JP7563303B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device that uses a cleaning fluid to clean the detection surface of an on-board sensor.

Conventionally, vehicle control devices have been known that are equipped with an on-board sensor that acquires object information about an object using electromagnetic waves passing through a detection surface exposed to the outside of the vehicle, and that automatically clean the detection surface. Such on-board sensors include LiDAR (Light Detection and Ranging) and cameras. For example, a vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") cleans the detection surface by spraying a cleaning liquid toward the detection surface when dirt on the detection surface is detected.

JP 2019-104365 A

There are two types of dirt on the detection surface: dirt that makes the onboard sensor unable to obtain object information (hereinafter referred to as "severe dirt"), and dirt that makes the onboard sensor able to obtain object information (hereinafter referred to as "light dirt"). When a vehicle is traveling near a pedestrian, there is a demand to clean the detection surface even if it is only lightly dirty in order to accurately recognize the pedestrian. However, if the detection surface is cleaned when a pedestrian is present near the vehicle, there is a risk that the pedestrian will be splashed with the cleaning liquid. If the detection surface is cleaned every time it is determined that the detection surface is lightly dirty, the amount of cleaning liquid consumed will increase, and the timing at which the cleaning liquid stored in the vehicle's storage tank becomes empty will be accelerated.

The present invention has been made to address the above-mentioned problems. That is, one of the objectives of the present invention is to provide a vehicle control device that allows a vehicle to pass close to a pedestrian without spraying cleaning fluid on the pedestrian and removes light dirt adhering to the detection surface, and further reduces the consumption of cleaning fluid.

The vehicle control device of the present invention (hereinafter also referred to as the "device of the present invention") comprises:
an on-board sensor (12, 17 to 21) configured to acquire object information relating to an object present around the vehicle using electromagnetic waves passing through a detection surface portion (12S, 17S) exposed to the outside of the vehicle;
a cleaning unit (70, 71, 72, 75, 76, 82 to 88) configured to perform a cleaning operation for cleaning the detection surface portion using a cleaning liquid;
a control unit (10) for causing the cleaning unit to perform the cleaning operation;
Equipped with.

The control unit
When the dirt index value (Id) indicating the degree of dirt on the detection surface is equal to or greater than a first threshold value (Id1th) and is less than a second threshold value (Id2th) that is greater than the first threshold value (step 315 ``Yes''), if a predetermined permission condition that is met when all of the first condition, second condition, and third condition are met is met (step 330 ``Yes''), the cleaning unit is caused to perform the cleaning operation (step 350), and if the permission condition is not met (step 330 ``No''), the cleaning unit is not caused to perform the cleaning operation.
If the contamination index value is equal to or greater than the second threshold value (step 320 "Yes"), the cleaning unit is caused to perform the cleaning operation regardless of whether the permission condition is satisfied (step 350).
It is configured as follows:
The first condition is that the control unit detects a pedestrian point where a pedestrian can be considered to be present in an area in the traveling direction of the vehicle (step 410 “Yes”).
The second condition is a condition that an arrival correlation value correlating with a time (Tr) required for the vehicle to reach the pedestrian point or a distance (Lr) traveled by the vehicle until the vehicle reaches the pedestrian point is equal to or greater than a first permitted correlation value obtained by adding a cleaning correlation value correlating with a predetermined cleaning time (Tw) required for the cleaning operation or a distance (Lw) traveled by the vehicle during the cleaning time, and a first margin correlation value correlating with a predetermined first margin time (Tdmin) or a predetermined first margin distance (Ldmin) (step 430: Tpe1≦Tr),
The third condition is a condition that the reaching correlation value is equal to or less than a second allowed correlation value obtained by adding the cleaning correlation value and a predetermined second margin correlation value that is correlated with a predetermined second margin time (Tdmax) longer than the first margin time or a second margin distance (Ldmax) longer than the first margin distance (step 430: Tr≦Tpe2).

According to the device of the present invention, when the dirt index value is equal to or greater than the first threshold value and less than the second threshold value, and the arrival correlation value is equal to or greater than the first permitted correlation value (second condition is met) and equal to or less than the second permitted correlation value (third condition is met), a cleaning operation is performed in a state in which a pedestrian point is detected (first condition is met). When the arrival correlation value is equal to or greater than the first permitted correlation value, the cleaning operation is reliably completed at a point in time before the vehicle reaches the pedestrian by the first margin time. This makes it possible to clean "dirt on the detection surface where the dirt index value is equal to or greater than the first threshold value and less than the second threshold value (light dirt)" so that the cleaning liquid does not splash on the pedestrian before the vehicle reaches the pedestrian. Therefore, the vehicle can pass near the pedestrian with the light dirt adhering to the detection surface removed.

Furthermore, if the reached correlation value is greater than the second permitted correlation value, the cleaning operation is not performed, thereby reducing the consumption of cleaning fluid.

In the above description, in order to facilitate understanding of the invention, the names and/or symbols used in the embodiments described below are enclosed in parentheses with respect to the configuration of the invention corresponding to the embodiment. However, each component of the invention is not limited to the embodiment defined by the above names and/or symbols.

FIG. 1 is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of an example of the operation of the vehicle control device. FIG. 3 is a flowchart showing a start determination routine executed by the CPU of the driving assistance ECU shown in FIG. FIG. 4 is a flowchart showing a permission condition determination routine executed by the CPU of the driving support ECU shown in FIG. FIG. 5 is a flowchart showing a cleaning operation routine executed by the CPU of the driving support ECU shown in FIG. FIG. 6 is an explanatory diagram of a cleaning unit according to a second modified example of the embodiment of the present invention.

