阅读说明：本技术 利用添加剂进行车辆传感器清洁 (Vehicle sensor cleaning with additives ) 是由 小迈克尔·罗伯森 泰勒·D·汉密尔顿 阿什温·阿伦莫治 文卡特什·克里希南 于 2020-08-26 设计创作，主要内容包括：本公开提供了“利用添加剂进行车辆传感器清洁”。一种传感器系统包括：传感器,其包括传感器窗口；喷嘴,其瞄准传感器窗口；供应管线,其用于将流体供应到喷嘴；主贮存器,其用于将流体供应到供应管线；第一阀,其可致动以将流体从第一贮存器喷射到供应管线中；第二阀,其可致动以将流体从第二贮存器喷射到供应管线中；第三阀,其可致动以将流体从第三贮存器喷射到供应管线中；以及计算机,其通信地耦合到传感器和阀。计算机被编程为响应于基于来自传感器的数据确定第一状况而致动第一阀；响应于基于来自传感器的数据确定第二状况而致动第二阀；并且响应于基于来自传感器的数据确定第三状况而致动第三阀。(The present disclosure provides "vehicle sensor cleaning with additives". A sensor system comprising: a sensor comprising a sensor window; a nozzle aimed at the sensor window; a supply line for supplying fluid to the nozzle; a primary reservoir for supplying fluid to the supply line; a first valve actuatable to inject fluid from a first reservoir into the supply line; a second valve actuatable to inject fluid from the second reservoir into the supply line; a third valve actuatable to inject fluid from a third reservoir into the supply line; and a computer communicatively coupled to the sensor and the valve. The computer is programmed to actuate the first valve in response to determining a first condition based on data from the sensor; actuating a second valve in response to determining a second condition based on data from the sensor; and actuating a third valve in response to determining a third condition based on data from the sensor.)

1. A sensor system, comprising:

a sensor comprising a sensor window;

a nozzle aimed at the sensor window;

a supply line positioned to supply fluid to the nozzle;

a primary reservoir positioned to supply fluid to the supply line;

a first reservoir, a second reservoir and a third reservoir, all of which are fixed relative to the primary reservoir;

a first valve actuatable to inject fluid from the first reservoir into the supply line;

a second valve actuatable to inject fluid from the second reservoir into the supply line;

a third valve actuatable to inject fluid from the third reservoir into the supply line; and

a computer communicatively coupled to the sensor and the valve, wherein the computer is programmed to:

actuating the first valve in response to determining a first condition based on data from the sensor;

actuating the second valve in response to determining a second condition based on data from the sensor; and is

Actuating the third valve in response to determining a third condition based on data from the sensor.

2. The sensor system of claim 1, wherein the valve is a solenoid valve.

3. The sensor system of claim 1, wherein the first condition is an insect impacting the sensor window.

4. The sensor system of claim 1, wherein the first condition is the presence of an insect on the sensor window after the sensor window is cleaned without actuating the first valve.

5. The sensor system of claim 1, wherein the second condition is ice accretion on the sensor window.

6. The sensor system of claim 1, wherein the third condition is loss of a hydrophobic coating on the sensor window.

7. The sensor system of claim 1, wherein the third condition is both a vehicle including the sensor is stopped and a hydrophobic coating on the sensor window is lost.

8. Sensor system according to one of claims 1 to 7, wherein

The sensor is a first sensor;

the sensor window is a first sensor window; and is

The nozzle is a first nozzle;

the sensor system further comprises: a second sensor comprising a second sensor window;

a second nozzle aimed at the second sensor window; and

a manifold fluidly connected to the supply line, the first nozzle, and the second nozzle;

wherein the manifold includes manifold valves that are independently operable to output fluid from the supply lines to the first nozzle and the second nozzle, respectively.

9. The sensor system of claim 8, wherein the computer is further programmed to:

in response to determining the first condition based on data from the second sensor, actuating the manifold valve to direct fluid to the second nozzle and actuating the first valve;

in response to determining the second condition based on data from the second sensor, actuating the manifold valve to direct fluid to the second nozzle and actuating the second valve; and is

In response to determining the third condition based on data from the second sensor, actuating the manifold valve to direct fluid to the second nozzle and actuating the third valve.

10. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:

in response to determining a first condition based on data from a sensor comprising a sensor window, actuating a first valve to inject a first additive to a fluid supplied to the sensor window;

actuating a second valve to inject a second additive to the fluid in response to determining a second condition based on data from the sensor; and is

In response to determining a third condition based on data from the sensor, a third valve is actuated to inject a third additive to the fluid.

11. The computer of claim 10, wherein the first condition is an insect impacting the sensor window.

12. The computer of claim 10, wherein the first condition is the presence of an insect on the sensor window after the sensor window is cleaned without actuating the first valve.

13. The computer of claim 10, wherein the second condition is ice accretion on the sensor window.

14. The computer of one of claims 10 to 13, wherein the third condition is a loss of a hydrophobic coating on the sensor window.

15. The computer of claim 10, wherein the third condition is both a vehicle including the sensor is stopped and a hydrophobic coating on the sensor window is lost.

Technical Field

The present disclosure relates generally to vehicle sensors, and more particularly to vehicle sensor cleaning.

