KR20220019539A - Pollution detecting device for vehicle and pollution detecting method using the same - Google Patents

Abstract

The present invention relates to a contamination detection apparatus and a contamination detection method using the same, wherein the contamination detection apparatus comprises: a sensor which provides detection information for generating an image composed of a dot or a pixel by detecting an object of an outside of a vehicle; and a contamination determination unit which determines whether the sensor is contaminated based on the image of a driving road according to the detection information and provides the determination result as a contamination determination result to a cleaning device. The contamination detection apparatus determines whether a variety of sensors are contaminated.

Description

Pollution detection device and contamination detection method using the same

The present invention relates to a pollution detection apparatus for determining whether a sensor disposed in a vehicle is contaminated, and a pollution detection method using the same.

As technology is advanced, various sensors and electronic devices are also provided in vehicles for the convenience of users.

In particular, research and development of advanced driver assistance systems (ADAS) and autonomous vehicles are being actively conducted for user's driving convenience.

Advanced driver assistance systems and autonomous vehicles inevitably include a large number of sensors and electronic devices to detect objects outside the vehicle.

Accordingly, the detection result of the sensor for detecting an object outside the vehicle must have high reliability for safe driving of the vehicle.

However, if the cover for protecting the sensor is contaminated, the reliability of the detection result of the sensor is inevitably deteriorated.

After all, since the pollution of the sensor is directly related to the safety of the vehicle, it is necessary to develop a technology for determining whether the sensor is contaminated.

An embodiment of the present invention is to provide a pollution detection apparatus capable of determining whether various sensors are contaminated, and a pollution detection method using the same.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

A pollution detection apparatus according to an embodiment of the present invention includes a sensor that detects an object outside a vehicle and provides detection information capable of generating an image composed of dots or pixels, and based on the image of a driving road according to the detection information It may include a contamination determination unit that determines whether the sensor is contaminated, and provides the determination result to the cleaning apparatus as a pollution determination result.

A pollution detection apparatus according to another embodiment of the present invention provides detection information capable of generating an image composed of dots or pixels by detecting an object existing in a detection area outside a vehicle, and detecting the detection according to the speed of the vehicle. A sensor for changing an area, and a pollution determination unit that determines whether the sensor is contaminated based on the image of the driving road according to the detection information and the speed of the vehicle, and provides the determination result to the washing device as a pollution determination result can

Pollution detection method according to another embodiment of the present invention, the sensing result receiving step of receiving sensing information of a sensor capable of generating an image composed of pixels or dots among sensors disposed in a vehicle, the sensing result receiving step An extraction step of extracting information corresponding to a preset area among the detection information received from the sensor, a comparison step of comparing the information extracted in the extraction step with a reference value, and contamination according to the comparison result of the comparison step It may include a contamination determination step of determining and transmitting a contamination determination result to the washing device.

The present technology has an advantage in that it is possible to determine whether various sensors disposed in the vehicle are contaminated, thereby improving the safety of vehicle driving.

In addition, various effects directly or indirectly identified through this document may be provided.

1 is a diagram showing the configuration of a pollution detection device according to an embodiment of the present invention.
2 is a diagram illustrating a detection range and a position of a sensor constituting a pollution detection device according to an embodiment of the present invention.
3 is a diagram illustrating a detection angle and a detection distance of a sensor constituting a pollution detection apparatus according to an embodiment of the present invention.
4 and 5 are diagrams illustrating detection results of sensors constituting a pollution detection apparatus according to an embodiment of the present invention.
6 is a graph for explaining an operation of determining whether contamination is present according to a detection result of a sensor constituting the contamination detection apparatus according to an embodiment of the present invention.
7 is a flowchart illustrating a pollution detection method using a pollution detection apparatus according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. In addition, unless otherwise defined, 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 a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 7 .

1 is a diagram showing the configuration of a pollution detection device according to an embodiment of the present invention.

Referring to FIG. 1 , the pollution determination unit 20 according to an embodiment of the present invention may be implemented inside a vehicle. In this case, the pollution determination unit 20 may be integrally formed with the vehicle's internal control units, or may be implemented as a separate device and connected to the vehicle's control units by a separate connection means.

Referring to FIG. 1 , an apparatus for detecting contamination according to an embodiment of the present invention may include a sensor 10 and a contamination determining unit 20 .