<Configuration>
As shown in FIG. 1, a vehicle control device CD according to an embodiment of the present invention (hereinafter, referred to as "this control device") is mounted on a vehicle VA.

The vehicle control device CD includes a driving assistance ECU 10, an engine ECU 25, and a brake ECU 30. Hereinafter, the driving assistance ECU 10 will be referred to as "DS ECU 10."

These ECUs are control units (Electronic Control Units) that include a microcomputer as its main component, and are also called controllers. The microcomputer includes a CPU, ROM, RAM, and an interface (I/F), etc. These ECUs are connected via a Controller Area Network (CAN) so that they can send and receive information to each other. The CPU achieves various functions by executing instructions (programs, routines) stored in the ROM. Some or all of these ECUs may be integrated into a single ECU.

The vehicle control device CD further includes a front rider 12, an object recognition camera 13, a wheel speed sensor 14, a yaw rate sensor 16, a front camera 17, a rear camera 18, a left camera 19, a right camera 20, a GNSS receiver 21, and an external communication device 22. These are connected to the DSECU 10 so as to be able to exchange data.

The front rider 12 is disposed in the center of the front grill FG in the vehicle width direction in front of the vehicle VA. The front rider 12 is one of the on-board sensors and has a detection surface portion 12S exposed to the outside of the vehicle VA. The front rider 12 irradiates a detection area in front of the vehicle VA with laser light, which is a type of electromagnetic wave, through the detection surface portion 12S, and receives reflected light reflected by a three-dimensional object present in the detection area through the detection surface portion 12S to obtain information about the three-dimensional object. This information about the three-dimensional object is called "lidar object information." The lidar object information includes the vertical distance between the vehicle VA and the three-dimensional object in the front-rear direction of the vehicle, the relative speed of the three-dimensional object with respect to the vehicle VA, and the direction of the three-dimensional object with respect to the vehicle VA. The front rider 12 transmits the obtained target information to the DSECU 10.

The object recognition camera 13 is disposed at the top center of the front window FW inside the vehicle VA. The object recognition camera 13 guides light (a type of electromagnetic wave) from a specified shooting area in front of the vehicle VA through the front window FW to a light receiving element (not shown), which captures an image representing the shooting area (hereinafter also referred to as a "forward image") using the light receiving element. The object recognition camera 13 then captures information about objects present in the shooting area based on the forward image. This information about the objects is referred to as "camera object information." The camera object information includes the vertical distance between the vehicle VA and the object, the type of object indicating whether the object is a pedestrian, the direction of the object relative to the vehicle VA, etc.

A wheel speed sensor 14 is provided for each wheel of the vehicle VA. Each wheel speed sensor 14 generates one wheel pulse signal each time the corresponding wheel rotates a predetermined angle. The DSECU 10 counts the number of pulses per unit time of the wheel pulse signal received from each wheel speed sensor 14, and obtains the rotational speed of each wheel based on the number of pulses. The DSECU 10 then obtains a vehicle speed Vs indicating the speed of the vehicle VA based on the wheel speed of each wheel. As an example, the DSECU 10 obtains the average value of the wheel speeds of the four wheels as the vehicle speed Vs.

The yaw rate sensor 16 detects the yaw rate Yr of the vehicle VA and generates a detection signal representing the yaw rate Yr. The DSECU 10 receives the detection signal from the yaw rate sensor 16.

The front camera 17, rear camera 18, left camera 19, and right camera 20 are used in the second variant of this embodiment, and will be described in detail in the second variant.

The GNSS receiver 21 and the external vehicle communication device 22 are used in the third variant of this embodiment, and will be described in detail in the third variant.

The engine ECU 25 is connected to an engine actuator (engine Act) 26. The engine actuator 26 includes a throttle valve actuator that changes the opening of a throttle valve of the engine 27. The engine ECU 25 can change the torque generated by the engine (internal combustion engine) 27 by driving the engine actuator 26. The torque generated by the engine 27 is transmitted to the drive wheels via a transmission (not shown).

The engine ECU 25 can control the driving force of the vehicle VA and change the acceleration state (longitudinal acceleration) by controlling the engine actuator 26. If the vehicle VA is a hybrid vehicle, the engine ECU 25 can control the driving force of the vehicle VA generated by either or both of the "engine and electric motor" as the vehicle driving source. Furthermore, if the vehicle VA is an electric vehicle, the engine ECU 25 can control the driving force of the vehicle VA generated by the electric motor as the vehicle driving source.

The brake ECU 30 is connected to a brake actuator (Brake Act) 31. The brake actuator 31 is provided in a hydraulic circuit between a master cylinder (not shown) that pressurizes hydraulic oil by the depression force of a brake pedal (not shown) of the vehicle VA, and friction brake mechanisms 32 provided on the left, right, front and rear wheels. The friction brake mechanisms 32 include brake discs 32a fixed to the wheels and brake calipers 32b fixed to the vehicle body.

The brake actuator 31 adjusts the hydraulic pressure supplied to the wheel cylinder built into the brake caliper 32b in response to a command from the brake ECU 30, and activates the wheel cylinder with that hydraulic pressure. As a result, the brake actuator 31 presses the brake pad against the brake disc 32a to generate a frictional braking force. Therefore, the brake ECU 30 can control the braking force of the vehicle VA and change the acceleration state (deceleration (negative longitudinal acceleration)) by controlling the brake actuator 31.

