SYSTEM AND METHOD FOR CLEANING SENSORS OF AUTONOMOUS VEHICLES WITH FLUID

Fluid cleaning systems for cleaning AV sensors are disclosed herein. An example fluid cleaning system includes a reservoir storing a fluid. The fluid can flow from the reservoir to a heat exchanger. The heat exchanger can transfer heat generated by a part of the AV to the fluid, thereby improving cleaning efficacy. The part may be battery, motor, engine, sensor (e.g., the sensor to be cleaned with the fluid or another sensor), etc. The heat may be an unintended product of an operation of the part. The heat exchanger can use the heat to warm up the fluid and cool down the part. Additionally or alternatively, the fluid can be heated by another heat exchanger or a heater. The heater can generate heat intended for heating the fluid. The heater may be local to the sensor to be cleaned, e.g., the heater is closer to the sensor than the reservoir.

TECHNICAL FIELD OF THE DISCLOSURE

The present disclosure relates generally to autonomous vehicles (AVs) and, more specifically, to cleaning sensors of AVs.

BACKGROUND

An AV is a vehicle that is capable of sensing and navigating its environment with little or no user input. An autonomous vehicle may sense its environment using sensing devices such as Radio Detection and Ranging (RADAR), Light Detection and Ranging (LIDAR), image sensors, cameras, and the like. An autonomous vehicle system may also use information from a global positioning system (GPS), navigation systems, vehicle-to-vehicle communication, vehicle-to-infrastructure technology, and/or drive-by-wire systems to navigate the vehicle. As used herein, the phrase “autonomous vehicle” includes both fully autonomous and semi-autonomous vehicles.

DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE DISCLOSURE

Overview

As described herein, AV sensors can be cleaned by using fluid, including gas and liquid. In some embodiments, gas (e.g., ambient air, etc.) may be used to clean or cool AV sensors. For example, gas can be sprayed towards one or more surfaces of an AV sensor to clean contaminants on the surface(s) of the AV sensor. The gas may remove one or more contaminants (e.g., rain, cleaning liquid, dirt, etc.) from a surface of the AV sensor. Alternatively or additionally, the gas may facilitate dissipation of heat generated by the AV sensor or another part of the AV during the operation of the AV. During the cleaning or cooling process, the view of the AV sensor may not be occluded.

An example fluid cleaning system of the present disclosure may include one or more fans and one or more flow channels associated with one or more AV sensors. A fan may be localized to the AV sensors. For example, the fan may be fixed at a location that is proximate to one or more AV sensors. The fan can blow air or other types of gases towards the one or more AV sensors. A flow channel (e.g., an air duct, etc.) may provide a flow passage for air to flow from a fan to an AV sensor. The air duct may have one end connected or proximate to the fan and another end connected or proximate to the AV sensor. An example fluid cleaning system may include a compressor, which may compress ambient air. The compressed air may be stored in a pressure tank that can maintain a certain pressure or pressures, which may be higher than the ambient air pressure. The compressed air may flow from the pressure tank, e.g., through one or more flow channels, towards one or more AV sensors.

In some embodiments, a fluid for cleaning one or more sensors of an AV may be warmed up by utilizing heat generated by one or more other parts of the AV. An example part may be a battery, motor, engine, sensor (the sensor to be cleaned or another sensor), etc. The heat generated by a part may be an unintended or even undesired result of an operation of the part. For instance, a battery can generate heat during its operation. However, the heat may impair performance or lifetime of the battery or another part. Heating the fluid with such heat not only can enhance the cleaning effect of the fluid but also can cool down the part and avoid overheating of the part (or another part influenced by the heat).

An example fluid cleaning system of the present disclosure may include a reservoir storing a cleaning fluid (also referred to as “fluid”). The fluid can be used to clean AV sensors, e.g., sensors at the exterior of AVs. The fluid can also be used to clean other AV parts, e.g., wind shield, mirror, and so on. To clean a sensor, the fluid may be sprayed onto one or more surfaces of the sensor, e.g., by a spraying nozzle. A surface may be a window, an enclosure, a lens, a filter, and so on. Before the fluid is sprayed, the fluid can be heated by using one or more heat sources. The fluid can flow between the reservoir, heat sources, and spraying nozzles through various flow channels formed in association with the AV.

An example heat source is a heat exchanger. The heat exchanger can transfer heat from an AV part to the fluid. In some embodiments, the heat exchanger includes a container or a flow channel with thermally conductively walls. Heat can be transferred from the part to the fluid when the fluid is in the heat exchanger. Another example heat source is a heater that generates heat intended for heating the fluid. An example heater may be a local heater to the sensor to be cleaned, e.g., the heater is closer to the sensor than the reservoir. With such a local heater, the loss of heat due to fluid flow from the reservoir to the spraying nozzle can be minimized. Another example heater can be inside the reservoir. For instance, the heater can be immersed in the fluid. Yet another example heater may be a local heater to another AV part to be cleaned by the fluid, e.g., the wind shield. The local heater can be closer to the other AV part than the sensor. As the fluid has a higher temperature, the cleaning effect can be better, e.g., as hotter fluid can dissolve more contaminants, or dissolve contaminants faster, than colder fluid.