Background

Vehicles, such as autonomous or semi-autonomous vehicles, typically include various sensors. Some sensors detect internal states of the vehicle, such as wheel speed, wheel orientation, and engine and transmission variables. Some sensors detect the position or orientation of the vehicle, such as Global Positioning System (GPS) sensors; accelerometers, such as piezoelectric systems or micro-electromechanical systems (MEMS); a gyroscope, such as a rate gyroscope, ring laser gyroscope, or fiber optic gyroscope; an Inertial Measurement Unit (IMU); and a magnetometer. Some sensors detect the external environment, such as radar sensors, scanning laser rangefinders, light detection and ranging (lidar) devices, and image processing sensors such as cameras. Lidar devices detect distance to an object by emitting a laser pulse and measuring the time of flight of the pulse as it travels to and returns from the object. Some sensors are communication devices, such as vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices. Sensor operation may be affected by obstructions (e.g., dust, snow, insects, etc.) and environmentally induced degradation of the characteristics of the sensor window or lens.

Disclosure of Invention

A sensor system comprising: a sensor comprising a sensor window; a nozzle aimed at the sensor window; a supply line positioned to supply fluid to the nozzle; a primary reservoir positioned to supply fluid to the supply line; a first reservoir, a second reservoir and a third reservoir, all of which are fixed relative to the primary reservoir; a first valve actuatable to inject fluid from the first reservoir into the supply line; a second valve actuatable to inject fluid from the second reservoir into the supply line; a third valve actuatable to inject fluid from the third reservoir into the supply line; and a computer communicatively coupled to the sensor and the valve, wherein the computer is programmed to actuate the first valve in response to determining a first condition based on data from the sensor; actuating the second valve in response to determining a second condition based on data from the sensor; and actuating the third valve in response to determining a third condition based on data from the sensor.

The valve may be a solenoid valve.

The first condition may be an insect impacting the sensor window.

The first condition may be the presence of insects on the sensor window after the sensor window is cleaned without actuating the first valve.

The second condition may be ice accretion on the sensor window.

The third condition may be loss of a hydrophobic coating on the sensor window.

The third condition may be both that a vehicle including the sensor is stopped and the hydrophobic coating on the sensor window is lost.

The sensor may be a first sensor; the sensor window may be a first sensor window; and the nozzle may be a first nozzle. The sensor system may further include: a second sensor comprising a second sensor window; a second nozzle aimed at the second sensor window; and a manifold fluidly connected to the supply line, the first nozzle, and the second nozzle. The manifold may include manifold valves that are independently operable to output fluid from the supply lines to the first and second nozzles, respectively. The computer may also be programmed to actuate the manifold valve to direct fluid to the second nozzle and actuate the first valve in response to determining the first condition based on data from the second sensor; in response to determining the second condition based on data from the second sensor, actuating the manifold valve to direct fluid to the second nozzle and actuating the second valve; and actuating the manifold valve to direct fluid to the second nozzle and actuating the third valve in response to determining the third condition based on data from the second sensor.

A computer includes a processor and a memory storing instructions executable by the processor to actuate a first valve to inject a first additive to a fluid supplied to a sensor window in response to determining a first condition based on data from a sensor including the sensor window; actuating a second valve to inject a second additive to the fluid in response to determining a second condition based on data from the sensor; and actuating a third valve to inject a third additive to the fluid in response to determining a third condition based on data from the sensor.

The first condition may be an insect impacting the sensor window.

The first condition may be the presence of insects on the sensor window after the sensor window is cleaned without actuating the first valve.

The second condition may be ice accretion on the sensor window.

The third condition may be loss of a hydrophobic coating on the sensor window.

The third condition may be both that a vehicle including the sensor is stopped and the hydrophobic coating on the sensor window is lost.

A sensor system comprising: a sensor comprising a sensor window; means for cleaning the sensor window with a fluid; means for injecting a first additive into the fluid in response to determining a first condition based on data from the sensor; means for injecting a second additive into the fluid in response to determining a second condition based on data from the sensor; and means for injecting a third additive into the fluid in response to determining a third condition based on data from the sensor.

The sensor may be a first sensor and the sensor window may be a first sensor window. The sensor system may further include: a second sensor comprising a second sensor window; and means for selectively directing the fluid to the first sensor window or the second sensor window.

Drawings

FIG. 1 is a perspective view of an exemplary vehicle including a sensor assembly.

FIG. 2 is a diagram of a cleaning system for the sensor assembly.

FIG. 3 is a block diagram of a control system for the cleaning system.

FIG. 4 is a process flow diagram of an exemplary process for cleaning the sensor assembly.

Detailed Description

Referring to the drawings, a sensor system 32 for a vehicle 30 includes: a first sensor 34 including a first sensor window 36; a first nozzle 38 aimed at the first sensor window 36; at least one supply line 40, 42, 44 positioned to supply fluid to the first nozzle 38; a primary reservoir 46 positioned to supply fluid to the supply lines 40, 42, 44; a first reservoir 48, a second reservoir 50 and a third reservoir 52, all of which are fixed relative to the primary reservoir 46; a first valve 54 actuatable to inject fluid from the first reservoir 48 into the supply line 40, 42, 44; a second valve 56 actuatable to inject fluid from the second reservoir 50 into the supply lines 40, 42, 44; a third valve 58 actuatable to inject fluid from the third reservoir 52 into the supply lines 40, 42, 44; and a computer 60 communicatively coupled to the first sensor 34 and the valve. The computer 60 is programmed to: actuating the first valve 54 in response to determining a first condition based on data from the first sensor 34; actuating the second valve 56 in response to determining a second condition based on data from the first sensor 34; and actuates third valve 58 in response to determining a third condition based on data from first sensor 34.

