WO2025035303A1 - 车辆及清洗控制方法、可读存储介质、控制系统 - Google Patents

车辆及清洗控制方法、可读存储介质、控制系统 Download PDF

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Publication number
WO2025035303A1
WO2025035303A1 PCT/CN2023/112703 CN2023112703W WO2025035303A1 WO 2025035303 A1 WO2025035303 A1 WO 2025035303A1 CN 2023112703 W CN2023112703 W CN 2023112703W WO 2025035303 A1 WO2025035303 A1 WO 2025035303A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
cleaning
vehicle
image
washing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2023/112703
Other languages
English (en)
French (fr)
Inventor
赵小南
周锦波
毛韵
苟涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Geely Holding Group Co Ltd
Zhejiang Zeekr Intelligent Technology Co Ltd
Original Assignee
Zhejiang Geely Holding Group Co Ltd
Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Geely Holding Group Co Ltd, Zhejiang Zeekr Intelligent Technology Co Ltd filed Critical Zhejiang Geely Holding Group Co Ltd
Priority to PCT/CN2023/112703 priority Critical patent/WO2025035303A1/zh
Priority to CN202380098435.1A priority patent/CN121152740A/zh
Priority to EP23948738.2A priority patent/EP4725776A1/en
Publication of WO2025035303A1 publication Critical patent/WO2025035303A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/46—Cleaning windscreens, windows or optical devices using liquid; Windscreen washers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/54—Cleaning windscreens, windows or optical devices using gas, e.g. hot air
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
    • B60S1/60—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens for signalling devices, e.g. reflectors

Definitions

  • the present application relates to the field of vehicle automatic driving and cleaning technology, and in particular to a vehicle and cleaning control method, a readable storage medium, and a control system.
  • one of the objects of the present invention is to provide a vehicle and a cleaning control method, a readable storage medium, and a control system.
  • a vehicle cleaning control method comprising:
  • the definition of the first image is less than a set standard definition, controlling the cleaning system to clean the camera;
  • the cleaning system is controlled to clean the camera again.
  • the vehicle includes a windshield
  • the cleaning control method further includes:
  • the cleaning system is controlled to clean the windshield again.
  • controlling the cleaning system to clean the camera includes:
  • the cleaning system is controlled to clean the camera.
  • the cleaning control method includes:
  • the air cooling system is controlled to dry again.
  • the cleaning control method includes:
  • the air cooling system is controlled to dry the camera again.
  • controlling the air cooling system to dry the camera again includes:
  • the air cooling system is controlled to dry the camera again for the drying time.
  • the air cooling system dries the camera, including:
  • the air cooling system is controlled to dry the camera for the total drying time.
  • controlling the cleaning system to clean the vehicle includes:
  • the environmental information including the number of oncoming vehicles, the number of pedestrians, and road parking signs;
  • the vehicle controlling the vehicle to automatically drive to a road section that satisfies the parking condition, wherein the parking condition is that the number of oncoming vehicles is less than a set number of oncoming vehicles, the number of pedestrians is less than a set number of pedestrians, and the road parking indication sign is a set sign that allows parking;
  • the cleaning system is controlled to clean the vehicle.
  • the cleaning system includes a cleaning switch
  • the cleaning control method further includes:
  • the cleaning switch is pressed for a set pressing time to control the cleaning system to perform cleaning work
  • the cleaning system is controlled to stop the cleaning work.
  • the present application provides a readable storage medium on which a program is stored.
  • the program is executed by a processor, the above-mentioned cleaning control method is implemented.
  • the present application provides a control system, including one or more processors, for executing the above-mentioned cleaning control method.
  • the present application provides a vehicle, comprising a windshield, a cleaning system, an air cooling system, a camera and the above-mentioned control system, wherein the control system is electrically connected to the cleaning system, the air cooling system and the camera.
  • the cleaning system includes a plurality of washing containers, a fluid leveling member and a water pump, wherein the water pump is disposed in the washing container and is electrically connected to the control system and is used to pump out washing liquid from the interior of the washing container, and the fluid leveling member is disposed between the plurality of washing containers and is used to connect the plurality of washing containers. The pressure of the plurality of washing containers is kept balanced.
  • the vehicle includes a body, the length of the washing container is greater than one quarter of the width of the body, the multiple washing containers include a first container and a second container, and the first container and the second container are respectively arranged on the left and right sides of the front of the body.
  • the camera includes a first camera, a second camera and a third camera, the first camera and the second camera are arranged on the left and right sides of the front of the vehicle body corresponding to the first container and the second container, and the third camera is arranged on the top of the vehicle body.
  • the camera also includes a fourth camera and a fifth camera, and the fourth camera and the fifth camera are arranged on the left and right sides of the rear part of the vehicle body.
  • the vehicle includes a body
  • the cleaning system also includes a water pipe, one end of the water pipe is connected to the water pump, and the other end of the water pipe extends along the inner wall of the body to the camera, for spraying the cleaning liquid inside the washing container toward the camera for cleaning.
  • the vehicle includes a body and a windshield
  • the washing system also includes a water pipe, one end of which is connected to the water pump, and the other end of which extends along the inner wall of the body to the windshield, for spraying the washing liquid inside the washing container to the windshield for washing.
  • the washing container includes a container body and a plurality of silencers, wherein the plurality of silencers are arranged on the inner side wall of the container body, and the silencers are wavy or honeycomb-shaped.
  • the washing container includes a container body and a filling device, wherein the filling device is assembled to the outer wall of the container body and communicated with the interior of the container body, and is used to fill the interior of the container body with washing liquid.
  • the filling device includes a circulation tube and a filling cover, wherein the circulation tube is connected to the interior of the container body, and the filling cover is movably installed at one end of the circulation tube away from the interior of the container body, and the filling cover can be opened relative to the circulation tube.
  • the cleaning system further comprises a liquid level sensor, which is disposed inside the plurality of washing containers and is used to detect the volume of washing liquid in the washing containers.
  • the vehicle includes a body and an air cooling device for an air conditioner
  • the air cooling system includes an air pipe, one end of the air pipe is connected to the air cooling device, and the other end of the air pipe extends along the body to the camera for blowing and drying the multiple cameras.
  • the cameras include a first camera, a second camera, a fourth camera and a fifth camera around the vehicle body, and a third camera on the top of the vehicle body
  • the cleaning system includes a water pipe, and the air pipe and the water pipe are extended in the same direction along the inner walls around the vehicle body, and the air pipe and the water pipe are extended along the top of the vehicle body and are arranged on both sides of the third camera.
  • the present application provides a cleaning control method, which acquires a first image, and when the clarity of the first image is less than a set standard clarity, controls the cleaning system to clean the camera, which is beneficial to improving the accuracy of the vehicle in identifying its own cleanliness, and is beneficial to improving the efficiency of vehicle cleaning.
  • the camera is controlled to acquire a second image, and when the clarity of the second image is greater than or equal to the set clarity before drying, controls the air cooling system to dry the camera, which is beneficial to drying the camera of the vehicle after cleaning, avoiding water droplets on the surface of the camera from interfering with the normal shooting function of the camera, and is beneficial to improving the accuracy of the camera's work and thus improving the efficiency of automatic vehicle cleaning.
  • FIG1 is a flow chart showing an exemplary embodiment of a cleaning control method of the present application.
  • FIG2 is a flow chart showing another exemplary embodiment of the cleaning control method of the present application.
  • FIG3 is a flow chart showing an exemplary embodiment of steps of controlling a cleaning system to clean a camera in the cleaning control method shown in FIG1 ;
  • FIG4 is a flow chart showing another exemplary embodiment of the cleaning control method of the present application.
  • FIG5 is a flow chart showing another exemplary embodiment of the cleaning control method of the present application.
  • FIG6 is a flow chart showing an exemplary embodiment of a step of controlling an air cooling system to dry a camera again in the cleaning control method shown in FIG5 ;
  • FIG7 is a flow chart showing an exemplary embodiment of a step of controlling an air cooling system to dry a camera in the cleaning control method shown in FIG1 ;
  • FIG8 is a flow chart showing an exemplary embodiment of steps of controlling a cleaning system to clean a vehicle in the cleaning control method shown in FIG1 ;
  • FIG9 is a flow chart showing another exemplary embodiment of the cleaning control method of the present application.
  • FIG10 is a block diagram of a control system according to an embodiment of the present application.
  • FIG11 is a schematic structural diagram of an exemplary embodiment of a vehicle of the present application.
  • FIG12 is a schematic structural diagram of an exemplary embodiment of a vehicle cleaning system of the present application.