A fluid cleaning cycle (i.e., a cycle of using a fluid to clean an AV sensor) may be controlled by the onboard computer of the AV. In some embodiments, the onboard computer may control a heat source. The onboard computer may control a temperature of the heat source, a duration of time that the fluid is being heated by the heat source, fluid flowing into the heat source, fluid flowing out of the heat source, and so on. The onboard computer may also control a spraying nozzle that sprays a cleaning fluid, e.g., by actuating a solenoid relay in a manifold. For instance, the onboard computer can control the amount of cleaning fluid sprayed by the spraying nozzle, a flowing speed of the fluid in or at the spraying nozzle, and so on. The onboard computer may also control a flow channel. For instance, the onboard computer can control a flow rate of the fluid flowing in the flow channel, a valve associated with the flow channel, and so on.

As will be appreciated by one skilled in the art, aspects of the present disclosure, in particular aspects of AV sensor calibration, described herein, may be embodied in various manners (e.g., as a method, a system, a computer program product, or a computer-readable storage medium). Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Functions described in this disclosure may be implemented as an algorithm executed by one or more hardware processing units, e.g., one or more microprocessors, of one or more computers. In various embodiments, different steps and portions of the steps of each of the methods described herein may be performed by different processing units. Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer-readable medium(s), preferably non-transitory, having computer-readable program code embodied, e.g., stored, thereon. In various embodiments, such a computer program may, for example, be downloaded (updated) to the existing devices and systems (e.g., to the existing perception system devices or their controllers, etc.) or be stored upon manufacturing of these devices and systems.

The following disclosure describes various illustrative embodiments and examples for implementing the features and functionality of the present disclosure. While particular components, arrangements, or features are described below in connection with various example embodiments, these are merely examples used to simplify the present disclosure and are not intended to be limiting.

In addition, the terms “comprise,” “comprising,” “include,” “including,” “have,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a method, process, device, or system that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such method, process, device, or system. Also, the term “or” refers to an inclusive or and not to an exclusive or.

Other features and advantages of the disclosure will be apparent from the following description and the claims.

Example AV System

FIG.1illustrates a system100including a fleet of AVs, according to some embodiments of the present disclosure. The system100includes a fleet of AVs110A-C (collectively referred to as “AV110” or “AVs110”), a fleet management system120, and user devices130A and130B (collectively referred to as “user device130” or “user devices130”). For purpose of simplicity and illustration, inFIG.1, the AV110A includes a sensor suite140and an onboard computer150. The AV110B or110C may also include a sensor suite140and an onboard computer150. In other embodiments, the system100may include fewer, more, or different components. For instance, the system100may include a different number of AVs110, a different number of user devices130, etc.

The fleet management system120receives service requests for the AVs110from the user devices130. As shown inFIG.1, the user devices130A and130B are associated with users135A and135B, respectively. The users135A and135B are collectively referred to as “user135” or “users135.” In other embodiments, a single user device130may be associated with multiple users135. Also, a single user135may be associated with multiple user devices130. A user device130may be one or more computing devices capable of receiving user input as well as transmitting and/or receiving data via one or more networks, e.g., a network through which the user device130can communicate with the fleet management system120. In one embodiment, a user device130is a conventional computer system, such as a desktop or a laptop computer. Alternatively, a user device130may be a device having computer functionality, such as a personal digital assistant (PDA), a mobile telephone, a smartphone, or another suitable device.

In some embodiments, a user device130executes an application allowing a user135of the user device130to interact with the fleet management system120. For example, a user device130executes a browser application to enable interaction between the user device130and the fleet management system120via a network. In another embodiment, a user device130interacts with the fleet management system120through an application programming interface (API) running on a native operating system of the user device130, such as IOS® or ANDROID™. The application may be provided and maintained by the fleet management system120. The fleet management system120may also update the application and provide the update to the user device130.

In some embodiments, a user135may make various service requests to the fleet management system120through a user device130. A user device130may provide its user135a user interface (UI), through which the user135can make service requests. For instance, a user135may make ride requests (e.g., a request to pick up a person from a pickup location and drop off the person at a destination location), delivery requests (e.g., a request to delivery one or more items from a location to another location), or requests for other services that the AVs110can provide. The UI may allow users135to provide locations (e.g., pickup location, destination location, etc.) or other information that would be needed by AVs110to provide services requested by the users135.

The AV110may be a fully autonomous automobile, but may additionally or alternatively be any semi-autonomous or fully autonomous vehicle; e.g., a boat, an unmanned aerial vehicle, a driverless car, etc. Additionally, or alternatively, the AV110may be a vehicle that switches between a semi-autonomous state and a fully autonomous state and thus, the AV may have attributes of both a semi-autonomous vehicle and a fully autonomous vehicle depending on the state of the vehicle. In some embodiments, some or all of the vehicle fleet managed by the fleet management system120are non-autonomous vehicles dispatched by the fleet management system120, and the vehicles are driven by human drivers according to instructions provided by the fleet management system120.

The AV110may include a throttle interface that controls an engine throttle, motor speed (e.g., rotational speed of electric motor), or any other movement-enabling mechanism; a brake interface that controls brakes of the AV (or any other movement-retarding mechanism); and a steering interface that controls steering of the AV (e.g., by changing the angle of wheels of the AV). The AV110may additionally or alternatively include interfaces for control of any other vehicle functions, e.g., wind shield wipers, headlights, turn indicators, air conditioning, etc.