The sensor system 32 may assist in cleaning the first sensor window 36 in adverse environments, such as, in particular, a vermin environment or a cold environment, by providing suitable additives that may be mixed into the cleaning fluid. The additive may be effectively utilized by being used only when the first condition, the second condition, or the third condition is satisfied. The sensor system 32 may provide an efficient way to replenish the hydrophobic coating on the first sensor window 36 without servicing the vehicle 30.

Referring to fig. 1, the vehicle 30 may be any passenger or commercial vehicle, such as a car, truck, sport utility vehicle, cross-car, van, minivan, taxi, bus, or the like.

The vehicle 30 may be an autonomous vehicle. The vehicle computer may be programmed to operate the vehicle 30 entirely or to a lesser extent independently of human driver intervention. The vehicle computer may be programmed to operate the propulsion system, steering system, and/or other vehicle systems based at least in part on data received from the first sensor 34, the second sensor 62, the additional sensor 74, and other sensors. For purposes of this disclosure, autonomous operation means that the vehicle computer controls propulsion, braking systems, and steering without human driver input; semi-autonomous operation means that the vehicle computer controls one or both of propulsion, braking system, and steering, while the human driver controls the rest; and non-autonomous operation means that the human driver controls propulsion, braking systems and steering.

The vehicle 30 includes a body 64. The vehicle 30 may have a unitary construction wherein the frame and body 64 of the vehicle 30 are a single component. Alternatively, the vehicle 30 may have a non-self-supporting configuration in which the frame supports a body 64, the body 64 being a separate component from the frame. The frame and body 64 may be formed from any suitable material, such as steel, aluminum, and the like.

The body 64 includes a body panel 66 that partially defines an exterior of the vehicle 30. The body panel 66 may present a class A surface, for example, a finished surface that is exposed to the customer's line of sight and free of unsightly blemishes and defects. The vehicle body panel 66 includes, for example, a roof 68 or the like.

A housing 70 for the sensors 34, 62, 74 may be attached to the vehicle 30, for example to one of the body panels 66 of the vehicle 30, such as the roof 68. For example, the housing 70 may be shaped to be attachable to the roof 68, e.g., may have a shape that matches the contour of the roof 68. The housing 70 may be attached to the roof 68, which may provide the sensors 34, 62, 74 with an unobstructed field of view of the area around the vehicle 30. The housing 70 may be formed of, for example, plastic or metal.

The housing 70 may enclose and define a cavity 72. One or more of the body panels 66 (e.g., the roof 68) may partially define the cavity 72, or the housing 70 may completely enclose the cavity 72. The housing 70 may shield the contents of the cavity 72 from external elements such as wind, rain, debris, and the like.

The sensors 34, 62, 74 are disposed in the cavity 72 of the housing 70. The sensors 34, 62, 74 include the first sensor 34, the second sensor 62, and possibly an additional sensor 74. The sensors 34, 62, 74 may detect the position and/or orientation of the vehicle 30. For example, the sensors 34, 62, 74 may include Global Positioning System (GPS) sensors; accelerometers, such as piezoelectric systems or micro-electromechanical systems (MEMS); a gyroscope, such as a rate gyroscope, ring laser gyroscope, or fiber optic gyroscope; an Inertial Measurement Unit (IMU); and a magnetometer. The sensors 34, 62, 74 may detect objects and/or features in the outside world, for example, surrounding the vehicle 30, such as other vehicles, road lane markings, traffic lights and/or signs, pedestrians, and the like. For example, the sensors 34, 62, 74 may include radar sensors, scanning laser rangefinders, light detection and ranging (lidar) devices, and image processing sensors, such as cameras. The sensors 34, 62, 74 may include communication devices, such as vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices.

The first sensor 34 includes a first sensor window 36 and the second sensor 62 includes a second sensor window 76, and the additional sensors 74 may include corresponding additional sensor windows 78. The sensor windows 36, 76, 78 protect the respective sensors 34, 62, 74 from the surrounding environment. The sensor windows 36, 76, 78 provide a field of view through the housing 70 for each of the sensors 34, 62, 74. The sensor windows 36, 76, 78 are transparent to at least the wavelength of light to which the respective sensors 34, 62, 74 are sensitive.

The sensor windows 36, 76, 78 may include a hydrophobic coating, such as a superhydrophobic coating or a standard hydrophobic coating. The hydrophobic coating repels liquids, such as water, from the surface of the sensor windows 36, 76, 78. In other words, the hydrophobic coating provides an increased liquid repelling force compared to a surface without the hydrophobic coating. In other words, the change in surface energy between surfaces with and without a hydrophobic coating affects the amount of contact area between the droplet and the surface and the overall three-dimensional shape of the droplet. The hydrophobic coating helps maintain the cleanliness of the sensor windows 36, 76, 78. For example, dirt, residue, and other contaminants may be more easily removed from the sensor windows 36, 76, 78 having the hydrophobic coating, e.g., using less time and/or less amount of cleaning fluid. The hydrophobic coating is a thin layer of hydrophobic material, for example 200 to 300 nanometers, extending along the surface of each sensor window. Exemplary hydrophobic materials include manganese oxide polystyrene (MnO2/PS) nanocomposites, zinc oxide polystyrene (ZnO/PS) nanocomposites, precipitated calcium carbonate, carbon nanotube structures, silica nanocoating, fluorinated silanes, and fluoropolymer coatings.