  • FIG13 is a schematic structural diagram of another exemplary embodiment of a vehicle of the present application.
  • FIG14 is a schematic structural diagram of another exemplary embodiment of a vehicle of the present application.
  • FIG. 15 is a schematic structural diagram of an exemplary embodiment of a washing container of the present application.
  • FIG. 16 is a schematic structural diagram of an exemplary embodiment of a washing container of the present application.
  • FIG. 17 is a schematic structural diagram of an exemplary embodiment of a filling device of the present application.
  • FIG. 18 is a schematic structural diagram of another exemplary embodiment of a vehicle of the present application.
  • FIG1 is a flow chart of an exemplary embodiment of a cleaning control method of the present application.
  • FIG11 is a schematic diagram of a structure of an exemplary embodiment of a vehicle of the present application.
  • the present application provides a cleaning control method for a vehicle 111, wherein the vehicle 111 includes a vehicle body 112, a cleaning system 114 disposed on the vehicle body 112, an air cooling system 115 disposed on the vehicle body 112, and a camera 116 disposed outside the vehicle body 112, and the cleaning control method includes steps 11-15:
  • Step 11 control the camera 116 to obtain a first image.
  • the first image may include an image of any road section or the surrounding environment of the vehicle 111 and the vehicle 111 itself captured by the camera 116.
  • Step 12 If the definition of the first image is less than the set standard definition, the cleaning system 114 is controlled to clean the camera 116.
  • the standard definition is a user-set standard for judging the cleanliness of the camera 116 in terms of dust accumulation on the camera 116 of the vehicle 111. If the definition is less than the standard, the camera 116 may be considered clean. The cleanliness of the camera 116 is low, and the camera 116 is dirty and needs to be cleaned. If the definition is greater than or equal to the standard definition, it can be considered that the cleanliness of the camera 116 is in good condition, and there is no need to clean the camera 116. Therefore, when the definition of the first image is less than the set standard definition, the cleaning system 114 is controlled to clean the camera 116. In some embodiments, the user can set the value of the standard cleaning degree according to his own habit of cleaning the vehicle 111, such as the frequency of cleaning.
  • Step 13 after cleaning the camera 116, the camera 116 is controlled again to obtain a second image.
  • the second image also includes images of any road section or the surrounding environment of the vehicle 111 and the vehicle 111 itself captured by the camera 116.
  • Step 14 if the clarity of the second image is greater than or equal to the set clarity before drying, the air cooling system 115 is controlled to dry the camera 116. After the camera 116 is cleaned, water drops for cleaning are attached to the surface of the camera 116.
  • the clarity before drying is represented by the user-set standard for judging the cleanliness of the camera 116 of the vehicle 111 after being washed by the detergent. If the clarity is less than the clarity before drying, it can be considered that the water drops attached to the surface of the camera 116 are still mixed with dust and other debris after being cleaned, and the camera 116 is still dirty and needs to be cleaned. If the clarity is greater than or equal to the clarity before drying, it can be considered that the camera 116 has been cleaned and has reached the cleanliness standard expected by the user. At this time, the air cooling system 115 needs to be controlled to dry the camera 116 to remove the water drops on the surface of the camera 116, so that the camera 116 can shoot normally.
  • Step 15 If the clarity of the second image is lower than the clarity before drying, the cleaning system 114 is controlled to clean the camera 116 again. If the clarity of the second image is lower than the clarity before drying, it indicates that the water droplets attached to the surface of the camera 116 are mixed with a large amount of impurities, and the camera 116 still needs to be cleaned. At this time, the cleaning system 114 needs to be controlled to clean the camera 116 again.
  • FIG2 is a flow chart of another exemplary embodiment of the cleaning control method of the present application.
  • the vehicle 111 includes a windshield 113
  • the cleaning control method further includes steps 21 - 22 :
  • Step 21 If the definition of the first image is less than the standard definition, the cleaning system 114 is controlled to clean the windshield 113.
  • the definition of the first image is less than the standard definition, indicating that the windshield 113 is relatively dirty and has a low cleanliness level, and needs to be cleaned.
  • the windshield 113 is an important part of the user's field of vision when driving, so it is necessary to control the cleaning system 114 to clean the windshield 113 when the vehicle 111 is relatively dirty.
  • Step 22 If the clarity of the second image is less than the clarity before drying, the cleaning system 114 is controlled to clean the windshield 113 again.
  • the clarity of the second image is less than the clarity before drying, indicating that the water droplets on the surface of the cleaned windshield 113 are mixed with a large amount of impurities, and the windshield 113 is still dirty, and needs to be cleaned again.
  • FIG3 is a flow chart of an exemplary embodiment of the steps of controlling the cleaning system 114 to clean the camera 116 in the cleaning control method shown in FIG1.
  • step 12 if the definition of the first image is less than the set standard definition, controlling the cleaning system 114 to clean the camera 116 includes steps 31-32:
  • Step 31 from the plurality of road reference images, determine a road reference image that matches the clarity of the first image as a road matching image.
  • the road reference images can be stored in advance, and different road reference images have different clarity.
  • the clarity of the road matching image selected from the plurality of road reference images can synchronously represent the clarity of the captured first image.
  • Step 32 If the definition of the road surface matching image is lower than the standard definition, the cleaning system 114 is controlled to clean the camera 116.
  • the definition of the road surface matching image is lower than the standard definition, indicating that there is much dust on the surface of the camera 116 and the definition of the outputted photo is poor. Therefore, it is necessary to control the cleaning system 114 to clean the camera 116 to improve the shooting definition of the camera 116.
  • FIG4 is a flow chart of another exemplary embodiment of the cleaning control method of the present application.
  • the cleaning control method includes 41-42:
  • Step 41 control the camera 116 to obtain a third image.
  • the third image includes images of any road section or the surrounding environment of the vehicle 111 and the vehicle 111 itself captured by the camera 116.
  • the third image is an image captured by the camera 116 after drying.
  • Step 42 If the clarity of the third image is less than the standard drying clarity, the air cooling system 115 is controlled to dry again. If the clarity of the third image is less than the standard drying clarity, it indicates that there are residual water droplets on the display of the camera 116, and it needs to be dried again to remove the water droplets to ensure the normal shooting function of the camera 116.
  • FIG5 is a flow chart of another exemplary embodiment of the cleaning control method of the present application.
  • the cleaning control method includes steps 51-52:
  • Step 51 obtaining the moisture value of the surface of the camera 116 .
  • the moisture value can be used to characterize the amount of residual cleaning liquid on the surface of the camera 116 .
  • Step 52 If the moisture value on the surface of the camera 116 is greater than the set standard moisture value, the air cooling system 115 is controlled to dry the camera 116 again.
  • the standard moisture value is the moisture value of the surface of the camera 116 set by the user for normal operation. If the moisture value is greater than the standard moisture value, it means that there is more moisture on the surface of the camera 116.
  • the camera 116 captures The photo has blurred water droplets, so the camera 116 needs to be dried again to remove the water droplets and restore the normal photo-taking function of the camera 116. Correspondingly, if there are fewer water droplets, it means that the water droplets on the surface of the camera 116 have met the user's requirements and no further drying is required.
  • FIG6 is a flow chart of an exemplary embodiment of the step of controlling the air cooling system 115 to dry the camera 116 again in the cleaning control method shown in FIG5.
  • controlling the air cooling system 115 to dry the camera 116 again includes steps 521-523:
  • Step 521 if the moisture value of the surface of the camera 116 is greater than the set standard moisture value, determine the moisture difference between the moisture value and the standard moisture value.
  • the moisture difference between the moisture value and the standard moisture value can be used to characterize the wetness of the surface of the camera 116. The greater the moisture difference between the moisture value and the standard moisture value, the more water droplets are covered on the surface of the camera 116, and the less clear the photo is.
  • Step 522 determine the drying time of the air cooling system 115 according to the moisture difference. As mentioned above, the larger the moisture difference, the more water droplets there are, and the longer the drying time of the air cooling system 115 determined according to the more water droplets there are.
  • Step 523 control the air cooling system 115 to dry the camera 116 again for the drying time. After controlling the air cooling system 115 to dry the camera 116 again for the drying time, it is beneficial to remove the residual water droplets to dry the camera 116, which is beneficial to the normal operation of the camera 116.
  • FIG7 is a flow chart of an exemplary embodiment of the step of controlling the air cooling system 115 to dry the camera 116 in the cleaning control method shown in FIG1.
  • controlling the air cooling system 115 to dry the camera 116 includes steps 61-64:
  • Step 61 obtaining the current moisture value of the surface of the camera 116.