The DSECU 10 is connected to the display device 40. The display device 40 is disposed near the center of an instrument panel (not shown) of the vehicle VA. The display device 40 receives a display command from the DSECU 10 and displays a screen according to the display command.

The control device CD includes a cleaning unit 70. The cleaning unit 70 includes a rider pump 71, a rider nozzle 72, a window pump 73, a window nozzle 74, and a tank 75.

The rider pump 71 is connected to a tank 75, which is a container for storing cleaning liquid, via a liquid pipe CL1, and to a rider nozzle 72 via a liquid pipe CL2. The rider nozzle 72 is disposed in a position where it can spray cleaning liquid toward the detection surface 12S.

The window pump 73 is connected to the tank 75 via a liquid pipe CL3 and to the window nozzle 74 via a liquid pipe CL4. The window nozzle 74 is disposed in a position where it can spray cleaning liquid toward the front windshield FW.

The rider pump 71 and the window pump 73 are each connected to the DSECU 10, and their operating states are controlled by the DSECU 10. When the rider pump 71 is operated by the DSECU 10, the rider pump 71 takes in cleaning fluid from the tank 75 via the fluid line CL1, and supplies the cleaning fluid to the rider nozzle 72 via the fluid line CL2. The rider nozzle 72 sprays the cleaning fluid toward the detection surface 12S. Similarly, when the window pump 73 is operated, cleaning fluid is supplied to the window nozzle 74, and the window nozzle 74 sprays the cleaning fluid toward the front windshield FW.

When the DSECU 10 determines that dirt is attached to the detection surface portion 12S, it drives the rider pump 71 to automatically clean the detection surface portion 12S. When the driver determines that dirt is attached to the front windshield FW, he or she operates a cleaning switch (not shown). When the cleaning switch is operated, the DSECU 10 drives the window pump 73 to spray cleaning fluid onto the front windshield FW, and then drives the wipers (not shown) to clean the front windshield FW. Even if dirt is attached to the area of the front windshield FW that transmits (leads) light to the object recognition camera 13, the dirt is removed by cleaning the front windshield FW.

In this control device CD, the DSECU 10 executes pre-collision control when an object that may collide with the vehicle VA is present and a predetermined collision condition is met, based on the lidar object information and the camera object information.
The collision condition is met when the time it takes for the vehicle VA to collide with an object is equal to or less than a threshold time.
The pre-collision control is, for example, a control for decelerating the vehicle VA before it collides with an object. The DSECU 10 transmits a deceleration command including a predetermined target deceleration (i.e., a negative longitudinal acceleration) to the engine ECU 25 and the brake ECU 30. When the engine ECU 25 receives the deceleration command, it controls the engine actuator 26 so that the longitudinal acceleration of the vehicle VA coincides with the target deceleration. When the brake ECU 30 receives the deceleration command, it controls the brake actuator 31 so that the longitudinal acceleration of the vehicle VA coincides with the target deceleration.

It should be noted that the above pre-collision control may be performed using lidar object information without using camera object information.
Furthermore, the DSECU 10 can execute known vehicle control (lane keeping control and ACC (Adaptive Cruise Control), etc.) based on the lidar object information and the camera object information. The lane keeping control is a control for driving the vehicle VA while keeping the vehicle VA positioned at a predetermined position in the vehicle width direction of the lane in which the vehicle VA is traveling. This lane keeping control is described, for example, in Japanese Patent Application Laid-Open No. 2008-195402, Japanese Patent Application Laid-Open No. 2009-190464, Japanese Patent Application Laid-Open No. 2010-6279, and Japanese Patent No. 4349210.
ACC includes two types of control: constant speed cruise control and preceding vehicle following control. Constant speed cruise control is a control that adjusts the acceleration of the vehicle VA so that the traveling speed of the vehicle VA matches a target speed (set speed) without the need to operate the accelerator pedal and the brake pedal. Preceding vehicle following control is a control that makes the vehicle VA follow the preceding vehicle while maintaining the inter-vehicle distance between the vehicle VA and a preceding vehicle traveling just before the vehicle VA at a target inter-vehicle distance. ACC is described, for example, in Japanese Patent Application Laid-Open No. 2014-148293, Japanese Patent Application Laid-Open No. 2006-315491, and Japanese Patent No. 4172434.

<Outline of operation>
The control device CD acquires a dirt index value Id that indicates the degree of dirt on the detection surface 12S. The more severe (intense, severe) the dirt on the detection surface 12S is, the larger the dirt index value Id becomes. When the dirt index value Id is equal to or greater than the first threshold value Id1th and less than a "second threshold value Id2th greater than the first threshold value Id1th," the detection surface 12S is slightly dirty, although the front rider 12 can detect a three-dimensional object. When the dirt index value Id is equal to or greater than the second threshold value Id2th, the detection surface 12S is so heavily dirty that the front rider 12 cannot detect a three-dimensional object.

When the dirt index value Id is equal to or greater than the second threshold value Id2th, the DSECU 10 of the support device CD drives the rider pump 71 for a predetermined cleaning time Tw to clean the detection surface 12S. The operation of the DSECU 10 to have the cleaning unit (rider pump) clean the detection surface 12S may be referred to as the "cleaning operation."

When the contamination index value Id is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, the DSECU 10 executes the above-mentioned cleaning operation if a predetermined permission condition is met, and does not execute the above-mentioned cleaning operation if the permission condition is not met.