Referring to fig. 2, the cleaning system 80 of the vehicle 30 includes a main sump 46, a main pump 104, a first sump 48, a second sump 50, a third sump 52, a first pump 82, a second pump 84, a third pump 86, supply lines 40, 42, 44, a manifold 88, a first valve 54, a second valve 56, a third valve 58, and nozzles 38, 90, 92 including a first nozzle 38, a second nozzle 90, and an additional nozzle 92. Main reservoir 46 and main pump 104, along with first reservoir 48 and first pump 82, second reservoir 50 and second pump 84, and third reservoir 52 and third pump 86, are fluidly connected to nozzles 38, 90, 92 via supply lines 40, 42, 44 and manifold 88 (i.e., fluid may flow from one to the other). The cleaning system 80 dispenses the cleaning fluid stored in the primary reservoir 46 to the nozzles 38, 90, 92, along with possible additives stored in the first reservoir 48, the second reservoir 50, or the third reservoir 52, as described below. "cleaning fluid" refers to any fluid stored in the main reservoir 46 for cleaning. The cleaning fluid may include solvents, detergents, diluents (such as water), and the like.

The primary reservoir 46 is a tank that can be filled with a liquid (e.g., a cleaning liquid for window cleaning). The primary reservoir 46 may be disposed in a front portion of the vehicle 30, specifically, in an engine compartment forward of the passenger compartment. The main reservoir 46 may store wash liquid for supply only to the sensors 34, 62, 74 or also for other purposes, such as supply to the windshield. Alternatively, the primary reservoir 46 may be disposed in the cavity 72 of the housing 70. In either position, the primary reservoir 46 is positioned to supply fluid to the supply lines 40, 42, 44.

Primary pump 104 may force cleaning fluid through supply lines 40, 42, 44 and manifold 88 to nozzles 38, 90, 92 with sufficient pressure to cause cleaning fluid to be ejected from nozzles 38, 90, 92. The main pump 104 is fluidly connected to the main reservoir 46. The primary pump 104 may be attached to the primary reservoir 46 or disposed within the primary reservoir 46. Main pump 104 is fluidly connected to manifold 88, and in particular, to inlet 94 of manifold 88.

The supply lines 40, 42, 44 are positioned to supply fluid to the nozzles 38, 90, 92. The supply lines 40, 42, 44 include a main supply line 40, an additive supply line 42, and a nozzle supply line 44. Supply lines 40, 42, 44 extend from main pump 104, first pump 82, second pump 84, and third pump 86 to manifold 88 (i.e., to inlet 94 of manifold 88) and from manifold 88 (i.e., outlet 96 of manifold 88) to nozzles 38, 90, 92. Specifically, main supply line 40 extends from main pump 104 to manifold 88; additive supply lines 42 each extend from one of first pump 82, second pump 84, or third pump 86 to main supply line 40; and nozzle supply lines 44 each extend from the manifold 88 to one of the nozzles 38, 90, 92. The supply lines 40, 42, 44 may be, for example, flexible tubes.

Manifold 88 includes an inlet 94, a conduit 98, a plurality of tubes 100, and an outlet 96. Inlet 94 receives cleaning fluid from a main pump 104 via supply lines 40, 42, 44, which passes from supply lines 40, 42, 44 through conduit 98 to tubes 100, and from each tube 100 through one of outlets 96 out of manifold 88. Manifold 88 includes a plurality of manifold valves 102, and one manifold valve 102 is located in each tube 100. Manifold valve 102 may be, for example, a solenoid valve. Manifold 88 may direct cleaning fluid entering inlet 94 to any combination of tubes 100, i.e., each of the tubes 100 may be independently blocked or opened by independently opening or closing each of the manifold valves 102. The manifold 88 may be disposed in the cavity 72 of the housing 70 and fixed relative to the housing 70.

The nozzles 38, 90, 92 include a first nozzle 38, a second nozzle 90, and an additional nozzle 92. Each of the nozzles 38, 90, 92 is fluidly connected to one of the tubes 100 via one of the nozzle supply lines 44. Manifold valves 102 are independently operable to output fluid received in manifold 88 from primary supply line 40 to respective nozzle supply lines 44 and, thus, to respective nozzles 38, 90, 92. The nozzles 38, 90, 92 are positioned to emit cleaning fluid to clear obstructions from the field of view of the sensors 34, 62, 74, e.g., aimed at the sensor windows 36, 76, 78. First nozzle 38 is aimed at first sensor window 36, second nozzle 90 is aimed at second sensor window 76, and additional nozzles 92 are aimed at corresponding additional sensor windows 78 of corresponding additional sensors 74. The pressure of the cleaning fluid exiting the nozzles 38, 90, 92 may dissipate or wash away obstructions that may obstruct the field of view of the sensors 34, 62, 74.

The first reservoir 48 is a tank that can be filled with a first additive (e.g., an insect removal additive). The first reservoir 48 is fixed relative to the main reservoir 46. The first reservoir 48 may be disposed in a front portion of the vehicle 30, specifically, in an engine compartment forward of the passenger compartment. Alternatively, the first reservoir 48 may be disposed in the cavity 72 of the housing 70. In either position, first reservoir 48 is positioned to supply additive to main supply line 40 via one of additive supply lines 42.