  • the current moisture value represents the amount of moisture remaining on the surface of the camera 116 after cleaning.
  • Step 62 determining the total moisture difference between the current moisture value and the set standard moisture value.
  • the total moisture difference represents the difference between the wetness of the surface of the camera 116 and the wetness expected by the user.
  • Step 63 determining the total drying time of the air cooling system 115 according to the total moisture difference.
  • the larger the total moisture difference the more moisture there is on the surface of the camera 116, the greater the difference from the dryness expected by the user, the more drying is needed for the camera 116, and the corresponding total drying time is longer.
  • Step 64 control the air cooling system 115 to dry the camera 116 to a total drying time.
  • the total drying time is the time required to dry the camera 116, and the camera 116 is controlled to dry to a total drying time. This is helpful to remove water drops on the surface of the camera 116, so that the camera 116 can perform normal shooting work again.
  • FIG8 is a flow chart of an exemplary embodiment of the steps of controlling the cleaning system 114 to clean the vehicle 111 in the cleaning control method shown in FIG1.
  • controlling the cleaning system 114 to clean the vehicle 111 includes steps 71-74:
  • Step 71 control the camera 116 to obtain a road condition image, which includes an image of a vehicle on the road, an image of a pedestrian, and an image of a road parking sign.
  • the road condition image can be used to characterize the road section environment where the vehicle 111 is located at this time, including information such as whether the road section environment is crowded and safe.
  • Step 72 determining environmental information based on the road condition image, the environmental information including the number of oncoming vehicles, the number of pedestrians and road parking signs.
  • the road parking signs may be various road parking signs, indicator lights, etc. manually input by the user.
  • Step 73 if the environmental information does not meet the parking conditions, the vehicle 111 is controlled to automatically drive to a road section that meets the parking conditions, wherein the parking conditions are that the number of incoming vehicles is less than the set number of incoming vehicles, the number of pedestrians is less than the set number of pedestrians, and the road parking indicator is a set sign that allows parking.
  • the parking conditions are met only when the number of incoming vehicles is less than the set number of incoming vehicles, the number of pedestrians is less than the set number of pedestrians, and the road parking indicator is a set sign that allows parking.
  • the vehicle 111 may affect road traffic if it parks. Therefore, the vehicle 111 needs to be controlled to automatically drive to a road section that meets the parking conditions to park, so as to avoid affecting the normal passage of other vehicles 111 and pedestrians.
  • Step 74 after the vehicle 111 automatically drives to a road section that meets the parking conditions, the cleaning system 114 is controlled to clean the vehicle 111. Cleaning the vehicle 111 on a road section that meets the parking conditions is beneficial to reducing the impact of the vehicle 111 on pedestrians and other vehicles 111 during the cleaning process.
  • FIG9 is a flow chart of another exemplary embodiment of the cleaning control method of the present application.
  • the cleaning system 114 includes a cleaning switch, and the cleaning control method further includes steps 81-82:
  • Step 81 the cleaning switch is pressed for a set pressing time, and the cleaning system 114 is controlled to perform cleaning.
  • the user can press the cleaning switch to control the cleaning system 114 to clean.
  • the user needs to press the cleaning switch for more than 1 second to avoid the user accidentally touching the cleaning switch.
  • Step 82 when the cleaning switch is pressed again after being released, the cleaning system 114 is controlled to stop the cleaning operation. During the cleaning process of the cleaning system 114, the user can press the cleaning switch again to control the cleaning system 114 to stop cleaning.
  • FIG10 is a block diagram of a control system 10 provided by an embodiment of the present application.
  • the present application provides a readable storage medium 109 on which a program is stored.
  • the program is executed by a processor.
  • 100 is executed, the above cleaning control method is implemented.
  • the present application provides a control system 10, which may include a readable storage medium 109, which may store a program that can be called by the processor 100, and may include a non-volatile storage medium.
  • the control system 10 may include a memory 108 and an interface 107. In some embodiments, the control system 10 may also include other hardware according to actual applications.
  • the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code.
  • Readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology.
  • Information can be computer-readable instructions, data structures, modules of programs, or other data.
  • Examples of readable storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • magnetic cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can
  • FIG11 is a schematic diagram of the structure of an exemplary embodiment of a vehicle 111 of the present application.
  • the present application further provides a vehicle 111, which includes a windshield 113, a cleaning system 114, an air cooling system 115, a camera 116, and a control system 10, wherein the control system 10 is electrically connected to the cleaning system 114, the air cooling system 115, and the camera 116.
  • the control system 10 acquires the first image transmitted by the camera 116 and analyzes its clarity. When the clarity of the first image transmitted by the camera 116 is less than the set standard clarity, the cleaning system 114 is controlled to clean the camera 116.
  • the control system 10 acquires the second image transmitted by the camera 116 again and analyzes the clarity again.
  • the air cooling system 115 is controlled to dry the camera 116, so that the camera 116 remains dry to achieve normal shooting.
  • FIG12 is a schematic diagram of an exemplary embodiment of a washing system 114 for a vehicle 111 of the present application.
  • the washing system 114 includes a plurality of washing containers 117, a fluid leveling member 118, and a water pump 119.
  • the water pump 119 is disposed in the washing container 117 and is electrically connected to the control system 10 for receiving the washing fluid from the washing container 117.
  • the washing liquid is pumped out from the interior of the washing container 117.
  • the fluid leveling member 118 is disposed between the plurality of washing containers 117 and is used to connect the plurality of washing containers 117 and maintain the pressure balance of the plurality of washing containers 117.
  • the washing container 117 contains washing liquid that can be used to wash the camera 116.
  • the control system 10 controls the water pump 119 to operate so that the water pump 119 pumps washing liquid from the interior of the washing container 117 to wash the camera 116. Since a plurality of washing containers 117 are provided, the air pressure between the plurality of washing containers 117 can be adjusted by installing the fluid leveling member 118, so that the air pressure inside the washing container 117 is kept stable, and the washing liquid can be pumped out stably.
  • FIG13 is a schematic diagram of another exemplary embodiment of a vehicle 111 of the present application.
  • the length of the washing container 117 is greater than one-fourth of the width of the vehicle body 112
  • the plurality of washing containers 117 include a first container 120 and a second container 121, and the first container 120 and the second container 121 are respectively arranged on the left and right sides of the front of the vehicle body 112.
  • the length of the washing container 117 is greater than one-fourth of the width of the vehicle body 112, and the capacity is larger than that of the existing washing container 117, and it can carry more washing liquid, avoiding users from frequently adding washing liquid, and the washing container 117 is transparent, which is convenient for users to observe the washing liquid capacity inside the washing container 117, so as to avoid the situation where the washing liquid is insufficient and cannot be washed.
  • the camera 116 includes a first camera 122, a second camera 123, and a third camera 124.
  • the first camera 122 and the second camera 123 are arranged on the left and right sides of the front of the vehicle body 112 corresponding to the first container 120 and the second container 121, and the third camera 124 is arranged on the top of the vehicle body 112.
  • the first camera 122 and the second camera 123 are arranged on the left and right sides of the front of the vehicle body 112 corresponding to the first container 120 and the second container 121, so as to facilitate symmetrical cleaning of the camera 116 from the left and right sides, so as to fully clean the camera 116.
  • the cleaning liquid in the first container 120 and the second container 121 can also be used to clean the third camera 124 on the top of the vehicle body 112.
  • the first camera 122 and the second camera 123 are arranged on the left and right sides of the front of the vehicle body 112 to shoot the road conditions on the left and right sides of the front of the vehicle 111.
  • the third camera 124 arranged on the top of the vehicle body 112 can be used to prospectively shoot the road conditions ahead from a higher angle, so as to facilitate the control system 10 to more accurately judge the road conditions.
  • the camera 116 further includes a fourth camera 125 and a fifth camera 126, which are disposed on the left and right sides of the rear of the vehicle body 112.
  • the fourth camera 125 and the fifth camera 126 can be used to shoot the road conditions on the left and right sides of the rear of the vehicle body 112, and cooperate with the first camera 122, the second camera 123, and the third camera 124 to obtain road condition images of the vehicle body 112 from all angles of view.
  • FIG14 is a schematic diagram of another exemplary embodiment of a vehicle 111 of the present application.
  • the cleaning system 114 further includes a water pipe 127 , one end of the water pipe 127 is connected to the water pump 119 , and the other end of the water pipe 127 extends along the inner wall of the vehicle body 112 to the camera 116 or the windshield 113 , for washing the container 117 The internal washing liquid is sprayed toward the camera 116 or the windshield 113 for washing.