In this case, the contamination determination result DD provided by the contamination determination unit 20 may be provided to the cleaning device 30 for cleaning the sensor 10 .

The sensor 10 may include a configuration for detecting an object existing outside the vehicle.

For example, the sensor 10 may be one of an infrared camera, an optical camera, lidar, and radar.

An optical camera is a sensor for recognizing objects, lights, and people around the car by acquiring an external image of the car through light. , nighttime, backlight, snow, rain, fog, etc. have the disadvantage of being greatly affected by environmental factors.

Radar is a sensor for detecting an object through electromagnetic waves, detecting the position of the detected object, the distance to the detected object, and the relative speed. It is not affected by environmental factors such as nighttime, snow, rain, and fog. Although there is an advantage of being able to detect long-distance without the use of electromagnetic waves, there is a disadvantage in that it is difficult to detect an object made of a material that absorbs electromagnetic waves, for example, a steel structure such as a tunnel or a guardrail, and it is difficult to classify the object.

Lidar is a sensor for detecting an object through laser light, detecting the position of the detected object, the distance to the detected object, and the relative speed. It is effective for long-distance and short-range detection because it has a good resolution and has the advantage of being able to perform simple classification of objects, but it has the disadvantage of not being able to measure the speed of the object immediately.

An infrared camera is a sensor capable of acquiring an external image of a vehicle through infrared rays, and in particular, it can acquire an external image of a vehicle even at night. Infrared cameras have the apex of long-distance detection and distinguishing between living things and objects without being affected by environmental factors such as nighttime, snow, rain, and fog, but they have the disadvantage of being expensive.

The sensor 10 configured in the pollution detection device according to the embodiment of the present invention will be described by taking the lidar as an example among an optical camera, an infrared camera, a radar, and a lidar, and is not limited thereto.

The sensor 10 may generate detection information PCD by emitting laser light to a detection area and receiving laser light reflected from an object.

In this case, the sensor 10 may provide the detection information PCD to the contamination determination unit 20 .

The contamination determination unit 20 may determine whether the sensor 10 is contaminated based on the detection information PCD, and provide the determination result to the washing apparatus 30 as the contamination determination result DD.

For example, the contamination determining unit 20 determines whether contamination is present in a preset region (eg, a lower region) among the detection regions of the sensor 10 , that is, based on the detection information PCD for the image of the driving road. can do.

More specifically, if the number of pixels or dots constituting the image of the driving road in the detection area of the sensor 10 is less than a reference value for determining the pollution, the pollution determination unit 20 detects the pollution. It can be judged that

On the other hand, the pollution determination unit 20 may determine that the sensor 10 is not contaminated if the number of pixels or dots constituting the image of the driving road in the detection area of the sensor 10 is greater than a reference value for determining the pollution. there is.

In addition, the pollution determination unit 20 may vary a numerical value serving as a reference for determining pollution according to the speed of the vehicle. Hereinafter, a numerical value serving as a standard for contamination determination is referred to as a reference value.

The contamination determination unit 20 may include an extraction unit 21 , a counting unit 22 , a storage unit 23 , a reference selection unit 24 , and a comparison unit 25 .

The extraction unit 21 generates extraction information E_d by extracting information on a preset area of the detection area from among the detection information PCD provided from the sensor 10 , and counts the extraction information E_d by the counting unit 22 . ) can be provided.

For example, the extraction unit 21 may extract information on a driving road from among the detection information PCD to generate extraction information E_d, and provide the extraction information E_d to the counting unit 22 .

In more detail, since the image composed of points represented by the laser light received at a predetermined angle or less can be determined as an image for the driving road, the extraction unit 21 detects the laser beam reflected by the sensor 10 from the object. It may be configured to generate the extraction information E_d by extracting the received laser light at a predetermined angle or less among the lights. In this case, the extraction information E_d may be provided to the counting unit 22 .

The counting unit 22 counts the number of pixels or dots forming the image of the driving road based on the extraction information E_d provided by the extraction unit 21, and provides the counting result as counting information C_d. there is.

The storage unit 23 may store numerical values serving as standards for contamination determination according to the vehicle speed VS, and provide the stored numerical values R<0:n> to the reference selection unit 24 .