Second reservoir 50 is a tank that may be filled with a second additive (e.g., a deicing additive). The second reservoir 50 is fixed relative to the primary reservoir 46. The second reservoir 50 may be disposed in a front portion of the vehicle 30, specifically, in an engine compartment forward of the passenger compartment. Alternatively, the second reservoir 50 may be disposed in the cavity 72 of the housing 70. In either position, second reservoir 50 is positioned to supply additive to main supply line 40 via one of additive supply lines 42.

The third reservoir 52 is a tank that can be filled with a third additive (e.g., a hydrophobic coating for the sensor windows 36, 76, 78). The third reservoir 52 is fixed relative to the main reservoir 46. The third reservoir 52 may be disposed in a front portion of the vehicle 30, specifically, in an engine compartment forward of the passenger compartment. Alternatively, the third reservoir 52 may be disposed in the cavity 72 of the housing 70. In either position, third reservoir 52 is positioned to supply additive to main supply line 40 via one of additive supply lines 42.

First, second, and third valves 54, 56, and 58 are positioned to control the flow of additive through one of additive supply lines 42, i.e., to control whether additive from one of first, second, or third reservoirs 48, 50, or 52 enters main supply line 40. A first valve 54 controls flow from the first accumulator 48 to the primary supply line 40, a second valve 56 controls flow from the second accumulator 50 to the primary supply line 40, and a third valve 58 controls flow from the third accumulator 52 to the primary supply line 40. Each of the first, second, and third valves 54, 56, 58 is actuatable between an open position allowing flow and a closed position blocking flow through the respective additive supply line 42. The first, second, and third valves 54, 56, 58 are independently actuatable, i.e., each valve can be actuated without actuating the other valves. The first, second, and third valves 54, 56, 58 may be, for example, solenoid valves.

The first pump 82 is fluidly connected to the first reservoir 48, e.g., attached to the first reservoir 48 or disposed in the first reservoir 48. The second pump 84 is fluidly connected to the second reservoir 50, e.g., attached to the second reservoir 50 or disposed in the second reservoir 50. Third pump 86 is fluidly connected to third reservoir 52, e.g., attached to third reservoir 52 or disposed in third reservoir 52. When respective ones of first, second, and third valves 54, 56, and 58 are open, first, second, and third pumps 82, 84, and 86 may force liquid from respective ones of first, second, and third reservoirs 48, 50, and 52 into primary supply line 40.

Referring to fig. 3, the computer 60 is a microprocessor-based controller. The computer 60 includes a processor, memory, and the like. The memory of the computer 60 includes a medium for storing instructions executable by the processor and for electronically storing data and/or databases.

The computer 60 may transmit and receive data via a communication network 106, such as a Controller Area Network (CAN) bus, ethernet, WiFi, Local Interconnect Network (LIN), on-board diagnostic connector (OBD-II), and/or via any other wired or wireless communication network. Computer 60 may be communicatively coupled to sensors 34, 62, 74, main pump 104, manifold valve 102, first valve 54, second valve 56, third valve 58, first pump 82, second pump 84, third pump 86, and other components via communication network 106.

FIG. 4 is a process flow diagram illustrating an exemplary process 400 for cleaning the sensor system 32. The memory of the computer 60 stores executable instructions for performing the steps of the process 400. As a general overview of the process 400, the computer 60 actuates the primary pump 104 to spray washer fluid in response to detecting an obstacle and not satisfying a first condition or a second condition, actuates the primary pump 104 and the first pump 82 and the first valve 54 in response to detecting an obstacle and satisfying the first condition, actuates the primary pump 104 and the second pump 84 and the second valve 56 in response to detecting an obstacle and satisfying the second condition, and actuates the primary pump 104 and the third pump 86 and the third valve 58 in response to satisfying a third condition when the vehicle 30 is stopped. As described in more detail below, the first condition may be detection that an insect has struck one of the sensor windows 36, 76, 78, the second condition may be ice accretion on one of the sensor windows 36, 76, 78, and the third condition may be loss of the hydrophobic coating on one of the sensor windows 36, 76, 78. The process 400 continues while the vehicle 30 is on.

The process 400 begins in block 405, where the computer 60 receives data from the sensors 34, 62, 74 in block 405. The computer 60 receives image data, for example, from each of the sensors 34, 62, 74 over the communications network 106. The data is a series of image frames of the field of view of each of the sensors 34, 62, 74. Each image frame is a two-dimensional matrix of pixels. Depending on the type of sensor 34, 62, 74, each pixel has a brightness or color represented as one or more numerical values. For example, if one of the sensors 34, 62, 74 is a monochrome camera, each pixel may be an scalar value of photometric intensity between 0 (black) and 1 (white). For another example, if one of the sensors 34, 62, 74 is a full-color camera, the pixels may be values for each of the colors red, green, and blue, e.g., each value represented on an 8-bit scale (0-255) or on a 12-bit or 16-bit scale. The locations in the image frames, i.e., the locations in the field of view of the respective sensors 34, 62, 74 when recording the image frames, may be specified in pixel size or coordinates, e.g., an ordered pair of pixel distances, such as a number of pixels from the top edge of the field of view and a number of pixels from the left edge of the field of view. Alternatively, the data from the sensors 34, 62, 74 may be event-based vision, where each pixel is recorded independently of the other pixels when certain pixels sense motion, and thus is more widely recorded in the portion around the field of view that undergoes changes, and less recorded in the portion of the field of view that remains static.