  • the water pipe 127 is arranged to extend along the inner wall of the vehicle body 112 to the camera 116, which is conducive to reducing the space occupied by the water pipe 127 inside the vehicle body 112, and when the washing liquid is supplied to the camera 116 by the water pipe 127, the aesthetics of the vehicle body 112 is improved.
  • a plurality of water holes are provided on the outer wall of the camera 116 and the edge of the windshield 113, and the plurality of water holes are connected to the water pipe 127. The washing liquid transmitted by the water pipe 127 is sprayed to the camera 116 and the windshield 113 through the water holes to wash the camera 116 and the windshield 113.
  • FIG15 is a schematic diagram of the structure of an exemplary embodiment of the washing container 117 of the present application.
  • the washing container 117 includes a container body 128 and a plurality of silencers 129, and the plurality of silencers 129 are arranged on the inner side wall of the container body 128, and the silencers 129 are wavy or honeycomb-shaped. Since the washing container 117 is relatively large and carries a large amount of washing liquid, the noise generated when the water pump 119 extracts washing liquid from the washing container 117 is relatively large.
  • the wavy or honeycomb-shaped silencer 129 is provided to effectively avoid the influence of the noise generated by the water pump 119 extracting washing liquid when the vehicle 111 is washed on the user experience, which is conducive to improving the user's comfort in using the vehicle.
  • FIG16 is a schematic diagram showing the structure of an exemplary embodiment of the washing container 117 of the present application.
  • FIG17 is a schematic diagram showing the structure of an exemplary embodiment of the filling device 131 of the present application.
  • the washing container 117 includes a container body 128 and a filling device 131.
  • the filling device 131 is assembled on the outer wall of the container body 128 and is connected to the interior of the container body 128, and is used to fill the interior of the container body 128 with detergent.
  • the user By replenishing detergent into the filling device 131, the user avoids the situation where there is no detergent during the washing process of the vehicle 111, and also avoids the tediousness of disassembling the washing container 117 to add detergent, which is conducive to improving the efficiency of detergent replenishment and improving the efficiency of vehicle 111 washing.
  • the filling device 131 includes a circulation tube 132 and a filling cap 133.
  • the circulation tube 132 is connected to the interior of the container body 128.
  • the filling cap 133 is movably installed at one end of the circulation tube 132 away from the interior of the container body 128.
  • the filling cap 133 can be opened relative to the circulation tube 132. The user can add washing liquid into the circulation tube 132 by opening the filling cap 133, and then add washing liquid into the interior of the washing container 117 for washing the vehicle 111.
  • the cleaning system 114 further includes a liquid level sensor 134, which is disposed inside the plurality of washing containers 117 and is used to detect the volume of washing liquid in the washing container 117.
  • the liquid level sensor 134 may be disposed on the side wall of the washing container 117 or placed on the bottom of the washing container 117.
  • the liquid level sensor 134 may convert the measured amount of washing liquid inside the washing container 117 into an electrical signal and transmit it to the control system 10.
  • the control system 10 accordingly issues an alarm prompt, so that the user can add washing liquid in time when the amount of washing liquid is insufficient, thereby ensuring the normal operation of the cleaning system 114.
  • FIG18 is a schematic diagram of the structure of another exemplary embodiment of a vehicle of the present application.
  • the vehicle 111 includes a vehicle body 112 and an air cooling device of an air conditioner