In this case, each of the numerical values serving as a reference for contamination determination stored in the storage unit 23 may be a value that decreases as the vehicle speed VS increases. On the other hand, each of the numerical values used as a reference for contamination determination stored in the storage unit 23 may be a value that increases when the speed of the vehicle decreases.

The reference selection unit 24 selects one (R<i>) of the stored values (R<0:n) provided from the storage unit 23 based on the vehicle speed VS, and the selected value R <i>) may be provided to the comparison unit 25 as the reference value R_s.

Therefore, the storage unit 23 and the reference selection unit 24 may provide the comparison unit 25 with the reference value R_s having a value that varies according to the speed VS of the vehicle.

Accordingly, the storage unit 23 and the reference selection unit 24 provide the comparison unit 25 with the reference value R_s having a smaller value as the vehicle speed VS increases, and the vehicle speed VS increases. As it decreases, the reference value R_s having a larger value may be provided to the comparator 25 .

The comparison unit 25 receives the counting information C_d from the counting unit 22 and the reference time R_s from the reference selection unit 24 , and transmits the contamination determination result DD to the washing device 30 . can provide

For example, the comparison unit 25 may generate the pollution determination result DD by comparing the number of pixels or dots forming the image of the driving road included in the counting information C_d with the reference value R_s. .

In more detail, the comparison unit 25 determines that the sensor 10 is not contaminated when the number of pixels or dots forming the image of the driving road included in the counting information C_d is higher than the reference value R_s. (DD) can be created.

On the other hand, if the number of pixels or dots forming the image of the driving road included in the counting information C_d is lower than the reference value R_s, the comparison unit 25 determines that the sensor 10 is contaminated. can create

The washing apparatus 30 may wash the sensor 10 when the contamination determination result DD determined to be contaminated is provided.

2 is a diagram illustrating a detection range of a sensor and a position of a sensor constituting a pollution detection apparatus according to an embodiment of the present invention.

Referring to FIG. 2 , the sensor 10 constituting the pollution detection apparatus according to the embodiment of the present invention may be disposed in front of the vehicle to detect an object located in front of the vehicle, or located at the rear of the vehicle. It may be disposed at the rear of the vehicle to detect an object, or may be disposed at both the front and rear of the vehicle to detect objects existing in the front and rear of the vehicle.

In addition, as shown in FIG. 2 , the sensor 10 constituting the pollution detection device according to the embodiment of the present invention may be disposed at the front or rear of the vehicle or at the lower portion of the front and rear.

3 is a diagram illustrating a detection angle and a detection distance of a sensor that constructs a pollution detection device according to an embodiment of the present invention.

Referring to FIG. 3 , the sensor 10, for example, LIDAR may be disposed in the vehicle to be spaced apart from the ground by a predetermined distance.

For example, LIDAR may be disposed under the vehicle having a height of 0.36 meters (m) from the ground.

In addition, the detection angle of the LIDAR may vary according to the detection distance.

At this time, the sensor 10 constituting the pollution detection device according to the embodiment of the present invention, for example, the LIDAR decreases the detection angle D; By increasing the detection angle (D; Degree) and emitting the laser light over a wide area, the detection range can be reduced and the detection area can be widened.

In order to detect objects at a greater distance as the vehicle speed increases, LIDAR can decrease the detection angle D, and as the vehicle speed decreases, it detects objects in a wider detection area. It is possible to increase the detection angle (D).

When the detection angle D of the LIDAR decreases, the laser light emitted to the driving road (ground) decreases, and when the detection angle D of the LIDAR increases, the driving road (ground) ), the emitted laser light may increase.

Accordingly, when the detection angle D is decreased due to an increase in the vehicle speed, the detection information PCD provided from the LIDAR may include less information (points, points) on the image of the driving road.

On the other hand, when the detection angle D is increased due to a decrease in the vehicle speed, the detection information PCD provided from the LIDAR may include a lot of information on the image of the driving road.

A pollution detection apparatus and a pollution detection method using the same according to an embodiment of the present invention include detection information (PCD) for a detection area provided from the sensor 10 (eg, lidar), that is, the detection information (PCD) of the driving road in the image in which the dots are clustered. Based on the number of dots constituting the image, it is possible to determine whether the sensor is contaminated.

