The invention relates to the technical field of unmanned driving, and discloses a cleaning method and a cleaning system of an environmental perception sensor, and an unmanned vehicle. The cleaning method of the environmental perception sensor comprises the following steps of: acquiring and storing an image before cleaning collected by the environmental perception sensor, and judging whether cleaning is needed according to the image before cleaning, when cleaning is needed, cleaning the environmental perception sensor, and acquiring and storing the cleaned image, checking whether re-cleaning isneeded according to the cleaned image, if not, indicating that the cleaning is effective, otherwise, repeating the cleaning and checking steps until the cleaning frequency reaches a first preset value, and stopping the cleaning and checking steps. Whether cleaning is needed or not is judged based on the images collected by the environment sensor before cleaning, whether cleaning reaches the standard or not is checked based on the images collected after cleaning, automatic cleaning and checking of the environmental perception sensor are achieved, and therefore the manual cleaning cost is reduced, the cleaning efficiency is improved, and the performance of the sensor is guaranteed.

    本发明涉及无人驾驶技术领域,公开一种环境感知传感器的清洁方法、清洁系统及无人车辆,其中,环境感知传感器的清洁方法包括:获取环境感知传感器采集的清洁前的图像并存储,依据清洁前的图像判断是否需要清洁;当需要清洁时,清洁环境感知传感器;获取清洁后的图像并存储,再依据清洁后的图像检验是否需要再次清洁,如果不需要再次清洁,则表明清洁有效,否则重复清洁与检验步骤,直至清洁次数达到第一预设值,停止清洁与检验步骤。本发明通过基于环境传感器采集清洁前的图像判断是否需要清洁,以及基于清洁后采集的图像检验清洁是否达到标准,实现环境感知传感器的自动清洁与检验,从而降低人工清洁成本,提高清洁效率,保证传感器的性能。


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    Title :

    Cleaning method and cleaning system of environmental perception sensor and unmanned vehicle


    Additional title:

    一种环境感知传感器的清洁方法、清洁系统及无人车辆


    Contributors:
    LI SHUIWANG (author)

    Publication date :

    2020-04-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / B62D MOTOR VEHICLES , Motorfahrzeuge



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