The permission condition is met when all of the following first, second and third conditions are met.
First condition: A pedestrian point PP, which will be described later, is detected in the area ahead of the vehicle VA.
Second condition: The arrival time Tr required for the vehicle VA to arrive at the pedestrian point PP is equal to or longer than a first permitted time Tpe1 described later.
Third condition: the arrival time Tr is equal to or shorter than a second permitted time Tpe2 described later.

The pedestrian point PP will now be described.
In this embodiment, the DSECU 10 recognizes the position of an object relative to the vehicle VA based on the lidar object information and the camera object information, and determines whether the object is a pedestrian P based on the camera object information. The pedestrian point PP is the position of the pedestrian P closest to the vehicle VA among the pedestrians P recognized by the DSECU 10. When the DSECU 10 recognizes only one pedestrian P, the position of the pedestrian P relative to the vehicle VA becomes the pedestrian point PP.

2, the first permitted time Tpe1 is the time obtained by adding the cleaning time Tw and a predetermined minimum margin time Tdmin, and the second permitted time Tpe2 is the time obtained by adding the cleaning time Tw and a "predetermined maximum margin time Tdmax that is greater than the minimum margin time Tdmin." The second permitted time Tpe2 is greater than the first permitted time Tpe1. In the following, the minimum margin time Tdmin may be referred to as the "first margin time," and the maximum margin time Tdmax may be referred to as the "second margin time."
The minimum margin time Tdmin is preset to a time longer than a predetermined recovery time from the end of cleaning to the time when the detection accuracy of the front rider 12 is restored (the time required for the detection accuracy of the front rider 12 to recover from the end of cleaning).

When light dirt is present on the detection surface 12S, the cleaning operation is executed on the condition that the permission condition is met, and therefore the cleaning operation is completed at the latest before the minimum margin time Tdmin before the vehicle VA reaches the pedestrian P. This makes it possible to prevent the cleaning liquid from splashing on the pedestrian P, and allows the vehicle VA to travel close to the pedestrian P with the light dirt on the detection surface 12S removed.
Even if the detection surface 12S is slightly soiled, the permission condition is not met and the cleaning operation is not performed unless the arrival time Tr is equal to or shorter than the second permission time Tpe2. This makes it possible to reduce the number of times the cleaning operation for light soiling is performed, and thus the consumption of cleaning fluid.

(Example of operation)
An example of the operation of the control device CD will be described with reference to FIG.
In this example, for simplicity of explanation, it is assumed that from time t1 to time t3, the vehicle VA is traveling at a constant vehicle speed Vs and the pedestrian P is standing still and not moving (i.e., the relative speed of the pedestrian P with respect to the vehicle VA is constant).

<Time t1>
At time t1, the DSECU 10 acquires the contamination index value Id and the arrival time Tr1. It is assumed that the contamination index value Id acquired at time t1 is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, and the arrival time Tr1 is greater than the second permission time Tpe2. Therefore, the permission condition is not satisfied, and the DSECU 10 does not execute the washing operation.

The process of obtaining the dirt index value Id will now be described.
When laser light emitted from the light source of the front rider 12 passes through the detection surface 12S, the front rider 12 detects the amount of reflected light of the laser light reflected by the detection surface 12S. The amount of reflected light tends to increase as the detection surface 12S becomes dirtier. Therefore, the DSECU 10 obtains the amount of reflected light from the front rider 12 every time a predetermined time elapses, and obtains a dirt index value Id based on the amount of reflected light. The dirtier the detection surface 12S is, the larger the dirt index value Id becomes.
The DSECU 10 may obtain an image from a dirt detection camera (not shown) that is disposed in a position capable of capturing an image of the detection surface portion 12S, and obtain the dirt index value Id based on the image.

The process of acquiring the arrival time Tr1 will be described.
It is assumed that at time t1, the DSECU 10 determines that a pedestrian P is present based on the lidar object information and the camera object information, that is, determines that a pedestrian point PP is present.
In this case, the DSECU 10 estimates the route (travel route) that the vehicle VA will travel from now on based on the vehicle speed Vs and yaw rate Yr at time t1. The DSECU 10 obtains the arrival time Tr, which is the time it takes for the vehicle VA to come closest to the pedestrian point PP, based on the relative speed of the pedestrian P under the assumption that the relative speed of the pedestrian P at time t1 is maintained. The relative speed of the pedestrian P is identified based on the lidar object information.

<Time t2>
It is assumed that the contamination index value Id acquired at time t2 is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, and the arrival time Tr2 is equal to or greater than the first permitted time Tpe1 and less than the second permitted time Tpe2. With this assumption, the permission condition is met, and the DSECU 10 starts the cleaning operation.

At time t3, the cleaning time Tw has elapsed since "time t2 when the cleaning operation started," and the DSECU 10 ends the cleaning operation. Time t3 is a time that is at least the minimum margin time Tdmin before the time when the vehicle VA comes closest to the pedestrian P. This makes it possible to prevent the cleaning liquid from splashing on the pedestrian P, and the vehicle VA can travel close to the pedestrian P with light dirt adhering to the detection surface portion 12S removed.

(Specific operation)
<Start Judgment Routine>
The CPU of the DSECU 10 (hereinafter, when the term "CPU" is used, it refers to the CPU of the DSECU 10 unless otherwise specified) executes a start determination routine shown in the flowchart of FIG. 3 every time a predetermined time has elapsed.

Therefore, at a predetermined timing, the CPU starts processing from step 300 in FIG. 3 and proceeds to step 305. In step 305, the CPU determines whether the value of the cleaning flag Xwa is "0".