In addition, since the number of points constituting the image of the driving road varies according to the vehicle speed in the detection information PCD provided from the sensor 10 , the pollution detection apparatus and the pollution detection method using the same according to an embodiment of the present invention By comparing the detection information PCD provided from the sensor 10 with the reference value R_s that varies according to the vehicle speed, the accuracy of contamination determination may be improved.

4 and 5 are diagrams illustrating detection results of sensors constituting the pollution detection apparatus according to an embodiment of the present invention.

Referring to FIG. 4 , the detection information PCD of the sensor 10 may be converted into a three-dimensional image.

4A may be a region in which an object is detected, and B may be a driving road (ground).

When the sensor 10 is uncontaminated (Clean), areas A and B display an image composed of clear dots, but when the sensor 10 is dirty (Dirt), areas A and B are clearer than when the sensor 10 is uncontaminated (Clean). An image consisting of dots that are not present may appear.

In particular, when the sensor 10 is contaminated (Dirt), it can be seen that the number of dots included in the image in the C region among the B regions is much smaller than the number of dots in the image displayed from the uncontaminated sensor 10. can

Referring to FIG. 5 , the detection information PCD of the sensor 100 may be converted into a two-dimensional image.

When the sensor 10 is not polluted (Clean), it can be seen that the number of dots in the image composed of dots is greater than when the sensor 10 is polluted (Dirt). In particular, when the sensor 10 is polluted (Dirt) ), an image made of dots is not detected in the D region.

Therefore, the pollution detection apparatus and the pollution detection method using the same according to an embodiment of the present invention count the number of points constituting the image of the driving road based on the detection information PCD provided from the sensor 10, and the counting result Accordingly, it is possible to determine whether the sensor 10 is contaminated.

In addition, in the pollution detection apparatus and the pollution detection method using the same according to the embodiment of the present invention, the size of the area for the image of the driving road according to the detection information (PCD) provided from the sensor 10 varies according to the speed of the vehicle, A reference value for determining whether the sensor 10 is contaminated may be varied according to the speed of the vehicle.

The operation of the pollution detection apparatus according to the embodiment of the present invention configured as described above will be described with reference to FIGS. 1 to 6 .

Referring to FIG. 1 , the pollution detection apparatus according to an embodiment of the present invention includes a sensor 10 and a pollution determination unit 20 , and the pollution determination unit 20 includes an extraction unit 21 and a counting unit 22 . , a storage unit 23 , a reference selection unit 24 , and a comparison unit 25 .

The sensor 10 may include, for example, a LIDAR having the characteristics (detection range and detection angle) shown in FIG. 3 .

The sensor 10 may emit laser light to the detection area and generate detection information PCD based on the laser light reflected from the object and received.

In this case, the detection information PCD may be data in a point cloud data format, and the detection information PCD may indicate an image in which each laser light reflected from an object is represented by one dot.

The contamination determination unit 20 may receive the detection information PCD from the sensor 10 and determine whether the sensor 10 is contaminated based on the detection information PCD.

For example, if the number of dots representing the image of the driving road included in the detection information PCD is less than the reference value R_s, the pollution determination unit 20 determines that the sensor 10 is contaminated with a pollution determination result DD) can create

On the other hand, the pollution determination unit 20 generates a pollution determination result DD indicating that the sensor 10 is not contaminated when the number of dots representing the image of the driving road included in the detection information PCD is greater than the reference value R_s. can do.

The operation of the contamination determination unit 20 will be described in more detail as follows.

As described above, the contamination determination unit 20 may include an extraction unit 21 , a counting unit 22 , a storage unit 23 , a reference selection unit 24 , and a comparison unit 25 .

The extractor 21 may provide information representing an image of a driving road included in the detection information PCD provided from the sensor 10 as the extracted information E_d to the counting unit 22 .

The counting unit 22 generates counting information C_d by counting the number of points representing the image of the driving road included in the extraction information E_d, and provides the generated counting information C_d to the comparison unit 25 can do.

The storage unit 23 may store numerical values serving as standards for contamination determination according to the vehicle speed VS, and provide the stored numerical values R<0:n> to the reference selection unit 24 .

The reference selection unit 24 selects one (R<i>) of the stored values (R<0:n) provided from the storage unit 23 based on the vehicle speed VS, and the selected value R <i>) may be provided to the comparison unit 25 as the reference value R_s.