Next, in decision block 410, computer 60 determines whether an obstacle trigger has occurred. An "obstacle trigger" is any data received in the computer 60 indicating that one of the sensor windows 36, 76, 78 should be cleaned. For example, the computer 60 may receive user commands to perform cleaning of one or more of the sensor windows 36, 76, 78 or another component of the vehicle 30 (such as a windshield). For another example, computer 60 may determine that debris is present on one of sensor windows 36, 76, 78 based on data received from the respective sensor 34, 62, 74. For example, the computer 60 may determine, for example, according to known image analysis techniques, that a set of pixels in the image data received from the respective sensor 34, 62, 74 has not changed over time as compared to other pixels in the image data, indicating that a portion of the field of view of the sensor 34, 62, 74 has been covered. Other algorithms, such as classical computer vision or machine learning algorithms (such as convolutional neural networks) may be used. In response to the lack of an obstacle trigger, the process 400 proceeds to decision block 440. In response to the obstacle trigger, the process 400 proceeds to decision block 415.

In decision block 415, the computer 60 determines whether the first condition is satisfied based on the data from the sensors 34, 62, 74 that an obstacle is detected. The first condition may be an insect's impact on the respective sensor window 36, 76, 78. Alternatively or more specifically, the first condition may be the presence of insects on the respective sensor window 36, 76, 78 after the sensor window is cleaned without actuating the first valve 54 and the first pump 82, i.e., the computer 60 has performed the following block 435 at least once after detecting insects on the respective sensor window 36, 76, 78. The computer 60 may determine that the obstacle is an insect by identifying the type of obstacle and determining whether the type of obstacle is an insect or a different type. The computer 60 may identify the type of obstacle using conventional image recognition techniques, such as a convolutional neural network programmed to accept the image as input and output the identified type of obstacle. The type of obstacle may include, for example, water, ice, dirt, mud, dust, insects, and the like. The convolutional neural network comprises a series of layers, where each layer uses the previous layer as an input. Each layer contains a plurality of neurons that receive as input data generated by a subset of neurons of a previous layer and generate output that is sent to neurons in a next layer. The type of layer includes a convolutional layer, which calculates a dot product of a weight of input data and a small region; a pooling layer that performs downsampling operations along a spatial dimension; and a fully connected layer generated based on outputs of all neurons of a previous layer. The last layer of the convolutional neural network produces a score for each potential type of obstacle, and the final output is the type of obstacle with the highest score. The first condition is satisfied if the type of obstacle with the highest score is an insect. If the first condition is satisfied, process 400 proceeds to block 420. If the first condition is not satisfied, process 400 proceeds to decision block 425.

In block 420, the computer 60 activates the sensor system 32 to spray the respective sensor window 36, 76, 78 with the cleaning solution containing the first additive. Computer 60 activates main pump 104 and activates manifold valves 102 corresponding to respective sensor windows 36, 76, 78 to open, while the remaining valves in manifold valves 102 remain closed, thereby directing fluid to nozzles 38, 90, 92 corresponding to sensor windows 36, 76, 78, e.g., to first nozzle 38 if first sensor window 36 is obscured, to second nozzle 90 if second sensor window 76 is obscured, and so on. The computer 60 also actuates the first pump 82 and the first valve 54 to mix the first additive into the cleaning fluid that is sent to the sensor windows 36, 76, 78. The computer 60 may mix a preset amount of the first additive, for example, by actuating the first valve 54 to open for a preset time and then actuating the first valve 54 to close. The preset amount may be selected by experimentally determining the minimum amount effective to remove insects from one of the sensor windows 36, 76, 78. After block 420, the process 400 proceeds to decision block 455.

In decision block 425, computer 60 determines whether the second condition is satisfied based on the detected obstacle data from sensors 34, 62, 74. The second condition may be ice build-up (e.g., frost) on the sensor windows 36, 76, 78. The computer 60 may determine that the obstacle is ice by using the identification of the type of obstacle from decision block 415 above and determining whether the type of obstacle is ice or a different type of obstacle. If the second condition is satisfied, process 400 proceeds to block 430. If the second condition is not met, process 400 proceeds to block 435.

In block 430, the computer 60 activates the sensor system 32 to spray the respective sensor window 36, 76, 78 with the cleaning solution containing the second additive. Computer 60 activates main pump 104 and activates manifold valves 102 corresponding to respective sensor windows 36, 76, 78 to open, while the remaining valves in manifold valves 102 remain closed, thereby directing fluid to nozzles 38, 90, 92 corresponding to sensor windows 36, 76, 78, e.g., to first nozzle 38 if first sensor window 36 is obscured, to second nozzle 90 if second sensor window 76 is obscured, and so on. The computer 60 also actuates the second pump 84 and the second valve 56 to mix the second additive into the cleaning fluid that is sent to the sensor windows 36, 76, 78. The computer 60 may mix a preset amount of the second additive, for example, by actuating the second valve 56 to open for a preset time and then actuating the second valve 56 to close. The preset amount may be selected by experimentally determining the minimum amount of ice accretion effectively removed from one of the sensor windows 36, 76, 78. After block 430, the process 400 proceeds to decision block 455.

In block 435, the computer 60 activates the sensor system 32 to spray the respective sensor windows 36, 76, 78 with a cleaning solution that does not contain any additives. Computer 60 activates main pump 104 and activates manifold valves 102 corresponding to respective sensor windows 36, 76, 78 to open, while the remaining valves in manifold valves 102 remain closed, thereby directing fluid to nozzles 38, 90, 92 corresponding to sensor windows 36, 76, 78, e.g., to first nozzle 38 if first sensor window 36 is obscured, to second nozzle 90 if second sensor window 76 is obscured, and so on. The computer 60 limits actuation of the first, second and third valves 54, 56, 58 so that they remain closed. After block 435, the process 400 proceeds to decision block 455.

