Vehicle sensor cleaning
First Claim
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1. A system, comprising a processor and a memory, the memory storing instructions executable by the processor to:
- detect an occlusion at one or more points on a surface in a vehicle sensor optical path based on a segmentation of sensor image data that classifies objects in the vehicle sensor optical path to one of a plurality of segmentation classes, each of the plurality of segmentation classes classifying a type of object in the vehicle sensor optical path;
determine a priority of the one or more points based on the detected occlusion, the segmentation classes identified in the sensor image data, map data including geo-coordinates of a location of a vehicle, and vehicle route data of a route on which the vehicle is navigating, the priority being an importance of data collected at the one or more points in the vehicle sensor optical path to operate the vehicle; and
select a cleaning plan for the surface based on the segmentation class of the detected occlusion and the priority of the one or more points, the cleaning plan including a specified actuation of each of a wiper and a fluid sprayer and a time duration of the specified actuations.
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Abstract
A system includes a processor and a memory. The memory stores instructions executable by the processor to detect an occlusion on a surface in a vehicle sensor optical path based on a segmentation of sensor image data, and to select a cleaning plan for the surface based on the detected occlusion, map data, and vehicle route data.
43 Citations
20 Claims
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1. A system, comprising a processor and a memory, the memory storing instructions executable by the processor to:
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detect an occlusion at one or more points on a surface in a vehicle sensor optical path based on a segmentation of sensor image data that classifies objects in the vehicle sensor optical path to one of a plurality of segmentation classes, each of the plurality of segmentation classes classifying a type of object in the vehicle sensor optical path; determine a priority of the one or more points based on the detected occlusion, the segmentation classes identified in the sensor image data, map data including geo-coordinates of a location of a vehicle, and vehicle route data of a route on which the vehicle is navigating, the priority being an importance of data collected at the one or more points in the vehicle sensor optical path to operate the vehicle; and select a cleaning plan for the surface based on the segmentation class of the detected occlusion and the priority of the one or more points, the cleaning plan including a specified actuation of each of a wiper and a fluid sprayer and a time duration of the specified actuations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system, comprising:
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a vehicle camera sensor having an optical path; and a processor programmed to; detect an occlusion at one or more points on a surface in the optical path of the vehicle camera sensor based on a segmentation of sensor image data that classifies objects in the vehicle sensor optical path to one of a plurality of segmentation classes, each of the plurality of segmentation classes classifying a type of object in the vehicle sensor optical path; determine a priority of the one or more points based on the detected occlusion, the segmentation classes identified in the sensor image data, map data including geo-coordinates of a location of a vehicle, and vehicle route data of a route on which the vehicle is navigating, the priority being an importance of data collected at the one or more points in the vehicle sensor optical path to operate the vehicle; and select a cleaning plan for the surface based on the segmentation class of the detected occlusion and the priority of the one or more points, the cleaning plan including a specified actuation of each of a wiper and a fluid sprayer and a time duration of the specified actuations. - View Dependent Claims (15, 16)
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17. A method, comprising:
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detecting an occlusion at one or more points on a surface in the optical path of a vehicle camera sensor based on a segmentation of sensor image data that classifies objects in the vehicle sensor optical path to one of a plurality of segmentation classes, each of the plurality of segmentation classes classifying a type of object in the vehicle sensor optical path; determining a priority of the one or more points based on the detected occlusion, the segmentation classes identified in the sensor image data, map data including geo-coordinates of a location of a vehicle, and vehicle route data of a route on which the vehicle is navigating, the priority being an importance of data collected at the one or more points in the vehicle sensor optical path to operate the vehicle; and selecting a cleaning plan for the surface based on the segmentation class of the detected occlusion and the priority of the one or more points, the cleaning plan including a specified actuation of each of a wiper and a fluid sprayer and a time duration of the specified actuations. - View Dependent Claims (18, 19, 20)
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Specification