  • the air cooling system 115 includes an air pipe 135, one end of the air pipe 135 is connected to the air cooling device, and the other end of the air pipe 135 extends along the vehicle body 112 to the camera 116, which is used to blow and dry multiple cameras 116.
  • the air pipe 135 can extend the ventilation and blowing of the air conditioner of the vehicle 111 to the camera 116, which is conducive to saving the air cooling cost of the camera 116 and avoiding occupying the space of the vehicle 111.
  • the air pipe 135 is arranged to extend to the camera 116 along the inner wall of the vehicle body 112, which is conducive to reducing the space occupied by the air pipe 135 inside the vehicle body 112 and improving the aesthetics of the vehicle body 112.
  • a plurality of vents are provided on the outer wall of the camera 116, and the plurality of vents are connected to the air pipe 135.
  • the air pipe 135 transmits the gas of the air cooling system 115 to the camera 116 through the vents to dry the camera 116.
  • the air pipe 135 and the water pipe 127 extend in the same direction along the inner wall around the vehicle body 112.
  • the air pipe 135 and the water pipe 127 extend in the same direction and are arranged along the same path, which is conducive to reducing the space occupied by the air pipe 135 and the water pipe 127 on the vehicle body 112.
  • the air pipe 135 and the water pipe 127 extend along the top of the vehicle body 112 and are arranged on both sides of the third camera 124.
  • the water pipe 127 and the air pipe 135 extending to the top of the vehicle body 112 are respectively arranged on both sides of the third camera 124, which is conducive to optimizing the distribution path of the air pipe 135 and the water pipe 127 and improving the efficiency of cleaning and drying the third camera 124.
  • the relevant parts can refer to the partial description of the method embodiment.
  • the device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

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Abstract

一种车辆的清洗控制方法，车辆（111）包括：车身（112）、设于车身的清洗系统（114）、设于车身的风冷系统（115）和设于车身外的摄像头（116），清洗控制方法包括：控制摄像头获取第一图像；若第一图像的清晰度小于设定的标准清晰度，控制清洗系统对摄像头进行清洗；对摄像头进行清洗后，再次控制摄像头获取第二图像；若第二图像的清晰度大于等于干燥前清晰度，控制风冷系统对摄像头进行干燥；若第二图像的清晰度小于干燥前清晰度，控制清洗系统对摄像头再次进行清洗。以及一种可读存储介质、一种控制系统和一种车辆。该清洗控制方法有利于提高摄像头工作的准确性进而提高车辆自动清洗的效率。

Description

车辆及清洗控制方法、可读存储介质、控制系统 技术领域
本申请涉及车辆自动驾驶及清洗技术领域，尤其涉及一种车辆及清洗控制方法、可读存储介质、控制系统。
背景技术
随着智能驾驶汽车数据采集技术和感知技术的稳定发展，智能汽车已经能够在特定场景下实现无人驾驶，即自动驾驶。车辆在自动行驶以及手动驾驶过程中容易受到灰尘、昆虫等外界污渍影响，从而影响车辆驾驶的视野。现在对于车辆的清洁大多是基于人的操控，驾驶员发现车辆脏污，触发清洁动作，检测是否干净，存在一定的主观不准确性。
发明内容
有鉴于此，本发明的目的之一是提供一种车辆及清洗控制方法、可读存储介质、控制系统。
一种车辆的清洗控制方法，所述车辆包括车身、设于所述车身的清洗系统、设于所述车身的风冷系统和设于所述车身外的摄像头，所述清洗控制方法包括：
控制所述摄像头获取第一图像；
若所述第一图像的清晰度小于设定的标准清晰度，控制所述清洗系统对所述摄像头进行清洗；
对所述摄像头进行清洗后，再次控制所述摄像头获取第二图像；及
若所述第二图像的清晰度大于等于设定的干燥前清晰度，控制所述风冷系统对所述摄像头进行干燥；
若所述第二图像的清晰度小于所述干燥前清晰度，控制所述清洗系统对所述摄像头再次进行清洗。
进一步地，所述车辆包括挡风玻璃，所述清洗控制方法还包括：
若所述第一图像的清晰度小于所述标准清晰度，控制所述清洗系统对所述挡风玻璃进行清洗；
若所述第二图像的清晰度小于所述干燥前清晰度，控制所述清洗系统对所述挡风玻璃再次进行清洗。
进一步地，所述若所述第一图像的清晰度小于设定的标准清晰度，控制所述清洗系统对所述摄像头进行清洗，包括：
从多个路面参照图像中，确定与所述第一图像的清晰度匹配的路面参照图像，作为路面匹配图像；
若所述路面匹配图像的清晰度小于所述标准清晰度，控制所述清洗系统对所述摄像头进行清洗。
进一步地，在所述控制所述风冷系统对所述摄像头进行干燥后，所述清洗控制方法包括：
控制所述摄像头获取第三图像；
若所述第三图像的清晰度小于标准干燥清晰度，控制所述风冷系统再次干燥。
进一步地，在所述控制所述风冷系统对所述摄像头进行干燥后，所述清洗控制方法包括：
获取所述摄像头表面的水份值；
若所述摄像头表面的水份值大于设定的标准水份值，控制所述风冷系统对所述摄像头再次干燥。
进一步地，所述若所述摄像头表面的水份值大于设定的标准水份值，控制所述风冷系统对所述摄像头再次干燥，包括：
若所述摄像头表面的水份值大于设定的标准水份值，确定水份值与所述标准水份值的水份差值；
根据所述水份差值确定所述风冷系统的吹干时长；
控制所述风冷系统对所述摄像头再次干燥达到所述吹干时长。
进一步地，所述若所述第二图像的清晰度大于等于所述干燥前清晰度，控制所 述风冷系统对所述摄像头进行干燥，包括：
获取所述摄像头表面的当前水份值；
确定当前水份值与设定的标准水份值的总水份差值；
根据所述总水份差值确定所述风冷系统的总吹干时长；
控制所述风冷系统对所述摄像头进行干燥达到所述总吹干时长。
进一步地，所述控制所述清洗系统对所述车辆进行清洗，包括：
控制所述摄像头获取路况图像，所述路况图像包括路面来车图像、行人图像及道路停车指示图像；
根据所述路况图像，确定环境信息，所述环境信息包括来车数量、行人数量和道路停车指示标识；
若所述环境信息不满足泊车条件，控制所述车辆自动驾驶到满足所述泊车条件的路段，其中所述泊车条件为所述来车数量小于设定来车数量、所述行人数量小于设定行人数量且所述道路停车指示标识为设定的允许泊车的标识；
在所述车辆自动驾驶到满足所述泊车条件的路段后，控制所述清洗系统对所述车辆进行清洗。
进一步地，所述清洗系统包括清洗开关，所述清洗控制方法还包括：
所述清洗开关被按压达到设定按压时长，控制所述清洗系统进行清洗工作；
所述清洗开关在松开后再次被按压时，控制所述清洗系统停止清洗工作。
本申请提供一种可读存储介质，其上存储有程序，该程序被处理器执行时，实现上述清洗控制方法。
本申请提供一种控制系统，包括一个或多个处理器，用于执行上述清洗控制方法。
本申请提供一种车辆，包括挡风玻璃、清洗系统、风冷系统、摄像头和上述的控制系统，所述控制系统电连接所述清洗系统、所述风冷系统和所述摄像头。
进一步地，所述清洗系统包括多个洗涤容器、流体调平件和水泵，所述水泵设于所述洗涤容器，且所述水泵电连接所述控制系统，用于从所述洗涤容器的内部泵出洗涤液，所述流体调平件设于所述多个洗涤容器之间，用于连接所述多个洗涤容器， 保持所述多个洗涤容器的压力平衡。
进一步地，所述车辆包括车身，所述洗涤容器的长度大于所述车身宽度的四分之一，所述多个洗涤容器包括第一容器和第二容器，所述第一容器和所述第二容器分别设于所述车身前部的左右两侧。