The comparator 25 compares the counting information C_d with the reference value R_s to determine whether the sensor 10 is contaminated, and provides the determination result to the cleaning device 30 as a pollution determination result DD. there is.

For example, the comparator 25 may determine that the sensor 10 is not contaminated when the number of points constituting the image of the driving road included in the counting information C_d is greater than the reference value R_s.

Meanwhile, the comparator 25 may determine that the sensor 10 is contaminated when the number of points constituting the image of the driving road included in the counting information C_d is smaller than the reference value R_s.

6 is a graph for explaining an operation of determining whether contamination is present according to a detection result of a sensor constituting the contamination detection apparatus according to an embodiment of the present invention.

The vertical axis of the graph shown in FIG. 6 may be the number of points (# of Point below specific angle) for the laser light received by the sensor at a predetermined angle or less, and the horizontal axis may be the number of frames.

6 shows the number of points representing the image of the driving road provided by the sensor disposed on the left side of the sensor 10 respectively on the left and right sides of the vehicle as bleft, and the driving road provided by the sensor disposed on the right side. It may be a graph showing the number of dots representing the image of .

Referring to A of FIG. 6 , it can be seen that the number of dots representing the image of the driving road provided by the sensors disposed on the left and right sides of the vehicle suddenly decreases.

This may mean that contamination of sensors disposed on the left and right sides of the vehicle has occurred.

B indicates that the sensor disposed on the left side of the vehicle is contaminated, and C indicates that the sensor disposed on the right side of the vehicle is contaminated.

Accordingly, the pollution detection apparatus according to an embodiment of the present invention may determine whether the sensor is contaminated by the number of pixels or dots representing the image of the driving road among the information provided from the sensor.

7 is a flowchart illustrating a pollution detection method using a pollution detection apparatus according to an embodiment of the present invention.

Referring to FIG. 7 , a method for detecting pollution according to an embodiment of the present invention will be described as follows.

Referring to FIG. 7 , the contamination detection method according to an embodiment of the present invention includes a sensing result receiving step (S1), an extraction step (S2), a comparison step (S3), a contamination determination step (S4), and a washing step (S5). may include

The sensing result receiving step S1 may include receiving a sensing result, ie, detection information PCD, of a sensor capable of generating an image composed of pixels or dots among sensors disposed in the vehicle.

The extraction step S2 may include extracting detection information corresponding to a preset area from among the detection information PCD received from the sensor in the sensing result receiving step S1 .

For example, the extraction step ( S2 ) may include extracting detection information about a preset area, ie, an image of a driving road, from among the detection information received from the sensor.

In more detail, the extraction step (S2) may be a step of extracting the detection information detected at a predetermined angle or less from among the detection information received from the sensor.

The comparison step (S3) may include comparing the information (sensed information) extracted in the extraction step (S2) with a reference value.

For example, the comparison step S3 may include counting the number of points or pixels included in the detection information extracted in the extraction step S2 , and comparing the counted value with a reference value.

In this case, the reference value may be changed according to the speed of the vehicle.

If the number of points or pixels included in the information extracted in the comparison step (S3) is greater than the reference value (No), it can be determined that the sensor is not contaminated, thereby ending the pollution detection method according to the embodiment of the present invention. can

On the other hand, if the number of dots or pixels included in the information extracted in the comparison step S3 is less than the reference value (Yes), the sensor contamination determination step S4 may be performed.

The sensor contamination determination step S4 is performed when the information extracted in the comparison step S3 is less than the reference value, and may include a step of transmitting information that the sensor is contaminated to the washing device.

The sensor cleaning step ( S5 ) may include, when it is determined that the sensor is contaminated, the cleaning device performing a cleaning operation to remove the pollution of the sensor.

A pollution detection apparatus and a pollution detection method using the same according to an embodiment of the present invention count the number of points or pixels constituting an image of a driving road by using a sensor capable of representing an image in dots or pixels, and counting result and reference By comparing the numerical values, it is possible to determine whether the sensor is contaminated.