As shown inFIG.1, the AV110includes a sensor suite140and an onboard computer150. The sensor suite140includes one or more sensors that can detect one or more features associated with the AV110. Example features include features in an environment around the AV110, features on the exterior of the AV110, features inside the AV110, and so on. The sensor suite140may include a computer vision (“CV”) system, localization sensors, and driving sensors. For example, the sensor suite140may include interior and exterior cameras, RADAR sensors, sonar sensors, LIDAR sensors, thermal sensors, wheel speed sensors, inertial measurement units (IMUS), accelerometers, microphones, strain gauges, pressure monitors, barometers, thermometers, altimeters, ambient light sensors, and so on. The sensors may be located in various positions in and around the AV110. For example, the AV110may have multiple cameras located at different positions around the exterior and/or interior of the AV110. Certain aspects of the sensor suite140are described below in conjunction withFIG.2.

The onboard computer150is connected to the sensor suite140and functions to control the AV110and to process sensed data from the sensor suite140and/or other sensors in order to determine the state of the AV110. Based upon the vehicle state and programmed instructions, the onboard computer150modifies or controls behavior of the AV110. The onboard computer150is preferably a general-purpose computer adapted for I/O communication with vehicle control systems and sensor suite140, but may additionally or alternatively be any suitable computing device. The onboard computer150is preferably connected to the Internet via a wireless connection (e.g., via a cellular data connection). Additionally or alternatively, the onboard computer150may be coupled to any number of wireless or wired communication systems.

The onboard computer150can also maintain the sensor suite140. In some embodiments, the onboard computer150monitors conditions of sensors in the sensor suite140. For instance, the onboard computer150can maintain cleanness of sensors. The cleanness of sensors can be important to performance of the AV110. For instance, the cleanness of a sensor can influence the accuracy in the detection of the sensor, which can further influence the performance of the AV110as the AV110operates based on the detection of the sensor. The onboard computer150may determine whether a sensor needs cleaning and in response to determining that the sensor needs cleaning, the onboard computer150can control a fluid cleaning system to clean the sensor. Examples of the fluid cleaning system include the fluid cleaning system400,500,600,700,800,900, and1000described below in conjunction withFIGS.4-10.

In some embodiments, the onboard computer150may determine that a sensor needs cleaning based on detection of contamination (e.g., dust, dirt, fingerprints, moisture, bug splatter, birth feces, mud splatter, etc.) of the sensor, e.g., by using sensor data captured by the sensor itself, sensor data captured by one or more other sensors, or some combination thereof. In alternative embodiments, the onboard computer150may request sensor cleaning on a regular basis. For instance, the onboard computer150may determine a schedule of cleaning a sensor and request sensor cleaning based on the schedule. Certain aspects regarding the onboard computer150are described below in conjunction withFIG.3.

The fleet management system120manages the fleet of AVs110. The fleet management system120may manage one or more services that provides or uses the AVs, e.g., 3D printing service, ride service, delivery service, and so on. The fleet management system120selects one or more AVs (e.g., AV110A) from a fleet of AVs110to perform a particular service or other task, and instructs the selected AV to provide the service. The fleet management system120may also send the selected AV information that the selected AV may use to complete the service. The fleet management system120also manages fleet maintenance tasks, such as fueling, inspecting, calibrating, and servicing of the AVs. As shown inFIG.1, the AVs110communicate with the fleet management system120. The AVs110and fleet management system120may connect over a public network, such as the Internet. Certain aspects regarding the fleet management system120are described below in conjunction withFIG.9.

Example Sensor Suite

FIG.2is a block diagram showing the sensor suite140, according to some embodiments of the present disclosure. The sensor suite140includes exterior sensors210, a LIDAR sensor220, a RADAR sensor230, interior sensors240, and a contaminant detector250. The sensor suite140may include any number of the types of sensors shown inFIG.2, e.g., one or more LIDAR sensor220, one or more LIDAR sensors220, or one or more contamination detectors250. The sensor suite140may have more types of sensors than those shown inFIG.2, such as the sensors described with respect toFIG.1. In other embodiments, the sensor suite140may not include one or more of the sensors shown inFIG.2.

The exterior sensors210detect objects in an environment around the AV110. The environment may include a scene in which the AV110operates. Example objects include persons, buildings, traffic lights, traffic signs, vehicles, street signs, trees, plants, animals, or other types of objects that may be present in the environment around the AV110. An exterior sensor210may be affixed to an exterior surface of the AV110, e.g., either directly (e.g., the exterior sensor210is attached on the exterior surface of the AV110) or indirectly (e.g., the exterior sensor210is affixed to a structure that is attached on the exterior surface of the AV110).

In some embodiments, the exterior sensors210include exterior cameras having different views, e.g., a front-facing camera, a back-facing camera, and side-facing cameras. One or more exterior sensors210may be implemented using a high-resolution imager with a fixed mounting and field of view. One or more exterior sensors210may have adjustable field of views and/or adjustable zooms. In some embodiments, the exterior sensors210may operate continually during operation of the AV110. In an example embodiment, the exterior sensors210capture sensor data (e.g., images, etc.) of a scene in which the AV110drives. In other embodiment, the exterior sensors210may operate in accordance with an instruction from the onboard computer150or an external system, such as the fleet management system120. Some of all of the exterior sensors210may capture sensor data of one or more objects in an environment surrounding the AV110based on the instruction.

The LIDAR sensor220measures distances to objects in the vicinity of the AV110using reflected laser light. The LIDAR sensor220may be a scanning LIDAR that provides a point cloud of the region scanned. The LIDAR sensor220may have a fixed field of view or a dynamically configurable field of view. The LIDAR sensor220may produce a point cloud that describes, among other things, distances to various objects in the environment of the AV110.