进一步地，所述摄像头包括第一摄像头、第二摄像头和第三摄像头，所述第一摄像头和第二摄像头与所述第一容器和所述第二容器对应设于所述车身前部的左右两侧，所述第三摄像头设于所述车身的顶部。
进一步地，所述摄像头还包括第四摄像头和第五摄像头，所述第四摄像头和所述第五摄像头设置于所述车身后部的左右两侧。
进一步地，所述车辆包括车身，所述清洗系统还包括水管，所述水管的一端连接所述水泵，所述水管的另一端沿着所述车身的内壁延伸至所述摄像头，用于将所述洗涤容器内部的洗涤液喷射流向所述摄像头进行清洗。
进一步地，所述车辆包括车身和挡风玻璃，所述清洗系统还包括水管，所述水管的一端连接所述水泵，所述水管的另一端沿着所述车身的内壁延伸至所述挡风玻璃，用于将所述洗涤容器内部的洗涤液喷射流向所述挡风玻璃进行清洗。
进一步地，所述洗涤容器包括容器本体和多个消音件，所述多个消音件设于所述容器本体的内侧壁，且所述消音件呈波浪状或蜂窝状。
进一步地，所述洗涤容器包括容器本体和填充装置，所述填充装置组装于所述容器本体的外壁，且与所述容器本体的内部相连通，用于向所述容器本体的内部填充洗涤液。
进一步地，所述填充装置包括流通管和填充盖，所述流通管连通所述容器本体的内部，所述填充盖活动安装于所述流通管远离容器本体内部的一端，所述填充盖可相对所述流通管打开。
进一步地，所述清洗系统还包括液位传感器，所述液位传感器设于所述多个洗涤容器的内部，用于检测所述洗涤容器内的洗涤液容量。
进一步地，所述车辆包括车身和空调的风冷装置，所述风冷系统包括气管，所述气管的一端连接所述风冷装置，所述气管的另一端沿所述车身延伸至所述摄像头，用于对所述多个摄像头进行吹风干燥。
进一步地，所述摄像头包括所述车身四周的第一摄像头、第二摄像头、第四摄像头和第五摄像头，及所述车身顶部的第三摄像头，所述清洗系统包括水管，所述气管与所述水管沿所述车身四周的内壁的延伸方向一致，所述气管与所述水管沿所述车身顶部延伸设置于所述第三摄像头的两侧。
本申请提供的一种清洗控制方法，通过获取第一图像，在第一图像的清晰度小于设定的标准清晰度时，控制清洗系统对摄像头进行清洗，有利于提高车辆辨别自身清洁程度的准确性，有利于提高车辆清洗的效率。通过在对摄像头进行清洗后，控制摄像头获得第二图像，并且在第二图像的清晰度大于等于设定的干燥前清晰度时，控制风冷系统对摄像头进行干燥，有利于车辆的摄像头在清洗完成后进行吹干，避免摄像头表面的水珠妨碍摄像头的正常拍摄功能，有利于提高摄像头工作的准确性进而提高车辆自动清洗的效率。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1所示为本申请的清洗控制方法一示例性实施例的流程图；
图2所示为本申请的清洗控制方法另一示例性实施例的流程图；
图3所示为图1所示的清洗控制方法的控制清洗系统对摄像头进行清洗的步骤一示例性实施例的流程图；
图4所示为本申请的清洗控制方法又一示例性实施例的流程图；
图5所示为本申请的清洗控制方法再一示例性实施例的流程图；
图6所示为图5所示的清洗控制方法的控制风冷系统对摄像头再次干燥的步骤一示例性实施例的流程图；
图7所示为图1所示的清洗控制方法的控制风冷系统对摄像头进行干燥的步骤一示例性实施例的流程图；
图8所示为图1所示的清洗控制方法的控制清洗系统对车辆进行清洗的步骤一示例性实施例的流程图；
图9所示为本申请的清洗控制方法另一示例性实施例的流程图；
图10所示为本申请一个实施例提供的控制系统的模块框图；
图11所示为本申请的车辆一示例性实施例的结构示意图；
图12所示为本申请的车辆的清洗系统的一示例性实施例的结构示意图；
图13所示为本申请的车辆另一示例性实施例的结构示意图；
图14所示为本申请的车辆再一示例性实施例的结构示意图；
图15所示为本申请的洗涤容器一示例性实施例的结构示意图；
图16所示为本申请的洗涤容器一示例性实施例的结构示意图；
图17所示为本申请的填充装置一示例性实施例的结构示意图；
图18所示为本申请的车辆另一示例性实施例的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
图1所示为本申请的清洗控制方法一示例性实施例的流程图。图11所示为本申请的车辆一示例性实施例的结构示意图。在图1和图11所示的实施例中，本申请提供一种车辆111的清洗控制方法，车辆111包括车身112、设于车身112的清洗系统114、设于车身112的风冷系统115和设于车身112外的摄像头116，清洗控制方法包括步骤11-15：
步骤11，控制摄像头116获取第一图像。第一图像可以包括摄像头116拍摄到的任意路段或者车辆111周边环境以及车辆111自身的图像。
步骤12，若第一图像的清晰度小于设定的标准清晰度，控制清洗系统114对摄像头116进行清洗。标准清晰度表现为用户设定的判断车辆111的摄像头116灰尘堆积程度等情况下的摄像头116洁净程度判断标准，小于该标准清晰度可以认为摄像头 116洁净程度较低，摄像头116较脏需要清洗，大于等于该标准清晰度可以认为摄像头116洁净状态良好，此时无需对摄像头116进行清洗。因此，当第一图像的清晰度小于设定的标准清晰度时，控制清洗系统114对摄像头116进行清洗。在一些实施例中，用户可以根据自身的车辆111清洗频率等习惯设定标准清洗度的数值。
步骤13，对摄像头116进行清洗后，再次控制摄像头116获取第二图像。第二图像同样包括摄像头116拍摄到的任意路段或者车辆111周边环境以及车辆111自身的图像。
步骤14，若第二图像的清晰度大于等于设定的干燥前清晰度，控制风冷系统115对摄像头116进行干燥。摄像头116在被清洗后，摄像头116的表面附着有清洗用的水珠，干燥前清晰度表现为用户设定的判断车辆111的摄像头116在被洗涤液冲刷之后的摄像头116的洁净程度判断标准，小于干燥前清晰度可以认为摄像头116在被清洗后，表面附着的水珠仍混杂有灰尘等杂物，摄像头116仍然较脏需要清洗，大于等于干燥前清晰度可以认为摄像头116已经清洗完成达到了用户所期待的洁净标准，此时需控制风冷系统115对摄像头116进行干燥以去除摄像头116表面的水珠，便于摄像头116正常进行拍摄工作。
步骤15，若第二图像的清晰度小于干燥前清晰度，控制清洗系统114对摄像头116再次进行清洗。当第二图像的清晰度小于干燥前清晰度时，表征摄像头116表面附着的水珠混有较多的杂质，摄像头116仍然需要进行清洗，此时需控制清洗系统114对摄像头116再次清洗。
图2所示为本申请的清洗控制方法另一示例性实施例的流程图。在图2所示的实施例中，车辆111包括挡风玻璃113，清洗控制方法还包括步骤21-22：
步骤21，若第一图像的清晰度小于标准清晰度，控制清洗系统114对挡风玻璃113进行清洗。第一图像的清晰度小于标准清晰度，表征挡风玻璃113此时较脏，洁净程度较低，需要进行清洗，挡风玻璃113是用户驾驶时观察视野的重要部件，因此需要控制清洗系统114在车辆111较脏状况下对挡风玻璃113进行清洗。
步骤22，若第二图像的清晰度小于干燥前清晰度，控制清洗系统114对挡风玻璃113再次进行清洗。第二图像的清晰度小于干燥前清晰度，表征清洗完的挡风玻璃113的表面的水珠混有大量杂质，此时挡风玻璃113仍然较脏，需要再次对挡风玻璃113清洗。
图3所示为图1所示的清洗控制方法的控制清洗系统114对摄像头116进行清洗的步骤一示例性实施例的流程图。在图3所示的实施例中，步骤12，若第一图像的清晰度小于设定的标准清晰度，控制清洗系统114对摄像头116进行清洗，包括步骤31-32：
步骤31，从多个路面参照图像中，确定与第一图像的清晰度匹配的路面参照图像，作为路面匹配图像。路面参照图像可以预先储存，不同的路面参照图像体现不同的清晰度。从多个路面参照图像中选出的路面匹配图像的清晰度可以同步表征所拍摄到的第一图像的清晰度。
步骤32，若路面匹配图像的清晰度小于标准清晰度，控制清洗系统114对摄像头116进行清洗。路面匹配图像的清晰度小于标准清晰度，表征此时摄像头116表面灰尘较多，排出的照片清晰度较差，因此需要控制清洗系统114对摄像头116进行清洗以提高摄像头116的拍摄清晰度。
图4所示为本申请的清洗控制方法又一示例性实施例的流程图。在图4所示的实施例中，在步骤14，控制风冷系统115对摄像头116进行干燥后，清洗控制方法包括41-42：
步骤41，控制摄像头116获取第三图像。第三图像包括摄像头116拍摄到的任意路段或者车辆111周边环境以及车辆111自身的图像，第三图像为摄像头116在经过干燥之后进行拍摄的图像。
步骤42，若第三图像的清晰度小于标准干燥清晰度，控制风冷系统115再次干燥。若第三图像的清晰度小于标准干燥清晰度，表征摄像头116的表明还有残留水珠，需要再次干燥以将水珠清除，以确保摄像头116的正常拍摄功能。
图5所示为本申请的清洗控制方法再一示例性实施例的流程图。在图5所示的实施例中，在步骤14控制风冷系统115对摄像头116进行干燥后，清洗控制方法包括步骤51-52：
步骤51，获取摄像头116表面的水份值。水份值可用于表征摄像头116表面的残留的洗涤液的量。
步骤52，若摄像头116表面的水份值大于设定的标准水份值，控制风冷系统115对摄像头116再次干燥。标准水份值是用户设定的摄像头116可用于正常工作的表面的水份值，大于标准水份值表征摄像头116表面水份较多，摄像头116拍摄到的 照片有着模糊的水珠，因此需要对摄像头116再次干燥以去除水珠，恢复摄像头116的正常拍照功能，相应地，水珠较少则表征摄像头116表面的水珠已经满足用户的要求，则无需再干燥。
图6所示为图5所示的清洗控制方法的控制风冷系统115对摄像头116再次干燥的步骤一示例性实施例的流程图。在图6所示的实施例中，步骤52若摄像头116表面的水份值大于设定的标准水份值，控制风冷系统115对摄像头116再次干燥，包括步骤521-523：
步骤521，若摄像头116表面的水份值大于设定的标准水份值，确定水份值与标准水份值的水份差值。确定水份值与标准水份值之间的水份差值可用于表征摄像头116表面的湿润程度，水份值大于标准水份值的水份差值越大，表明摄像头116的表面覆盖的水珠越多，拍照越不清晰。
