Method for cleaning, cleaning device, and vehicle
A method for cleaning at least one driving assistance sensor (12), in particular a LiDAR sensor, a camera sensor, a radar sensor, or the like, in an autonomously or semi-autonomously operated vehicle (10) having at least one environmental sensor unit (14), in particular spaced apart from the driving assistance sensor (12). It is proposed that in at least one method step (32), a cleaning program is selected and/or set from a plurality of, in particular predefined, cleaning programs for cleaning the driving assistance sensor (12), in particular at least one sensor field surface (16) of the driving assistance sensor (12), at least as a function of at least one measured parameter of the environmental sensor unit (14).
1 . A method for cleaning at least one driving assistance sensor ( 12 ), in an autonomously or semi-autonomously operated vehicle ( 10 ) having at least one environmental sensor unit ( 14 ), wherein, the method comprising, selecting a cleaning program from a plurality of cleaning programs for cleaning a sensor field surface of the driving assistance sensor ( 12 ), as a function of a measured parameter of the environmental sensor unit ( 14 ) and the vehicle ( 10 ) performing the selected cleaning program.
2 . The method of claim 1 , wherein further comprising, selecting a cleaning program from the plurality of cleaning programs for cleaning a sensor field surface of a further driving assistance sensor ( 18 ) of the autonomously or semi-autonomously operated vehicle ( 10 ) as a function of at least one measured parameter of the environmental sensor unit ( 14 ).
3 . The method according to claim 1 , wherein the driving assistance sensor ( 12 ) and the further driving assistance sensor ( 18 ) have differently oriented fields of view ( 74 , 74 ′).
4 . The method according to claim 1 , wherein the environmental sensor unit ( 14 ) is formed by a sensor unit ( 22 ) for controlling and/or activating a window wiper ( 24 ) of the vehicle ( 10 ).
5 . The method according to claim 1 , wherein the measured parameter is designed as a degree of wetting.
6 . The method according to claim 1 , wherein the measured parameter is configured as a light intensity.
7 . The method according to claim 1 , wherein the measured parameter is configured as a climate parameter.
8 . The method according to claim 1 , wherein in at least one further method step ( 36 ), the cleaning program is selected and/or set for cleaning the driving assistance sensor ( 12 )/driving assistance sensors ( 12 , 18 ) additionally as a function of an orientation of a field of view ( 74 , 74 ′) of the respective driving assistance sensor ( 12 , 18 ) relative to a forward direction of the vehicle ( 10 ) and/or as a function of a position of the respective driving assistance sensor ( 12 ), 18 ) in the vehicle ( 10 ).
9 . The method according to claim 1 , wherein in at least one further method step ( 38 ), the cleaning program is selected and/or set for cleaning the driving assistance sensor ( 12 )/driving assistance sensors ( 12 , 18 ) additionally at least as a function of a speed of the vehicle ( 10 ) and/or a further operating parameter of the vehicle ( 10 ) that can be read from a control unit ( 26 ) of the vehicle ( 10 ), such as traffic volume in an environment of the vehicle ( 10 ) or a cleaning agent level of a cleaning system ( 28 ) of the vehicle ( 10 ).
10 . The method according to claim 5 , wherein in at least one method step ( 40 ), an overall factor is formed from at least two measured parameters and/or further parameters that can be used to select the cleaning program.
11 . The method according to claim 1 , wherein in at least one method step ( 42 ), a cleaning requirement for the driving assistance sensor ( 12 ) is determined based on an expiration of a time interval and/or based on a detected level of soiling of the driving assistance sensor ( 12 ), and that the cleaning program selected and/or set in the method step ( 32 , 34 , 36 , 38 , 40 ) is started if the cleaning requirement is positively determined.
12 . A cleaning device for cleaning at least one driving assistance sensor ( 12 ) by means of a method according to claim 1 , in an autonomously or semi-autonomously operated vehicle ( 10 ) having at least one environmental sensor unit ( 14 ) spaced apart from the driving assistance sensor ( 12 ), wherein a control and/or regulating unit ( 30 ) which is configured at least for selecting and/or setting a cleaning program from a plurality of cleaning programs for cleaning the driving assistance sensor ( 12 ) as a function of a measured parameter of the environmental sensor unit ( 14 ).
13 . A semi-autonomous or fully-autonomous vehicle ( 10 ) having at least one driving assistance sensor ( 12 ), and having at least one environmental sensor unit ( 14 ), wherein the vehicle ( 10 ) is configured to perform the method according to claim 1 .
14 . The method of claim 10 , wherein the overall factor is formed from a degree of wetting and a measured light intensity.