The RADAR sensor230can measure ranges and speeds of objects in the vicinity of the AV110using reflected radio waves. The RADAR sensor230may be implemented using a scanning RADAR with a fixed field of view or a dynamically configurable field of view. The RADAR sensor230may include one or more articulating RADAR sensors, long-range RADAR sensors, short-range RADAR sensors, or some combination thereof.

The interior sensors240detect the interior of the AV110, such as objects inside the AV110. Example objects inside the AV110include passengers, client devices of passengers, components of the AV110, items delivered by the AV110, items facilitating services provided by the AV110, and so on. The interior sensors240may include multiple interior cameras to capture different views, e.g., to capture views of an interior feature, or portions of an interior feature. The interior sensors240may be implemented with a fixed mounting and fixed field of view, or the interior sensors240may have adjustable field of views and/or adjustable zooms, e.g., to focus on one or more interior features of the AV110. The interior sensors240may transmit sensor data to a perception module (such as the perception module330described below in conjunction withFIG.5), which can use the sensor data to classify a feature and/or to determine a status of a feature.

In some embodiments, some or all of the interior sensors240may operate continually during operation of the AV110. In other embodiment, some or all of the interior sensors240may operate in accordance with an instruction from the onboard computer150or an external system. The interior sensors240may include a camera that can capture images of passengers. The interior sensors240may also include one or more microphones that can capture sound in the AV110, such as a conversation made by a passenger.

The contaminant detector250detects contamination of one or more other sensors in the sensor suite140, such as one or more exterior sensors210, one or more LIDAR sensors220, one or more RADAR sensors230, one or more interior sensors240, or some combination thereof. The contaminant detector250may detect contaminants accumulated on a sensor, such as on a portion, a surface, or a component of a sensor. Additionally or alternatively, the contaminant detector250may detect contaminants in an environment surrounding a sensor. For instance, the contaminant detector250can detect objects in the environment that can contaminate the sensor and undermine performance of the sensor. Such objects may also be referred to as contaminants. Example contaminants include dirt, dust, dirt, moisture, or other objects that can contaminate the sensor and undermine performance of the sensor. The contaminant detector250may capture sensor data indicating a contaminant level of the environment.

The contaminant detector250may be associated with one or more other sensors of the sensor suite140and detect contaminations for the one or more other sensors. The contaminant detector250may be affixed on the one or more other sensors or be physically separately from the one or more other sensors. In some embodiments, the contaminant detector250is one of the exterior sensors210or one of the interior sensors240.

Example Onboard Computer

FIG.3is a block diagram showing the onboard computer150, according to some embodiments of the present disclosure. The onboard computer150includes map datastore310, a sensor interface320, a perception module330, a control module340, and a sensor cleaning module350. In alternative configurations, fewer, different and/or additional components may be included in the onboard computer150. For example, components and modules for conducting route planning, controlling movements of the AV110, and other vehicle functions are not shown inFIG.3. Further, functionality attributed to one component of the onboard computer150may be accomplished by a different component included in the onboard computer150or a different system from those illustrated, such as a fluid cleaning system or the fleet management system120.

The map datastore310stores a detailed map of environments through which the AV110may travel. The map datastore310may store environmental features captured by exterior sensors (e.g., the exterior sensor210) of the AV110. In some embodiments, the map datastore310may also store environmental features captured by other AVs. In some embodiments, the map datastore310includes data describing roadways, such as locations of roadways, connections between roadways, roadway names, speed limits, traffic flow regulations, toll information, etc. The map datastore310may further include data describing buildings (e.g., locations of buildings, building geometry, building types), and data describing other objects (e.g., location, geometry, object type) that may be in the environments of an AV. The map datastore310may also include data describing other features, such as bike lanes, sidewalks, crosswalks, traffic lights, parking lots, signs, billboards, etc. In some embodiments, the map datastore310stores map data for a city or region in which the AV110is located.

Some of the map datastore310may be gathered by the AV110. For example, images obtained by exterior sensors (e.g., the exterior sensor210) of the AV110may be used to learn information about the AV′ environments. The output of the exterior sensors may be processed to identify particular conditions in the environment, such as road conditions, weather conditions, etc. In some embodiments, certain map data (e.g., conditions that are expected to be temporary) may expire after a certain period of time. In some embodiments, data captured later by the AV110or a different AV may indicate that a previously-observed feature is no longer present (e.g., weather has been changed, construction work zone has been removed, etc.) and in response, the map data may be removed from the map datastore310.

The sensor interface320interfaces with the sensors in the sensor suite140. The sensor interface320is configured to receive data captured by sensors of the sensor suite140, including data from exterior sensors mounted to the outside of the AV110, and data from interior sensors mounted in the passenger compartment of the AV110. The sensor interface320may have subcomponents for interfacing with individual sensors or groups of sensors of the sensor suite140, such as a camera interface, a LIDAR interface, a RADAR interface, a microphone interface, etc.

The sensor interface320may also request data from the sensor suite140, e.g., by requesting that a sensor capture data in a particular direction or at a particular time. For example, the sensor interface320may request an interior sensor (e.g., the interior sensor240) to detect one or more features in the AV110periodically to monitor status of the features and to facilitate timely replacement of a feature if the feature malfunctions. As another example, in response to the perception module330or another module determining that a feature in the AV110malfunctions, the sensor interface320instructs the interior sensor to capture additional data (e.g., dimensions, shape, etc.) of the feature, e.g., by zooming in and focusing on the feature.