步骤522，根据水份差值确定风冷系统115的吹干时长。如上，水份差值越大，水珠越多，根据越多的水珠所确定的风冷系统115的吹干时长则越长。
步骤523，控制风冷系统115对摄像头116再次干燥达到吹干时长。控制风冷系统115对摄像头116再次干燥达到吹干时长后，有利于去除残余水珠实现摄像头116的干燥，有利于摄像头116的正常工作。
图7所示为图1所示的清洗控制方法的控制风冷系统115对摄像头116进行干燥的步骤一示例性实施例的流程图。在图7所示的实施例中，步骤14若第二图像的清晰度大于等于干燥前清晰度，控制风冷系统115对摄像头116进行干燥，包括步骤61-64：
步骤61，获取摄像头116表面的当前水份值。当前水份值表征摄像头116在清洗过后表面残留的水份的多少。
步骤62，确定当前水份值与设定的标准水份值的总水份差值。总水分差值表征摄像头116表面的湿润程度与用户预期的湿润程度的差值。
步骤63，根据总水份差值确定风冷系统115的总吹干时长。总水分差值越大表征摄像头116表面的水份越多，与用户所期望的干燥度差距越大，越需要对摄像头116进行干燥，且相应的总吹干时长越长。
步骤64，控制风冷系统115对摄像头116进行干燥达到总吹干时长。总吹干时长为确定的摄像头116吹干所需要的时长，控制摄像头116进行干燥达到总吹干时长， 有利于去除摄像头116表面的水珠，便于摄像头116再次进行正常拍摄工作。
图8所示为图1所示的清洗控制方法的控制清洗系统114对车辆111进行清洗的步骤一示例性实施例的流程图。在图8所示的实施例中，步骤12中控制清洗系统114对车辆111进行清洗，包括步骤71-74：
步骤71，控制摄像头116获取路况图像，路况图像包括路面来车图像、行人图像及道路停车指示图像。路况图像可以用来表征车辆111此时所处的路段环境，包括该路段环境是否拥挤，是否安全等信息。
步骤72，根据路况图像，确定环境信息，环境信息包括来车数量、行人数量和道路停车指示标识。道路停车指示标识可以是用户手动输入的各类道路泊车指示牌、指示灯等。
步骤73，若环境信息不满足泊车条件，控制车辆111自动驾驶到满足泊车条件的路段，其中泊车条件为来车数量小于设定来车数量、行人数量小于设定行人数量且道路停车指示标识为设定的允许泊车的标识。在一些实施例中，同时满足来车数量小于设定来车数量、行人数量小于设定行人数量以及道路停车指示标识为设定的允许泊车的标识时，才具备泊车的条件，在本申请中为满足泊车条件，在不满足上述任一条件时，此时车辆111进行泊车有可能影响道路交通，因此需控制车辆111自动驾驶到满足泊车条件的路段停车，避免影响其他车辆111、行人的正常通行。
步骤74，在车辆111自动驾驶到满足泊车条件的路段后，控制清洗系统114对车辆111进行清洗。在满足泊车条件的路段对车辆111进行清洗有利于减少车辆111清洗过程中对行人和其他车辆111的影响。
图9所示为本申请的清洗控制方法另一示例性实施例的流程图。在图9所示的实施例中，清洗系统114包括清洗开关，清洗控制方法还包括步骤81-82：
步骤81，清洗开关被按压达到设定按压时长，控制清洗系统114进行清洗工作。用户在主观判断需要清洗车辆111时，可以按压清洗开关控制清洗系统114进行清洗。在一些实施例中，用户需按压清洗开关时长大于1s，以避免用户误触进行清洗的状况。
步骤82，清洗开关在松开后再次被按压时，控制清洗系统114停止清洗工作。清洗系统114清洗过程中用户可以再次按压清洗开关以控制清洗系统114停止清洗。
图10所示为本申请一个实施例提供的控制系统10的模块框图。在图10所示的实施例中，本申请提供一种可读存储介质109，其上存储有程序，该程序被处理器 100执行时，以实现上述清洗控制方法。
在一些实施例中，本申请提供一种控制系统10，控制系统10可以包括可读存储介质109，可读存储介质可以存储有可被处理器100调用的程序，可以包括非易失性存储介质。在一些实施例中，控制系统10可以包括内存108和接口107。在一些实施例中，控制系统10还可以根据实际应用包括其他硬件。
本申请可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。可读存储介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。可读存储介质的例子包括但不限于：相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。本领域技术人员在考虑说明书及实践这里公开的申请后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求指出。
图11所示为本申请的车辆111一示例性实施例的结构示意图。在图11所示的实施例中，本申请还提供一种车辆111，车辆111包括挡风玻璃113、清洗系统114、风冷系统115、摄像头116和控制系统10，控制系统10电连接清洗系统114、风冷系统115和摄像头116。控制系统10获取摄像头116所传输第一图像并分析其清晰度，在摄像头116所传输的第一图像的清晰度小于设定的标准清晰度时，控制清洗系统114对摄像头116进行清洗，控制系统10再次获取摄像头116所传输的第二图像并再次分析清晰度，进而在清晰度大于干燥前清晰度时，控制风冷系统115对摄像头116干燥，以使摄像头116保持干燥实现正常拍摄工作。
图12所示为本申请的车辆111的清洗系统114的一示例性实施例的结构示意图。在图12所示的实施例中，清洗系统114包括多个洗涤容器117、流体调平件118和水泵119，水泵119设于洗涤容器117，且水泵119电连接控制系统10，用于从洗 涤容器117的内部泵出洗涤液，流体调平件118设于多个洗涤容器117之间，用于连接多个洗涤容器117，保持多个洗涤容器117的压力平衡。洗涤容器117中装有可用于清洗摄像头116的洗涤液，控制系统10通过控制水泵119工作，使得水泵119从洗涤容器117的内部泵出洗涤液进行清洗摄像头116。由于设有多个洗涤容器117，通过安装流体调平件118可以调整多个洗涤容器117之间的气压，保持洗涤容器117内部气压平稳，可以稳定泵出洗涤液。
图13所示为本申请的车辆111另一示例性实施例的结构示意图。在图13所示的实施例中，洗涤容器117的长度大于车身112宽度的四分之一，多个洗涤容器117包括第一容器120和第二容器121，第一容器120和第二容器121分别设于车身112前部的左右两侧。洗涤容器117的长度大于车身112宽度的四分之一，相较于现有的洗涤容器117容量更大，可以承载更多的洗涤液，避免用户经常添加洗涤液，且洗涤容器117为透明状，便于用户观察洗涤容器117内部的洗涤液容量，以避免出现洗涤液较少无法清洗的状况。
在一些实施例中，摄像头116包括第一摄像头122、第二摄像头123和第三摄像头124，第一摄像头122和第二摄像头123与第一容器120和第二容器121对应设于车身112前部的左右两侧，第三摄像头124设于车身112的顶部。第一摄像头122和第二摄像头123与第一容器120和第二容器121对应设于车身112前部的左右两侧，便于从左右两侧对称地对摄像头116进行清洗，以便充分的清洗干净摄像头116，同时第一容器120和第二容器121内的洗涤液也可共同用来清洗车身112顶部的第三摄像头124。在一些实施例中，第一摄像头122和第二摄像头123设于车身112前部的左右两侧用于拍摄车辆111前部左右两侧的道路状况，设于车身112顶部的第三摄像头124可用于前瞻性从较高的视角拍摄前方路段状况，便于控制系统10更精确地判断路段状况。
在一些实施例中，摄像头116还包括第四摄像头125和第五摄像头126，第四摄像头125和第五摄像头126设置于车身112后部的左右两侧。第四摄像头125和第五摄像头126可用于拍摄车身112后部的左右两侧的道路状况，与第一摄像头122、第二摄像头123、第三摄像头124相配合获取车身112全部视角的路况图像。
图14所示为本申请的车辆111再一示例性实施例的结构示意图。在图4所示的实施例中，清洗系统114还包括水管127，水管127的一端连接水泵119，水管127的另一端沿着车身112的内壁延伸至摄像头116或挡风玻璃113，用于将洗涤容器117 内部的洗涤液喷射流向摄像头116或挡风玻璃113进行清洗。将水管127设置为沿着车身112的内壁延伸至摄像头116，有利于减少水管127在车身112内部的占用空间，且在利用水管127供给洗涤液给摄像头116时，提升车身112的美观度。在一些实施例中，摄像头116的外壁上及挡风玻璃113的边缘处设有多个通水孔，多个通水孔与水管127连接，水管127传输的洗涤液通过通水孔喷洒给摄像头116和挡风玻璃113，对摄像头116和挡风玻璃113进行清洗。
图15所示为本申请的洗涤容器117一示例性实施例的结构示意图。在图15所示的实施例中，洗涤容器117包括容器本体128和多个消音件129，多个消音件129设于容器本体128的内侧壁，且消音件129呈波浪状或蜂窝状。由于洗涤容器117较大，所承载的洗涤液较多，水泵119从洗涤容器117中抽取洗涤液时所产生的的噪音较大，因此设置波浪状或蜂窝状的消音件129，有效避免了在车辆111清洗时，水泵119抽取洗涤液所产生的噪声对用户体验感的影响，有利于提高用户的用车舒适度。
图16所示为本申请的洗涤容器117一示例性实施例的结构示意图。图17所示为本申请的填充装置131一示例性实施例的结构示意图。在一些实施例中，洗涤容器117包括容器本体128和填充装置131，填充装置131组装于容器本体128的外壁，且与容器本体128的内部相连通，用于向容器本体128的内部填充洗涤液。用户通过向填充装置131内补充洗涤液，避免车辆111清洗过程中没有洗涤液进行清洗，也避免了拆卸洗涤容器117进行添加洗涤液的繁琐，有利于提高洗涤液补充的效率，提高车辆111清洗的效率。