The value of the cleaning flag Xwa is set to "0" when the cleaning operation is not being performed, and is set to "1" when the cleaning operation is being performed. The value of the cleaning flag Xwa is set to "0" in an initialization routine. The initialization routine is executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the OFF position to the ON position.

If the value of the cleaning flag Xwa is "0", the CPU judges "Yes" in step 305 and executes steps 310 and 315 in sequence.

Step 310: The CPU obtains a dirt index value Id based on the amount of light reflected from the detection surface 11S.
Step 315: The CPU determines whether or not the contamination index value Id is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th.

Assuming that the dirt index value Id is less than the first threshold value Id1th, the CPU determines "No" in step 315 and proceeds to step 320. In step 320, the CPU determines whether the dirt index value Id is equal to or greater than the second threshold value Id2th. In the above assumption, the CPU determines "No" in step 320 and proceeds to step 395 to temporarily end this routine. Therefore, if the dirt index value Id is less than the first threshold value Id1th, the cleaning operation is not performed.

When the CPU proceeds to step 315, if the dirt index value Id is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, the CPU determines "Yes" in step 315 and executes steps 325 and 330 in sequence.

Step 325: The CPU executes a permission condition determination subroutine. In practice, when the CPU proceeds to step 325, it executes the subroutine shown in the flowchart of FIG. 4. In this subroutine, the CPU determines whether the permission condition is met, and if the permission condition is met, sets the value of the permission flag Xpe to "1." Note that the value of the permission flag Xpe is set to "0" in the initialization routine described above, and is also set to "0" when the cleaning operation is started.

Step 330: The CPU determines whether the value of the permission flag Xpe is "1" or not.
If the value of the permission flag Xpe is "0", the CPU determines "No" in step 330, proceeds to step 395, and temporarily ends this routine. Therefore, if the contamination index value Id is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, the cleaning operation is not performed if the permission condition is not met.

If the value of the permission flag Xpe is "1" when the CPU proceeds to step 330, the CPU judges "Yes" at step 330 and executes steps 335 to 355 in order.

Step 335: The CPU sets the value of the cleaning flag Xwa to “1”.
Step 340: The CPU sets the value of the permission flag Xpe to “0”.

Step 345: The CPU sets the value of the timer TM to "0".
The timer TM is a timer for counting the time that has elapsed since the start of the cleaning operation.

Step 350 : The CPU sends a drive command to the rider pump 71 .
When the rider pump 71 receives a drive command, it takes in cleaning liquid from the tank 75 and sprays the cleaning liquid from the rider nozzle 72 .

Step 355 : The CPU sends a display command to the display device 40 .
When the display device 40 receives the display command, it displays a cleaning in-progress image which indicates that a cleaning operation is being performed.

Then, the CPU proceeds to step 395 and ends this routine. Therefore, if the contamination index value Id is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, the cleaning operation is performed if the permission condition is met.

When this routine is started after the cleaning flag Xwa is set to "1", the CPU judges "No" in step 305, proceeds to step 395, and temporarily ends this routine.

If the dirt index value Id is equal to or greater than the second threshold value Id2th, the CPU determines "No" in step 315 and "Yes" in step 320, and executes steps 335 to 355. The CPU then proceeds to step 395 and ends this routine. Therefore, if the dirt index value Id is equal to or greater than the second threshold value Id2th, the CPU executes the cleaning operation regardless of whether the permission condition is met.

<Subroutine for determining permission conditions>
When the CPU proceeds to step 325 shown in FIG. 3, it starts the process from step 400 shown in FIG. 4, and executes steps 405 and 410 in that order.
Step 405: The CPU acquires the lidar object information from the front rider 12 and acquires the camera object information from the object recognition camera 13.
Step 410: The CPU determines whether a pedestrian point PP exists based on the lidar object information and the camera object information.

If no pedestrian point PP exists, the CPU judges "No" in step 410 and proceeds to step 495, temporarily terminating this routine. The CPU then proceeds to step 330 shown in FIG. 3. If no pedestrian point PP exists, the first permission condition is not met, and therefore the value of the permission flag Xpe is not set to "1."

On the other hand, if a pedestrian point PP exists, the CPU judges "Yes" in step 410 and executes steps 415 to 430 in sequence.

Step 415 : The CPU obtains the vehicle speed Vs based on the wheel pulse signal from the wheel speed sensor 14 , and obtains the yaw rate Yr based on the detection signal from the yaw rate sensor 16 .
Step 420: The CPU estimates the travel route of the vehicle VA based on the vehicle speed Vs and the yaw rate Yr.
Step 425: The CPU obtains the arrival time Tr based on the relative speed of the pedestrian P included in the lidar object information.
Step 430: The CPU determines whether the arrival time Tr is equal to or greater than the first allowed time Tpe1 and equal to or less than the second allowed time Tpe2.

If the arrival time Tr is less than the first permitted time Tpe1, or if the arrival time Tr is greater than the second permitted time Tpe2, the CPU determines "No" in step 430 and proceeds to step 495, temporarily terminating this routine. The CPU then proceeds to step 330 shown in FIG. 3. If the arrival time Tr is less than the first permitted time Tpe1, the second permission condition is not met, and if the arrival time Tr is greater than the second permitted time Tpe2, the third permission condition is not met, so the value of the permission flag Xpe is not set to "1".

On the other hand, if the arrival time Tr is equal to or greater than the first permission time Tpe1 and equal to or less than the second permission time Tpe2 when the CPU proceeds to step 430, the CPU determines "Yes" in step 430 and proceeds to step 435. In step 435, the CPU sets the value of the permission flag Xpe to "1" and proceeds to step 495 to temporarily end this routine. The CPU then proceeds to step 330 shown in FIG. 3. If a pedestrian point PP exists and the arrival time Tr is equal to or greater than the first permission time Tpe1 and equal to or less than the second permission time Tpe2, all of the first to third permission conditions are met, and the value of the permission flag Xpe is set to "1".