The perception module330identifies objects and/or other features captured by the sensors of the AV110. For example, the perception module330identifies objects in the environment of the AV110and captured by one or more exterior sensors (e.g., the sensors210-230). The perception module330may include one or more classifiers trained using machine learning to identify particular objects. For example, a multi-class classifier may be used to classify each object in the environment of the AV110as one of a set of potential objects, e.g., a vehicle, a pedestrian, or a cyclist. As another example, a pedestrian classifier recognizes pedestrians in the environment of the AV110, a vehicle classifier recognizes vehicles in the environment of the AV110, etc. The perception module330may identify travel speeds of identified objects based on data from the RADAR sensor230, e.g., speeds at which other vehicles, pedestrians, or birds are traveling. As another example, the perception module33—may identify distances to identified objects based on data (e.g., a captured point cloud) from the LIDAR sensor220, e.g., a distance to a particular vehicle, building, or other feature identified by the perception module330. The perception module330may also identify other features or characteristics of objects in the environment of the AV110based on image data or other sensor data, e.g., colors (e.g., the colors of Christmas lights), sizes (e.g., heights of people or buildings in the environment), makes and models of vehicles, pictures and/or words on billboards, etc.

The perception module330may further process data from captured by interior sensors (e.g., the interior sensors240ofFIG.2) to determine information about and/or behaviors of passengers in the AV110. For example, the perception module330may perform facial recognition based on sensor data from the interior sensors240to determine which user is seated in which position in the AV110. As another example, the perception module330may process the sensor data to determine passengers' states, such as gestures, activities (e.g., whether passengers are engaged in conversation), moods (whether passengers are bored (e.g., having a blank stare, or looking at their phones)), and so on. The perception module may analyze data from the interior sensors240, e.g., to determine whether passengers are talking, what passengers are talking about, the mood of the conversation (e.g., cheerful, annoyed, etc.). In some embodiments, the perception module330may determine individualized moods, attitudes, or behaviors for the users, e.g., if one user is dominating the conversation while another user is relatively quiet or bored; if one user is cheerful while the other user is getting annoyed; etc. In some embodiments, the perception module330may perform voice recognition, e.g., to determine a response to a game prompt spoken by a user.

In some embodiments, the perception module330fuses data from one or more interior sensors240with data from exterior sensors (e.g., exterior sensors210) and/or map datastore310to identify environmental objects that one or more users are looking at. The perception module330determines, based on an image of a user, a direction in which the user is looking, e.g., a vector extending from the user and out of the AV110in a particular direction. The perception module330compares this vector to data describing features in the environment of the AV110, including the features' relative location to the AV110(e.g., based on real-time data from exterior sensors and/or the AV's real-time location) to identify a feature in the environment that the user is looking at.

While a single perception module330is shown inFIG.3, in some embodiments, the onboard computer150may have multiple perception modules, e.g., different perception modules for performing different ones of the perception tasks described above (e.g., object perception, speed perception, distance perception, feature perception, facial recognition, mood determination, sound analysis, gaze determination, etc.).

The control module340controls operations of the AV110, e.g., based on information from the sensor interface320or the perception module330. In some embodiments, the control module340controls operation of the AV110by using a trained model, such as a trained neural network. The control module340may provide input data to the control model, and the control model outputs operation parameters for the AV110. The input data may include sensor data from the sensor interface320(which may indicate a current state of the AV110), objects identified by the perception module330, or both. The operation parameters are parameters indicating operation to be performed by the AV110. The operation of the AV110may include perception, prediction, planning, localization, motion, navigation, other types of operation, or some combination thereof. The control module340may provide instructions to various components of the AV110based on the output of the control model, and these components of the AV110will operation in accordance with the instructions. In an example where the output of the control model indicates that a change of traveling speed of the AV110is required given a prediction of traffic condition, the control module340may instruct the motor of the AV110to change the traveling speed of the AV110. In another example where the output of the control model indicates a need to detect characteristics of an object in the environment around the AV110(e.g., detect a speed limit), the control module340may instruct the sensor suite140to capture an image of the speed limit sign with sufficient resolution to read the speed limit and instruct the perception module330to identify the speed limit in the image.

The sensor cleaning module350manages cleaning of one or more sensor in the sensor suite140. In some embodiments, the sensor cleaning module350may manage the cleaning of a category of sensors, e.g., optical sensors or other types of sensors. The sensor cleaning module350may control operation of one or more fluid cleaning systems for cleaning sensors. Example fluid cleaning systems including fluid cleaning systems400,500,600,700, and800described below in conjunctions withFIGS.4A-4B and5-8. In some embodiments, some or all functions of the sensor cleaning module350may be performed by one or more components of the fluid cleaning systems.

The sensor cleaning module350may determine whether a sensor (e.g., a surface of a sensor) needs cleaning. In some embodiments, the sensor cleaning module350uses sensor data to determine whether a sensor needs cleaning. The sensor data may be from the sensor itself or another sensor, e.g., the contaminant detector250inFIG.2. The sensor cleaning module350may request the sensor data, e.g., through the sensor interface320.