In decision block 440, computer 60 determines whether each of sensor windows 36, 76, 78 satisfies the second condition based on data from the respective sensor 34, 62, 74. The third condition is a loss of the hydrophobic coating on the corresponding sensor window. The computer 60 may determine that a hydrophobic coating loss has occurred by an agent (proxy) measuring the amount (e.g., thickness) of hydrophobic coating on the sensor window and determining whether the agent has crossed a threshold. For example, computer 60 may determine whether the transmission haze of each sensor window 36, 76, 78 is above a haze threshold. Transmission haze is the proportion of light transmitted through a transparent material that is subject to wide angle scattering according to ASTM D1003 test standard, i.e., scattering at an angle greater than 2.5 ° from normal. As another example, the agent may be a measurement of some aspect of a water droplet appearing on the sensor window 36, 76, 78. Examples of measurements of water droplets include deformation values, contact angles, sizes, transparencies, distributions, luminosity gradients, and the like, as disclosed in more detail in U.S. patent application No. 16/253,851, which is incorporated herein by reference. If the third condition is satisfied, process 400 proceeds to decision block 445. If the third condition is not met, the process 400 proceeds to decision block 455.

In decision block 445, the computer 60 determines whether the vehicle 30 has stopped and/or whether the vehicle 30 will stop for at least a preset duration. The preset duration may be selected to provide sufficient time to apply and set an additional hydrophobic coating, as described below with respect to block 450. For example, if the vehicle 30 is an autonomous vehicle, the computer 60 may determine whether the next trip to be made by the vehicle 30 will not begin within at least the preset duration, for example, by consulting a schedule of upcoming trips stored in the memory of the computer 60. If the vehicle 30 is stopped or stopped for at least the preset duration, the process 400 proceeds to block 450. If the vehicle 30 is not stopped or will not be stopped for at least the preset duration, the process 400 proceeds to decision block 455.

In block 450, computer 60 activates sensor system 32 to spray sensor windows 36, 76, 78 meeting the third condition with a rinse solution containing the third additive. Computer 60 activates main pump 104 and activates manifold valve 102 corresponding to that sensor window 36, 76, 78 to open, while the remaining valves in manifold valve 102 remain closed, thereby directing fluid to nozzles 38, 90, 92 corresponding to sensor windows 36, 76, 78, e.g., to first nozzle 38 if first sensor window 36 has lost a hydrophobic coating, to second nozzle 90 if second sensor window 76 has lost a hydrophobic coating, and so on. Computer 60 also actuates third pump 86 and third valve 58 to mix the second additive into the cleaning fluid sent to the sensor window. The computer 60 may mix a predetermined amount of the third additive, for example, by actuating the third valve 58 to open for a predetermined time and then actuating the third valve 58 to close. The preset amount may be selected by determining the amount of the supplementary hydrophobic coating through experimentation. After block 450, the process 400 proceeds to decision block 455.

In decision block 455, the computer 60 determines whether the vehicle 30 is on. If the vehicle 30 is turned on, the process 400 returns to block 405 to continue monitoring sensor data. If the vehicle 30 is off, the process 400 ends. In other words, the process 400 continues to operate while the vehicle 30 is turned on.

In general, the described computing systems and/or devices may employ any of a variety of computer operating systems, including, but in no way limited to, the following versions and/or classes: fordAn application program; the AppLink/intelligent device is connected with the middleware; microsoft WindowsAn operating system; microsoft WindowsAn operating system; unix operating system (e.g., as distributed by oracle corporation of the redwood coast, Calif.)An operating system); the AIX UNIX operating system, distributed by International Business machines corporation of Armonk, N.Y.; a Linux operating system; the Mac OSX and iOS operating systems, distributed by apple Inc. of Kubinuo, Calif.; the blackberry operating system promulgated by blackberry limited of ludisia, canada; and an android operating system developed by google corporation and the open cell phone alliance; or provided by QNX software systems, IncVehicle-mounted entertainment information platform. Examples of computing devices include, but are not limited to, an on-board computer, a computer workstation, a server, a desktop, a notebook, or laptop or handheld computer, or some other computerA computing system and/or device.

Computing devices typically include computer-executable instructions, where the instructions are executable by one or more computing devices, such as those listed above. Computer-executable instructions may be compiled or interpreted by a computer program created using a variety of programming languages and/or techniques, including but not limited to Java, alone or in combination^TMC, C + +, Matlab, Simulink, Stateflow, Visual Basic, Java Script, Python, Perl, HTML, and the like. Some of these applications may be compiled and executed on a virtual machine (such as a Java virtual machine, a Dalvik virtual machine, etc.). Generally, a processor (e.g., a microprocessor) receives instructions from, for example, a memory, a computer-readable medium, etc., and executes the instructions, thereby performing one or more processes, including one or more of the processes described herein. Various computer readable media may be used to store and transmit such instructions and other data. A file in a computing device is typically a collection of data stored on a computer-readable medium, such as a storage medium, random access memory, or the like.