<Cleaning operation routine>
The CPU executes a cleaning operation routine shown in the flowchart of FIG. 5 every time a predetermined time elapses.
5, and proceeds to step 505. In step 505, the CPU determines whether the value of the cleaning flag Xwa is "1".

If the value of the cleaning flag Xwa is "0", the CPU makes a "No" determination in step 505, proceeds to step 595, and temporarily ends this routine.
If the value of the cleaning flag Xwa is "1", the CPU judges "Yes" in step 505 and executes steps 510 and 515 in this order.

Step 510: The CPU adds "1" to the value of the timer TM.
Step 515: The CPU determines whether the value of the timer TM is less than a threshold value TMth, which is preset so that when the value of the timer TM becomes equal to the threshold value TMth, the elapsed time from the start of the cleaning operation becomes equal to the cleaning time Tw.

If the value of the timer TM is less than the threshold value TMth, the CPU determines "Yes" in step 515 and proceeds to step 520. In step 520, the CPU sends a drive command to the rider pump 71. After that, the CPU proceeds to step 595 and temporarily ends this routine.

If the value of the timer TM is equal to or greater than the threshold value TMth when the CPU proceeds to step 515, the CPU determines "No" in step 515 and executes steps 525 to 535 in order.

Step 525: The CPU sets the value of the cleaning flag Xwa to “0”.
Step 530: The CPU sets the value of the timer TM to "0".
Step 535: The CPU sends a completion display command to the display device 40.
When the display device 40 receives the completion display command, it displays a completion screen indicating that the cleaning operation has ended (completed).
Thereafter, the CPU proceeds to step 595 and temporarily ends this routine.

As a result, when the dirt index value Id is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, if the permission condition is met, the control device CD executes the cleaning operation, and if the permission condition is not met, the control device CD does not execute the cleaning operation. This prevents the cleaning liquid from getting on pedestrians, while removing light dirt adhering to the detection surface portion 12S when the vehicle VA is traveling near pedestrians.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the present invention.

(First Modification)
In the above embodiment, the CPU determines whether the second and third conditions are satisfied by comparing the reach time Tr with the first and second permitted times Tpe1 and Tpe2. The CPU of the DSECU 20 in this modified example determines whether the second and third conditions are satisfied by comparing the reach distance Lr with the first and second permitted distances Lpe1 and Lpe2.

The reach distance Lr is the distance that the vehicle VA travels until it reaches the pedestrian point PP. The CPU acquires the reach distance Lr based on the "position of the pedestrian P with respect to the vehicle VA," the "relative speed of the pedestrian P," and the "travel route of the vehicle VA."
The first allowable distance Lpe1 is a distance obtained by adding a cleaning distance Lw, which is a distance that the vehicle VA travels during the cleaning time Tw, to a predetermined minimum margin distance Ldmin. The cleaning distance Lw is obtained based on the vehicle speed Vs.
The second allowable distance Lpe2 is the sum of the cleaning distance Lw and a "predetermined maximum margin distance Ldmax that is greater than the minimum margin distance Ldmin."
In the following, the minimum margin distance Ldmin may be referred to as a "first margin distance," and the maximum margin distance Ldmax may be referred to as a "second margin distance."

The second condition can be expressed as being satisfied when the arrival correlation value correlated with the arrival time Tr or the arrival distance Lr is equal to or greater than the first permitted correlation value correlated with the first permitted time Tpe1 or the first permitted distance Lpe1. Similarly, the second condition can be expressed as being satisfied when the arrival correlation value is equal to or less than the second permitted correlation value correlated with the second permitted time Tpe2 or the second permitted distance Lpe2.

(Second Modification)
In the above embodiment, when dirt is attached to the detection surface 12S of the front rider 12, the detection surface 12S is cleaned. In this modified example, when dirt is attached to the detection surface 17S (see FIG. 6 ) of the front camera 17, the detection surfaces of the front camera 17, the rear camera 18, the left camera 19, and the right camera 20 are cleaned.

The front camera 17 is disposed below the front rider 12 in the center of the front grill FG in the vehicle width direction, and photographs a predetermined shooting area in front of the vehicle VA. The rear camera 18 is disposed in the center of the rear grill (not shown) of the vehicle VA in the vehicle width direction, and photographs a predetermined shooting area behind the vehicle VA. The left camera 19 is disposed in the left side mirror (not shown) of the vehicle VA, and photographs a predetermined shooting area on the left side of the vehicle VA. The right camera 20 is disposed in the right side mirror (not shown) of the vehicle VA, and photographs a predetermined shooting area on the right side of the vehicle VA.

The DSECU 20 synthesizes the images captured by the front camera 17, rear camera 18, left camera 19, and right camera 20 to generate an image (PVM image) of the surroundings of the vehicle VA as viewed from any virtual viewpoint around the vehicle VA. PVM stands for Panoramic Viewing Monitor. The DSECU 20 displays the PVM image on the display device 40. By looking at the PVM image, the driver can easily grasp the situation around the vehicle VA.

The front camera 17 includes a detection surface 17S exposed to the outside of the vehicle VA. The front camera 17 guides light (a type of electromagnetic wave) from the image capturing area to a light receiving element (not shown) through the detection surface 17S, and obtains image information representing the image capturing area by the light receiving element.
Like the front camera 17, the rear camera 18, left camera 19 and right camera 20 also have a detection surface portion (not shown) and obtain image information by directing light through the detection surface portion to a light receiving element.