The sensor cleaning module350may determine a contamination condition of the sensor based on the sensor data. In an example, the sensor cleaning module350may identify, from the sensor data, contaminants accumulated on the sensor. The identification of the contaminants may alternatively be done by the perception module330, which can provide information of the identification to the sensor cleaning module350. The sensor cleaning module350may determine whether the contamination condition of the sensor meets a threshold condition, e.g., a threshold number of contaminants, a threshold concentration of contaminants (e.g., number per unit area or unit volume), and so on. In response to determining that the contamination condition of the sensor meets the threshold condition, the sensor cleaning module350determines that the sensor needs cleaning. In another example, the sensor cleaning module350may determine a performance of the sensor based on the sensor data. The performance may be an accuracy, brightness, signal-to-noise ratio, or other attributes of the sensor data. The sensor cleaning module350can compare the performance of the sensor with a corresponding predetermined performance (e.g., required performance, expected performance, etc.) of the sensor and in response to determining that the performance of the sensor does not meet the predetermined performance, the sensor cleaning module350determines that the sensor needs cleaning.

In addition or alternative to sensor data, the sensor cleaning module350may use other data to determine whether a sensor needs clean. For instance, the sensor cleaning module350may determine a frequency of cleaning a sensor. The frequency indicates how often the sensor needs cleaning. The sensor cleaning module350may determine the frequency based on one or more attributes of the sensor (e.g., pose (position, orientation, or both) of the sensor, material of the sensor, sensitivity to contaminants, etc.), one or more attributes of the environment surrounding the sensor (e.g., cleanness of the environment, weather of the environment, etc.). The sensor cleaning module350can maintain a record of historical cleanings of the sensor and/or determine a time for the next cleaning. The sensor cleaning module350can determine that the sensor needs cleaning when the determined time is reached.

The sensor cleaning module350may control one or more heat sources that heat a fluid used to clean sensors. A heat source may be a heat exchanger (e.g., the heat exchanger440,540,545,645,945A, or945B described below in conjunctions withFIGS.4-6and9), a heater (e.g., local heater730,745A,745B,845A,845B,930described below in conjunctions withFIGS.7-9or reservoir heater1030930described below in conjunctions withFIG.10), or some combination thereof. The sensor cleaning module350can control one or more parameters of a heat source. The parameters may include temperature, size, shape, duration of time that the heat source heats a fluid, and so on. In some embodiments, the sensor cleaning module350can determine a temperature of a fluid in the heat source, e.g., based on an output of a temperature sensor, e.g., a thermal couple. The sensor cleaning module350may determine whether the temperature is at least equal to a threshold temperature. The threshold temperature may be a target temperature of the fluid. In response to determining that the temperature is at least equal to the threshold temperature, the sensor cleaning module350may instruct the heat source to let the fluid flow out, e.g., by opening a valve.

The sensor cleaning module350may also control a spraying nozzle that sprays a fluid. The onboard computer can control the amount of fluid sprayed by the spraying nozzle, spraying direction, distance from the spraying nozzle to the sensor to be cleaned, flowing speed of the fluid in or at the spraying nozzle, and so on. The onboard computer may also control a flow channel. For instance, the onboard computer can control a flow rate of the fluid flowing in the flow channel, a valve associated with the flow channel, and so on.

The sensor cleaning module350may also determine whether a sensor is sufficiently cleaned after a cleaning cycle, e.g., based on sensor data from the sensor itself or the contaminant detector250. The sensor cleaning module350may determine whether the amount of contaminants accumulated on the sensor meets a threshold, or determine whether a performance of the sensor meets a threshold. In response to determining that sensor is sufficiently cleaned, the sensor cleaning module350may provide a notification to the sensor interface320and the sensor interface320can instruct the sensor to capture data to be used by the perception module330or control module340to control operation of the AV110. In response to determining that sensor is not sufficiently cleaned, the sensor cleaning module350may repeat the cleaning cycle until the sensor is sufficiently cleaned.

In some embodiments, the sensor cleaning module350may determine that a sensor is insufficiently cleaned after one or more cleaning cycles. In response to determining that the sensor is insufficiently cleaned, the sensor cleaning module350may determine (or instruct the control module340to determine) whether the AV110can operate with the insufficiently cleaned sensor. For instance, the sensor cleaning module350or control module340may determine whether the safety and/or passenger comfort meets a threshold safety and/or passenger comfort if the AV110operates with the insufficiently cleaned sensor. The sensor cleaning module350or control module340may consider various factors, such as the type of service being provided or to be provided by the AV110, the navigation route of the AV110, the function of the sensor, availability of other sensors, and so on. In embodiments where it is determined that the AV110can operate with the insufficiently cleaned sensor, the control module340may allow the AV110to proceed as normal. The control module340may instruct the AV110to complete a trip but return for service after the trip is done. In embodiments where it is determined that the AV110cannot operate with the insufficiently cleaned sensor, the control module340may instruct the AV110to navigate to a safe spot (e.g., safely pull over, drive to a nearby parking lot, etc.) or to stop immediately.

Example Fluid Cleaning Systems

FIG.4illustrates an example fluid cleaning system400including a heat exchanger440, according to some embodiments of the present disclosure. The fluid cleaning system400is configured to use a fluid to clean sensors410A and410B (collectively referred to as “sensors410” and “sensor410”) of an AV110. The fluid may be a gas or liquid. The sensors410may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors410. In addition to the heat exchanger440, the fluid cleaning system400also includes spraying nozzles415A and415B (collectively referred to as “spraying nozzles415” and “spraying nozzle415”), a reservoir420, spraying nozzles460A and460B (collectively referred to as “spraying nozzles460” and “spraying nozzle460”), and flow channels470and480. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system400. Further, functionality attributed to one component of the fluid cleaning system400may be accomplished by a different component included in the fluid cleaning system400or a different system from those illustrated.