Therefore, the pollution detection apparatus and the pollution detection method according to the embodiment of the present invention can determine whether the sensor is contaminated with a relatively simple configuration and algorithm, thereby improving the safety of ADAS and autonomous driving.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (15)

a sensor that detects an object outside the vehicle and provides detection information capable of generating an image composed of dots or pixels; and
a pollution determination unit that determines whether the sensor is contaminated based on the image of the driving road according to the detection information, and provides the determination result as a pollution determination result to the washing device;
Contamination detection device comprising a.
The method according to claim 1,
The contamination determination unit,
Pollution detection apparatus, characterized in that it is determined whether the sensor is contaminated by extracting information on the image of the driving road from the detection information, and comparing the number of dots or pixels included in the extracted information with a reference value.
3. The method according to claim 2,
The contamination determination unit,
an extraction unit for extracting information on the image of the driving road from the detection information to generate extraction information;
A counting unit for generating counting information by counting the number of dots or pixels included in the extracted information, and
and a comparator configured to compare the counting information with the reference value to generate the contamination determination result.
4. The method according to claim 3,
The comparison unit,
Pollution detection device, characterized in that when the number of dots or pixels constituting the image of the driving road included in the counting information is less than the reference value, generating the contamination determination result indicating that the sensor is contaminated.
a sensor that detects an object existing in a detection area outside the vehicle, provides detection information capable of generating an image composed of dots or pixels, and varies the detection area according to the speed of the vehicle; and
a pollution determination unit that determines whether the sensor is contaminated based on the image of the driving road according to the detection information and the speed of the vehicle, and provides the determination result as a pollution determination result to the washing device;
Contamination detection device comprising a.
6. The method of claim 5,
The sensor is
When the speed of the vehicle increases, the detection information is generated by detecting the object in the detection area where the detection distance is increased and the detection angle is decreased,
When the speed of the vehicle decreases, the detection information is generated by detecting the object in the detection area in which the detection distance is decreased and the detection angle is increased.
6. The method of claim 5,
The contamination determination unit,
extracting information on the image of the driving road from the detection information, and comparing the number of dots or pixels included in the extracted information with a reference value to determine whether the sensor is contaminated;
Pollution detection device, characterized in that the reference value is varied according to the speed of the vehicle.
8. The method of claim 7,
The contamination determination unit,
an extraction unit for extracting information on the image of the driving road from the detection information to generate extraction information;
A counting unit for generating counting information by counting the number of dots or pixels included in the extracted information;
a storage unit that stores numerical values as a criterion for contamination determination according to the speed of the vehicle and provides the stored values;
a reference selection unit that selects one of the stored values provided from the storage unit according to the speed of the vehicle and provides the selected value as the reference value; and
and a comparator configured to compare the counting information with the reference value to generate the contamination determination result.
9. The method of claim 8,
The comparison unit,
Pollution detection device, characterized in that when the number of dots or pixels constituting the image of the driving road included in the counting information is less than the reference value, generating the contamination determination result indicating that the sensor is contaminated.
A sensing result receiving step of receiving sensing information of a sensor capable of generating an image composed of pixels or dots among sensors disposed in the vehicle;
an extraction step of extracting information corresponding to a preset area from among the detection information received from the sensor in the sensing result receiving step;
a comparison step of comparing the information extracted in the extraction step with a reference value; and
a contamination determination step of determining contamination according to the comparison result of the comparison step, and transmitting the contamination determination result to a washing device;
Contamination detection method comprising a.
11. The method of claim 10,
The extraction step is
and extracting information on an image of a driving road from among the detection information received from the sensor in the sensing result receiving step.
11. The method of claim 10,
The extraction step is
Pollution detection method, characterized in that extracting information detected at a predetermined angle or less from among the detection information received from the sensor in the sensing result receiving step.
12. The method of claim 11,
The comparison step is
counting the number of dots or pixels included in the image of the driving road included in the information extracted in the extraction step; and
Pollution detection method comprising the step of comparing the counting result of the counting with the reference value.
13. The method of claim 12,
The comparison step is
counting the number of points or pixels included in the information sensed at or below the preset angle in the extraction step; and
Pollution detection method comprising the step of comparing the counting result of the counting with the reference value.
11. The method of claim 10,
The contamination determination step is
Pollution detection method, characterized in that the contamination is determined based on the comparison result that the number of dots or pixels included in the extracted information in the comparison step is less than the reference value.

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