As shown in FIG. 6 , the cleaning unit 70 of this modified example includes a camera pump 76 instead of the rider pump 71 , and a front camera nozzle 82 , a rear camera nozzle 84 , a left camera nozzle 86 and a right camera nozzle 88 instead of the rider nozzle 72 .
The camera pump 76 communicates with the tank 75 via a liquid pipe CL5. The camera pump 76 also communicates with a front camera nozzle 82, a rear camera nozzle 84, a left camera nozzle 86, and a right camera nozzle 88 via a liquid pipe CL6 and liquid pipes CL7, CL8, CL9, and CL10 which branch off from the liquid pipe CL6 at a predetermined position. The camera nozzles 82 to 88 are disposed at positions where they can spray cleaning liquid toward the detection surfaces of the cameras 17 to 20. When the camera pump 76 is driven, cleaning liquid is sprayed from the camera nozzles 82 to 88 to clean the detection surfaces of the cameras 17 to 20.

The CPU acquires a dirt index value Id for the detection surface 17S based on the image captured by the front camera 17. The dirt index value Id increases as the proportion of dirt in the entire detection surface 17S increases. Note that a dirt detection camera that captures the detection surface 17S may be installed separately, and the CPU may acquire the dirt index value based on the image captured by the dirt detection camera.

When the dirt index value Id of the detection surface 17S is equal to or greater than the first threshold value Id1th and less than the second threshold value Id2th, if the permission condition is satisfied, the CPU drives the camera pump 76 to execute the cleaning operation, and if the permission condition is not satisfied, the CPU does not execute the cleaning operation. Furthermore, if the dirt index value Id of the detection surface 17S is equal to or greater than the second threshold value Id2th, the CPU executes the cleaning operation regardless of whether the permission condition is satisfied or not.
The first threshold Id1th and the second threshold Id2th used in this modification may be the same as the first threshold Id1th and the second threshold Id2th used in the above embodiment, or may be different values.

A cleaning operation may be performed when a cleaning condition is met, which is met when at least one of the following conditions is met: the dirt index value Id of the detection surface portion of at least one of cameras 17 to 20 is greater than or equal to the first threshold value Id1th and less than the second threshold value Id2th and further the permission condition is met, and the dirt index value Id is greater than or equal to the second threshold value Id2th.
Furthermore, if the configuration allows the cleaning operation to be performed for each of the detection surfaces of the cameras 17 to 20, the cleaning operation may be performed only on the detection surfaces for which the cleaning conditions are met.
Furthermore, it is possible to combine the above embodiment with this modified example.

(Third Modification)
In the above embodiment, the pedestrian point PP is acquired based on the lidar object information and the camera object information, but the pedestrian point PP may be acquired based on other information. Five examples will be described below.

First Example A vehicle control device CD according to a first example identifies a pedestrian point PP based on an image captured by a camera 91 included in a roadside device 90 (see FIG. 1) installed on a road.
The roadside device 90 has a camera 91 that captures an image of a predetermined area. Furthermore, location information indicating the location (latitude, longitude) of the roadside device 90 is preset in the roadside device 90. The roadside device 90 transmits image information including the image captured by the camera 91 and the location information every time a predetermined time elapses.

1 receives "signals from artificial satellites (GNSS signals)" for detecting the current position (latitude, longitude) of the vehicle VA. The DSECU 10 identifies the current position of the vehicle VA based on the GNSS signals.
The exterior vehicle communication device 22 shown in FIG. 1 receives image information from the roadside device 90 when the distance between the vehicle VA and the roadside device 90 becomes less than a predetermined distance.

The DSECU 10 determines whether or not a pedestrian is present based on an image included in the image information received by the exterior communication device 22. If a pedestrian is present, the DSECU 10 identifies the position of the pedestrian relative to the roadside device 90 (i.e., the camera 91), and identifies the position of the pedestrian relative to the vehicle VA as a pedestrian point PP based on the position information (the position of the roadside device 90) included in the image information and the current position of the vehicle VA.
The DSECU 10 obtains the relative speed of the pedestrian P based on the history of the position of the pedestrian P relative to the vehicle VA and the vehicle speed Vs, and obtains the arrival time Tr based on the relative speed.

Second Example A vehicle control device CD according to a second example identifies a pedestrian point PP based on “road type information indicating a road type” transmitted from a roadside device 90 .

The roadside device 90 is preset with location information and "type information indicating the type of road on which the roadside device 90 is installed." Road types include vehicle-only roads on which pedestrians P are not permitted to pass, and general roads on which pedestrians P are permitted to pass. The roadside device 90 transmits roadside device information including location information and type information every time a predetermined time has elapsed. Note that the roadside device 90 in this example does not need to have a camera 91.

The DSECU 10 stores in the RAM the type information included in the roadside device information received by the exterior communication device 22. When the latest type information stored in the RAM indicates a vehicle-only road, and the type information included in the newly received roadside device information indicates a general road, the DSECU 10 identifies the position indicated by the position information included in the newly received roadside device information as a pedestrian point PP.
The DSECU 10 obtains the arrival time Tr based on the position of the pedestrian point PP, the current position of the vehicle VA, and the vehicle speed Vs.

Third Example A vehicle control device CD according to a third example identifies a pedestrian point PP based on pedestrian position information transmitted from the management server 92.
The management server 92 collects the current locations of the portable terminals carried by the users, and manages information relating to the current locations.
The exterior communication device 22 is connected to the management server 92 via a network so as to be able to exchange data.