The reservoir420stores the fluid to be used to clean the sensors410and a wind shield450of the vehicle. The fluid may include water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. The reservoir420may include an opening, through which the fluid can flow into the reservoir420. The fluid can be used to clean the wind shield450and/or the sensors410. In some embodiments, a portion of the fluid is used to clean the wind shield450, and another portion of the fluid is used to clean the sensors410. In other embodiments, the fluid can be used to clean other sensors or other parts of the AV110. The fluid can be warmed up before it is used to clean the wind shield450and the sensors410. With warmer fluid, the cleaning effect can be enhanced.

As shown inFIG.4, the reservoir420is connected to the flow channel470that connects the reservoir420to the heat exchanger440. For purpose of simplicity and illustration, the flow channel470is shown as a dotted line inFIG.4. In various embodiments, the flow channel470may include one or more tubes (e.g., hose). The flow channel470may also include one or more valves that control the flow rate of the fluid. The fluid can flow into the heat exchanger440through flow channel470from the reservoir420. The fluid, while in the reservoir420and the flow channel470may be at a temperature that is lower than the temperature of the heat exchanger440. For instance, the fluid is at an ambient temperature.

The heat exchanger440is associated with a part430of the AV110. The heat exchanger440receives the fluid from the reservoir420through the flow channel470. The heat exchanger440can transfer heat generated by the part430to the fluid. In some embodiments, the heat exchanger440includes a container that can store the fluid, e.g., temporarily. The fluid, while being in the container, can receive heat generated by the part430. The part430may be a component or subsystem of the AV110, such as battery, motor, engine, or other parts of the AV110that can generate heat during operations of the AV110. In some embodiments, the heat is a byproduct of the part430during an operation of the part430. The generation of the heat may not be an intended function of the part430. Rather, the heat may be an unintended or even undesired result of the operation of the part430. Too much heat may even impair performance of the part430or another part that is adjacent to the part430that can receive the heat. By using the heat generated by the part430to warm up the fluid can not only enhance the effect of cleaning the sensors410with the fluid but also cool down the part430to avoid overheating of the part430(or overheating of one or more other parts that are adjacent to the part430). In some embodiments, even when the amount of fluid in the reservoir420is too low to spraying fluid onto the sensors410or wind shield450, circulation of the fluid (e.g., flow of the fluid from or back to the reservoir420) can still be used to cool down the part430. The heat exchanger440is connected to the flow channel480, through which the fluid, after being heated by the heat exchanger440, can flow to the spraying nozzles415and spraying nozzles460.

The temperature of the heat exchanger440may be the same or similar to the temperature of the part430. The heat exchanger440may be placed at a hot spot in or outside the part430. The hot spot is a spot that can have a higher temperature than other spots of the part430or other parts of the AV110(e.g., the reservoir420) during operations of the AV110. In some embodiments, the heat exchanger440is partially or wholly enclosed by the part430. Alternatively, the heat exchanger440may be outside the part430. For instance, the heat exchanger440can be attached on an exterior surface of the part430, and the exterior surface of the part430can be thermally conductive to transfer heat from the part430to the heat exchanger440.

The flow channel480connects the heat exchanger to the spraying nozzles415and spraying nozzles460. For purpose of simplicity and illustration, the flow channel480is shown as dashed lines inFIG.4. In various embodiments, the flow channel480may include one or more tubes (e.g., hose). The flow channel480may also include one or more valves that control the flow rate of the fluid. When a valve is open, the fluid can flow through it. When the valve is closed, the fluid cannot flow through it. The opening of the valve can be controlled to control the volume or flow rate of the fluid flowing though the valve. In an embodiment, the flow channel may include a valve that controls the flow of the fluid to one or more of the spraying nozzles415and460. For instance, the flow channel includes a first valve that controls the flow of the fluid to the spraying nozzles460, a second valve that controls the flow of the fluid to the spraying nozzle415A, and a third valve that controls the flow of the fluid to the spraying nozzle415B. The flow of the fluid to different ones of the spraying nozzles415and460can be controlled separately. The valves can be automatic and controlled by the sensor cleaning module350of the onboard computer150, for example.

In some embodiments, the fluid cleaning system400includes a single valve that may be upstream from the spraying nozzles460and415so that the spraying nozzles460and415may all spray fluid at the same time. In other embodiments, the spraying nozzles460and415may be controlled by separate valves and can spray fluid at different times, e.g., based on the cleaning need of the sensors410and the windshield450. The two spraying nozzles415may be associated with separate valves so that they can spray fluid onto the sensors410at different times, which can facilitate the detection of one sensor410while the other sensor410is being cleaned so that the two sensors410are not blinded at the same time. A predetermined pressure may be established by a pump associated with the reservoir420. There may be a pressure build delay, e.g., a period of time between the activation of the pump and the opening of the valve(s) to allow flow. The fluid cleaning system400may also include one or more check valves that allow one-way flow, so that the corresponding flow channel(s) can be “primed” with pressure to minimize the delay to build pressure from pump activation. Additionally or alternatively, the pressure build delay can be minimized by having a pressure monitor within the flow channels and periodically having the reservoir pump rebuild pressure in the flow channels if it bleeds of (although it is protected by check valves, there might be a slow bleed).