A computer-readable medium (also referred to as a processor-readable medium) includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that may be read by a computer (e.g., by a processor of a computer). Such a medium may take many forms, including but not limited to, non-volatile media and volatile media. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. For example, volatile media includes Dynamic Random Access Memory (DRAM), which typically constitutes a main memory. Such instructions may be transmitted by one or more transmission media, including coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to the processor of the ECU. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

A database, data store, or other data store described herein may include various mechanisms for storing, accessing/accessing, and retrieving various data, including a hierarchical database, a set of files in a file system, an application database in a proprietary format, a relational database management system (RDBMS), a non-relational database (NoSQL), a Graphic Database (GDB), and so forth. Each such data store is typically included within a computing device employing a computer operating system, such as one of those mentioned above, and is accessed via a network in any one or more of a variety of ways. The file system is accessible from the computer operating system and may include files stored in various formats. In addition to the languages used to create, store, edit, and execute stored procedures, relational database management systems typically use Structured Query Language (SQL), such as the PL/SQL language mentioned above.

In some examples, system elements may be embodied as computer readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on computer readable media (e.g., disks, memory, etc.) associated therewith. A computer program product may comprise such instructions stored on a computer-readable medium for performing the functions described herein.

In the drawings, like numbering represents like elements. In addition, some or all of these elements may be changed. With respect to the media, processes, systems, methods, heuristics, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes may be practiced with the steps performed in an order other than the order described herein. It is also understood that certain steps may be performed simultaneously, that other steps may be added, or that certain steps described herein may be omitted.

Unless expressly indicated to the contrary herein, all terms used in the claims are intended to be given their ordinary and customary meaning as understood by those skilled in the art. In particular, use of the singular articles such as "a," "the," "said," etc. should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary. The adjectives "first," "second," and "third" are used throughout this document as identifiers, and are not intended to represent importance, order, or quantity. As used herein, "substantially" means that the size, duration, shape, or other adjective may differ slightly from that described due to physical imperfections, power interruptions, variations in machining or other manufacturing, and the like.

The present disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.

According to the invention, a sensor system is provided, having: a sensor comprising a sensor window; a nozzle aimed at the sensor window; a supply line positioned to supply fluid to the nozzle; a primary reservoir positioned to supply fluid to the supply line; a first reservoir, a second reservoir and a third reservoir, all of which are fixed relative to the primary reservoir; a first valve actuatable to inject fluid from the first reservoir into the supply line; a second valve actuatable to inject fluid from the second reservoir into the supply line; a third valve actuatable to inject fluid from the third reservoir into the supply line; and a computer communicatively coupled to the sensor and the valve, wherein the computer is programmed to actuate the first valve in response to determining a first condition based on data from the sensor; actuating the second valve in response to determining a second condition based on data from the sensor; and actuating the third valve in response to determining a third condition based on data from the sensor.

According to one embodiment, the valve is a solenoid valve.

According to one embodiment, the first condition is an insect impact on the sensor window.

According to one embodiment, the first condition is the presence of insects on the sensor window after cleaning the sensor window without actuating the first valve.

According to one embodiment, the second condition is ice accretion on the sensor window.

According to one embodiment, the third condition is loss of a hydrophobic coating on the sensor window.

According to one embodiment, the third condition is both that the vehicle comprising the sensor is stopped and the hydrophobic coating on the sensor window is lost.

According to one embodiment, the sensor is a first sensor; the sensor window is a first sensor window; and the nozzle is a first nozzle; the sensor system further comprises: a second sensor comprising a second sensor window; a second nozzle aimed at the second sensor window; and a manifold fluidly connected to the supply line, the first nozzle, and the second nozzle; wherein the manifold includes manifold valves that are independently operable to output fluid from the supply lines to the first nozzle and the second nozzle, respectively.

According to one embodiment, the computer is further programmed to: in response to determining the first condition based on data from the second sensor, actuating the manifold valve to direct fluid to the second nozzle and actuating the first valve; in response to determining the second condition based on data from the second sensor, actuating the manifold valve to direct fluid to the second nozzle and actuating the second valve; and in response to determining the third condition based on data from the second sensor, actuate the manifold valve to direct fluid to the second nozzle and actuate the third valve.

According to the invention, there is provided a computer having a processor and a memory storing instructions executable by the processor to: actuating a first valve to inject a first additive to a fluid supplied to a sensor window in response to determining a first condition based on data from a sensor including the sensor window; actuating a second valve to inject a second additive to the fluid in response to determining a second condition based on data from the sensor; and actuating a third valve to inject a third additive to the fluid in response to determining a third condition based on data from the sensor.

According to one embodiment, the first condition is an insect impact on the sensor window.

According to one embodiment, the first condition is the presence of insects on the sensor window after cleaning the sensor window without actuating the first valve.

According to one embodiment, the second condition is ice accretion on the sensor window.

According to one embodiment, the third condition is loss of a hydrophobic coating on the sensor window.

According to one embodiment, the third condition is both that the vehicle comprising the sensor is stopped and the hydrophobic coating on the sensor window is lost.

According to the invention, a sensor system is provided, having: a sensor comprising a sensor window; means for cleaning the sensor window with a fluid; means for injecting a first additive into the fluid in response to determining a first condition based on data from the sensor; means for injecting a second additive into the fluid in response to determining a second condition based on data from the sensor; and means for injecting a third additive into the fluid in response to determining a third condition based on data from the sensor.

According to an embodiment, the sensor is a first sensor, the sensor window is a first sensor window, the sensor system may further comprise: a second sensor comprising a second sensor window; and means for selectively directing the fluid to the first sensor window or the second sensor window.