在一些实施例中，填充装置131包括流通管132和填充盖133，流通管132连通容器本体128的内部，填充盖133活动安装于流通管132远离容器本体128内部的一端，填充盖133可相对流通管132打开。用户可以通过打开填充盖133，向流通管132内添加洗涤液，进而实现向洗涤容器117的内部添加洗涤液，以供车辆111清洗使用。
在图15所示的实施例中，清洗系统114还包括液位传感器134，液位传感器134设于多个洗涤容器117的内部，用于检测洗涤容器117内的洗涤液容量。在一些实施例中，液位传感器134可以设置于洗涤容器117的侧壁或者放置于洗涤容器117的底部，液位传感器134可以将测量到的洗涤容器117内部的洗涤液的余量转成电信号传输给控制系统10，控制系统10相应地作出警报提示，便于用户在洗涤液余量不足时及时添加，保障清洗系统114的正常工作。
图18所示为本申请的车辆另一示例性实施例的结构示意图。在图18所示的实施例中，车辆111包括车身112和空调的风冷装置，风冷系统115包括气管135，气管135的一端连接风冷装置，气管135的另一端沿车身112延伸至摄像头116，用于对多个摄像头116进行吹风干燥。气管135可以将车辆111空调的换气吹风延伸作用到摄像头116，有利于节约摄像头116的风冷成本，避免占用车辆111空间。将气管135设置为沿着车身112的内壁延伸至摄像头116，有利于减少气管135在车身112内部的占用空间，提升车身112的美观度。在一些实施例中，摄像头116的外壁上设有多个通气孔，多个通气孔与气管135连接，气管135将风冷系统115的气体通过通气孔传输给摄像头116，对摄像头116进行干燥。
在图14和18所示的实施例中，气管135与水管127沿车身112四周的内壁的延伸方向一致。气管135和水管127相同的延伸方向，沿相同的路径布设有利于减小气管135和水管127在车身112的占用空间。气管135与水管127沿车身112顶部延伸设置于第三摄像头124的两侧。延伸至车身112顶部的水管127和气管135分别设于第三摄像头124的两侧，有利于优化气管135与水管127的分布路径，提高第三摄像头124清洗和干燥的效率。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体 个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (24)

  1. 一种车辆的清洗控制方法，其特征在于，所述车辆包括车身、设于所述车身的清洗系统、设于所述车身的风冷系统和设于所述车身外的摄像头，所述清洗控制方法包括：
    控制所述摄像头获取第一图像；
    若所述第一图像的清晰度小于设定的标准清晰度，控制所述清洗系统对所述摄像头进行清洗；
    对所述摄像头进行清洗后，再次控制所述摄像头获取第二图像；及
    若所述第二图像的清晰度大于等于设定的干燥前清晰度，控制所述风冷系统对所述摄像头进行干燥；
    若所述第二图像的清晰度小于所述干燥前清晰度，控制所述清洗系统对所述摄像头再次进行清洗。
  2. 根据权利要求1所述的清洗控制方法，其特征在于，所述车辆包括挡风玻璃，所述清洗控制方法还包括：
    若所述第一图像的清晰度小于所述标准清晰度，控制所述清洗系统对所述挡风玻璃进行清洗；
    若所述第二图像的清晰度小于所述干燥前清晰度，控制所述清洗系统对所述挡风玻璃再次进行清洗。
  3. 根据权利要求1所述的清洗控制方法，其特征在于，所述若所述第一图像的清晰度小于设定的标准清晰度，控制所述清洗系统对所述摄像头进行清洗，包括：
    从多个路面参照图像中，确定与所述第一图像的清晰度匹配的路面参照图像，作为路面匹配图像；
    若所述路面匹配图像的清晰度小于所述标准清晰度，控制所述清洗系统对所述摄像头进行清洗。
  4. 根据权利要求1所述的清洗控制方法，其特征在于，在所述控制所述风冷系统对所述摄像头进行干燥后，所述清洗控制方法包括：
    控制所述摄像头获取第三图像；
    若所述第三图像的清晰度小于标准干燥清晰度，控制所述风冷系统再次干燥。
  5. 根据权利要求1所述的清洗控制方法，其特征在于，在所述控制所述风冷系统对所述摄像头进行干燥后，所述清洗控制方法包括：
    获取所述摄像头表面的水份值；
    若所述摄像头表面的水份值大于设定的标准水份值，控制所述风冷系统对所述摄像头再次干燥。
  6. 根据权利要求5所述的清洗控制方法，其特征在于，所述若所述摄像头表面的水份值大于设定的标准水份值，控制所述风冷系统对所述摄像头再次干燥，包括：
    若所述摄像头表面的水份值大于设定的标准水份值，确定水份值与所述标准水份值的水份差值；
    根据所述水份差值确定所述风冷系统的吹干时长；
    控制所述风冷系统对所述摄像头再次干燥达到所述吹干时长。
  7. 根据权利要求1所述的清洗控制方法，其特征在于，所述若所述第二图像的清晰度大于等于所述干燥前清晰度，控制所述风冷系统对所述摄像头进行干燥，包括：
    获取所述摄像头表面的当前水份值；
    确定当前水份值与设定的标准水份值的总水份差值；
    根据所述总水份差值确定所述风冷系统的总吹干时长；
    控制所述风冷系统对所述摄像头进行干燥达到所述总吹干时长。
  8. 根据权利要求1所述的清洗控制方法，其特征在于，所述控制所述清洗系统对所述车辆进行清洗，包括：
    控制所述摄像头获取路况图像，所述路况图像包括路面来车图像、行人图像及道路停车指示图像；
    根据所述路况图像，确定环境信息，所述环境信息包括来车数量、行人数量和道路停车指示标识；
    若所述环境信息不满足泊车条件，控制所述车辆自动驾驶到满足所述泊车条件的路段，其中所述泊车条件为所述来车数量小于设定来车数量、所述行人数量小于设定行人数量且所述道路停车指示标识为设定的允许泊车的标识；
    在所述车辆自动驾驶到满足所述泊车条件的路段后，控制所述清洗系统对所述车辆进行清洗。
  9. 根据权利要求1所述的清洗控制方法，其特征在于，所述清洗系统包括清洗开关，所述清洗控制方法还包括：
    所述清洗开关被按压达到设定按压时长，控制所述清洗系统进行清洗工作；
    所述清洗开关在松开后再次被按压时，控制所述清洗系统停止清洗工作。
  10. 一种可读存储介质，其特征在于，其上存储有程序，该程序被处理器执行时，实现如权利要求1-9中任一项所述的清洗控制方法。
  11. 一种控制系统，其特征在于，包括一个或多个处理器，用于执行权利要求1-9任一项所述的清洗控制方法。
  12. 一种车辆，其特征在于，包括挡风玻璃、清洗系统、风冷系统、摄像头和如权利要求11所述的控制系统，所述控制系统电连接所述清洗系统、所述风冷系统和所述摄像头。
  13. 根据权利要求12所述的车辆，其特征在于，所述清洗系统包括多个洗涤容器、流体调平件和水泵，所述水泵设于所述洗涤容器，且所述水泵电连接所述控制系统，用于从所述洗涤容器的内部泵出洗涤液，所述流体调平件设于所述多个洗涤容器之间，用于连接所述多个洗涤容器，保持所述多个洗涤容器的压力平衡。
  14. 根据权利要求13所述的车辆，其特征在于，所述车辆包括车身，所述洗涤容器的长度大于所述车身宽度的四分之一，所述多个洗涤容器包括第一容器和第二容器，所述第一容器和所述第二容器分别设于所述车身前部的左右两侧。
  15. 根据权利要求14所述的车辆，其特征在于，所述摄像头包括第一摄像头、第二摄像头和第三摄像头，所述第一摄像头和第二摄像头与所述第一容器和所述第二容器对应设于所述车身前部的左右两侧，所述第三摄像头设于所述车身的顶部。
  16. 根据权利要求13所述的车辆，其特征在于，所述摄像头还包括第四摄像头和第五摄像头，所述第四摄像头和所述第五摄像头设置于所述车身后部的左右两侧。
  17. 根据权利要求13所述的车辆，其特征在于，所述车辆包括车身，所述清洗系统还包括水管，所述水管的一端连接所述水泵，所述水管的另一端沿着所述车身的内壁延伸至所述摄像头，用于将所述洗涤容器内部的洗涤液喷射流向所述摄像头进行清洗。
  18. 根据权利要求13所述的车辆，其特征在于，所述车辆包括车身和挡风玻璃，所述清洗系统还包括水管，所述水管的一端连接所述水泵，所述水管的另一端沿着所述车身的内壁延伸至所述挡风玻璃，用于将所述洗涤容器内部的洗涤液喷射流向所述挡风玻璃进行清洗。
  19. 根据权利要求13所述的车辆，其特征在于，所述洗涤容器包括容器本体和多个消音件，所述多个消音件设于所述容器本体的内侧壁，且所述消音件呈波浪状或蜂窝状。
  20. 根据权利要求13所述的车辆，其特征在于，所述洗涤容器包括容器本体和填充装置，所述填充装置组装于所述容器本体的外壁，且与所述容器本体的内部相连通，用于向所述容器本体的内部填充洗涤液。
  21. 根据权利要求20所述的车辆，其特征在于，所述填充装置包括流通管和填充盖，所述流通管连通所述容器本体的内部，所述填充盖活动安装于所述流通管远离容器本体内部的一端，所述填充盖可相对所述流通管打开。
  22. 根据权利要求13所述的车辆，其特征在于，所述清洗系统还包括液位传感器，所述液位传感器设于所述多个洗涤容器的内部，用于检测所述洗涤容器内的洗涤液容量。
  23. 根据权利要求12所述的车辆，其特征在于，所述车辆包括车身和空调的风冷装置，所述风冷系统包括气管，所述气管的一端连接所述风冷装置，所述气管的另一端沿所述车身延伸至所述摄像头，用于对所述多个摄像头进行吹风干燥。
  24. 根据权利要求23所述的车辆，其特征在于，所述摄像头包括所述车身四周的第一摄像头、第二摄像头、第四摄像头和第五摄像头，及所述车身顶部的第三摄像头，所述清洗系统包括水管，所述气管与所述水管沿所述车身四周的内壁的延伸方向一致，所述气管与所述水管沿所述车身顶部延伸设置于所述第三摄像头的两侧。
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