The vehicle control device CD transmits an acquisition request including the current position of the vehicle VA to the management server 92 every time a predetermined time elapses.
When the management server 92 receives the acquisition request, it identifies the current positions of users who are present within a predetermined distance from the current position included in the acquisition request, and identifies users whose movement speeds during the period from the present time until a predetermined time ago are equal to or less than a threshold as pedestrians P. Then, the management server 92 transmits the current positions of the users identified as pedestrians P to the vehicle control device CD as pedestrian position information.

When the vehicle control device CD receives the pedestrian position information, it identifies the current position of the pedestrian P that is closest to the vehicle VA as a pedestrian point PP.
The vehicle control device CD obtains the relative speed of the pedestrian P based on the history of the position of the pedestrian closest to the vehicle VA and the vehicle speed Vs, and obtains the arrival time Tr based on the relative speed.

Fourth Example In the fourth example, the management server 92 divides a map of a predetermined area into a plurality of blocks each having a predetermined size, and stores the number of pedestrians in each block for each time period (e.g., one hour). The vehicle control device CD acquires pedestrian information including the number of pedestrians in each block within a predetermined distance from the current position of the vehicle VA for a time period including the current time from the management server 92. Then, when there is a block in which the number of pedestrians is "1" or more, the vehicle control device CD identifies the block closest to the vehicle VA as the pedestrian point PP.
The vehicle control device CD obtains the arrival time Tr based on the position of the block identified as the pedestrian point PP, the current position of the vehicle VA, and the vehicle speed Vs.

Fifth Example The vehicle control device CD according to the fifth example acquires other vehicle information on another vehicle 93 through vehicle-to-vehicle communication, and determines whether or not a traffic jam is occurring based on the other vehicle information. If the vehicle control device CD determines that a traffic jam is occurring, it determines whether or not an event is being held within a predetermined distance from the current position of the vehicle VA. If an event is being held, the vehicle control device CD identifies the position of the other vehicle 93 that is closest to the vehicle VA and whose vehicle speed is equal to or less than a threshold as a pedestrian point PP.

When the distance between the vehicle VA and the other vehicle 93 becomes less than a predetermined distance, the exterior communication device 22 of this example receives other vehicle information from the other vehicle 93. The other vehicle information includes the current position of the other vehicle 93 and the vehicle speed of the other vehicle 93.
Furthermore, the exterior communication device 22 is connected to an event server (not shown) via a network so as to be able to exchange data with the event server. The event server manages the location of the event venue.

The vehicle control device CD determines that a traffic jam is occurring if there are a predetermined number or more of other vehicles 93 whose vehicle speed is below a threshold based on the received other vehicle information. The vehicle control device CD then determines whether or not an event is being held by obtaining information about events being held within a predetermined distance from the current location of the vehicle VA from an event server. The vehicle control device CD obtains the arrival time Tr based on the position of the other vehicle 93 identified as the pedestrian point PP, the current position of the vehicle VA, and the vehicle speed Vs.

(Fourth Modification)
The cleaning time Tw of the cleaning operation performed when the dirt index value Id is greater than or equal to the first threshold value Id1th and greater than or equal to the second threshold value Id2th may be the same length as the cleaning time Tw of the cleaning operation performed when the dirt index value Id is greater than or equal to the second threshold value Id2th, or may be different length.

10...driving assistance ECU, 12...front rider, 12S...detection surface portion, 17...front camera, 17S...detection surface portion, 18...rear camera, 19...left camera, 20...right camera, 70...cleaning unit, 71...rider pump, 72...rider nozzle, 75...tank.

Claims (1)

an on-board sensor configured to acquire object information regarding an object present in the vicinity of the vehicle using electromagnetic waves passing through a detection surface portion exposed to the outside of the vehicle;
a cleaning unit configured to perform a cleaning operation for cleaning the detection surface using a cleaning liquid;
a control unit for causing the cleaning unit to perform the cleaning operation;
Equipped with
The control unit
when a dirt index value indicating the degree of dirt on the detection surface is equal to or greater than a first threshold value and is less than a second threshold value that is greater than the first threshold value, if a predetermined permission condition is satisfied, which is satisfied when all of a first condition, a second condition, and a third condition are satisfied, the cleaning unit is caused to perform the cleaning operation, and if the permission condition is not satisfied, the cleaning unit is not caused to perform the cleaning operation;
when the dirt index value is equal to or greater than the second threshold value, causing the cleaning unit to perform the cleaning operation regardless of whether the permission condition is satisfied.
It is configured as follows:
The first condition is a condition that the control unit detects a pedestrian point, which is a point where a pedestrian can be considered to be present in an area in a traveling direction of the vehicle, and
the second condition is a condition that an arrival correlation value correlating with a time required for the vehicle to reach the pedestrian point or a distance traveled by the vehicle to reach the pedestrian point is equal to or greater than a first permitted correlation value obtained by adding a cleaning correlation value correlating with a predetermined cleaning time required for the cleaning operation or a distance traveled by the vehicle during the cleaning time, and a first margin correlation value correlating with a predetermined first margin time or a predetermined first margin distance,
the third condition is a condition that the reaching correlation value is equal to or less than a second allowable correlation value obtained by adding the cleaning correlation value and a predetermined second margin correlation value having a correlation with a predetermined second margin time longer than the first margin time or a second margin distance longer than the first margin distance,
Vehicle control device.

Images