autonomous driving sensor and, if it is below a set standard, enters an automatic sensor cleaning mode to spray the washer fluid nozzle and rotate the lens cover. According to claim 12,
The control unit
An autonomous driving sensor cleaning system for a vehicle that enters the automatic sensor cleaning mode when an object is detected at a fixed position in the image received while the vehicle is moving or object recognition is impossible due to a detection blind spot caused by a foreign substance. In the autonomous driving sensor cleaning method of a vehicle in which a washer fluid nozzle, a fixed wiper and a rotatable lens cover are installed in an opening of a sensor housing in which an autonomous driving sensor is built,
a) determining whether an operating switch signal is input according to a driver's manipulation while the vehicle is in operation;
b) manually entering a sensor cleaning mode when the operation switch signal is input; and
c) When operating in the sensor cleaning mode, the washer fluid is sprayed on the lens cover through the washer fluid nozzle, and at the same time, the lens cover is rotated around the rotational axis through the electric mechanism to remove foreign matter on the lens cover through the fixed wiper. Including; removing;
The step b) further includes determining whether the vehicle is stopped when the operation switch signal is input, entering the sensor cleaning mode when the vehicle is stopped, and restricting entry into the sensor cleaning mode when the vehicle is moving. A method for cleaning the autonomous driving sensor of a vehicle.
delete delete delete delete delete

Images