Each spraying nozzle415is associated with a sensor410. In other embodiments, a spraying nozzle415may be associated with multiple sensors410. The spraying nozzle415can spray fluid from the heat exchanger440onto a surface of the sensor410. The surface may be a surface of an enclosure of the sensor410, a surface of a window of the sensor410, an optical surface (e.g., lens, filter, etc.) of the sensor410, or other types of surfaces. Even though not shown inFIG.4, a spraying nozzle415may be associated with a pump that can pump fluid from the flow channel480to the spraying nozzle415, and the pumping can create a momentum of the fluid to facilitate cleaning of the surface of the sensor410. The spraying nozzle415may also be associated with a wiper that can wipe the surface of the sensor410during or after the spraying nozzle415sprays the fluid. The spraying nozzles415and460can be automatic. In some embodiments, a spraying nozzle415can receive an instruction from the onboard computer150and perform a cleaning cycle in accordance with the instruction.

The spraying nozzles460are associated with the wind shield450. Each spraying nozzle460can spray fluid from the heat exchanger440onto a portion of the wind shield450. Even though not shown inFIG.4, a spraying nozzle460may be associated with a pump that can pump fluid from the flow channel480to the wind shield450, and the pumping can create a momentum of the fluid to facilitate cleaning of the surface of the wind shield450. The spraying nozzle460may also be associated with a wiper that can wipe the wind shield450during or after the spraying nozzle460sprays the fluid. The spraying nozzles460and460can be automatic. In some embodiments, a spraying nozzle460can receive an instruction from the onboard computer150and perform a cleaning cycle in accordance with the instruction.

FIG.5illustrates another example fluid cleaning system500including two heat exchangers540and545, according to some embodiments of the present disclosure. The fluid cleaning system500is configured to use a fluid to clean sensors510A and5106(collectively referred to as “sensors510” and “sensor510”) of an AV110. The fluid may be a gas or liquid. The sensors510may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors510. In addition to the heat exchanger540, the fluid cleaning system500also includes spraying nozzles515A and515B (collectively referred to as “spraying nozzles515” and “spraying nozzle515”), a reservoir520, spraying nozzles560A and560B (collectively referred to as “spraying nozzles560” and “spraying nozzle560”), and flow channels570,575,580, and585. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system500. Further, functionality attributed to one component of the fluid cleaning system500may be accomplished by a different component included in the fluid cleaning system500or a different system from those illustrated.

The reservoir520stores the fluid to be used to clean the sensors510. The fluid includes water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. The reservoir520may include an opening, through which the fluid can flow into the reservoir520. The fluid can be used to clean the sensors510and the wind shield550. In some embodiments, a portion of the fluid is used to clean the wind shield550, and another portion of the fluid is used to clean the sensors510. In other embodiments, the fluid can be used to clean other sensors or other parts of the AV110. The fluid can be warmed up before it is used to clean the wind shield550and the sensors510. With warmer fluid, the cleaning effect can be enhanced. The reservoir520is connected to the flow channel570. For purpose of simplicity and illustration, the flow channel570is shown as a dotted line inFIG.5. In various embodiments, the flow channel570may include one or more tubes (e.g., hose). The flow channel570may also include one or more valves that control the flow rate of the fluid. The fluid can flow into the heat exchanger540through flow channel570from the reservoir520. The fluid, while in the reservoir520and the flow channel570may be at a temperature that is lower than the temperature of the heat exchanger540. For instance, the fluid is at a ambient temperature.

The heat exchanger540is associated with a part530of the AV110. The heat exchanger540receives the fluid from the reservoir520through the flow channel570. The heat exchanger540can transfer heat generated by the part530to the fluid. The part530may be a battery, motor, engine, or other parts of the AV110that can generate heat during operations of the AV110. In some embodiments, the heat is a byproduct of the part530during an operation of the part530. The generation of the heat may not be an intended function of the part530. Rather, the heat may be an unintended or even undesired result of the operation of the part530. Too much heat may even impair performance of the part530or another part that is adjacent to the part530that can receive the heat. By using the heat generated by the part530to warm up the fluid can not only enhance the effect of cleaning the sensors510with the fluid but also cool down the part530to avoid overheating of the part530or one or more other parts that are adjacent to the part530. The heat exchanger540is connected to the flow channel580, through which the fluid, after being heated by the heat exchanger540, can flow to the spraying nozzles515and spraying nozzles560.

The temperature of the heat exchanger540may be the same or similar to the temperature of the part530. The heat exchanger540may be placed at a hot spot in or outside the part530. The hot spot is a spot that can have a higher temperature than other spots of the part530or other parts of the AV110(e.g., the reservoir520) during operations of the AV110. In some embodiments, the heat exchanger540is partially or wholly enclosed by the part530. Alternatively, the heat exchanger540may be outside the part530. For instance, the heat exchanger540can be attached on an exterior surface of the part530, and the exterior surface of the part530can be thermally conductive to transfer heat from the part530to the heat exchanger540.

The flow channel580connects the heat exchanger540to the spraying nozzles560. For purpose of simplicity and illustration, the flow channel580is shown as dashed lines inFIG.5. In various embodiments, the flow channel580may include one or more tubes (e.g., hose). The flow channel580may also include one or more valves that control the flow rate of the fluid. When a valve is open, the fluid can flow through it. When the valve is closed, the fluid cannot flow through it. The opening of the valve can be controlled to control the volume or flow rate of the fluid flowing though the valve. In an embodiment, the flow channel may include a valve that controls the flow of the fluid to one or both of the spraying nozzles560. For instance, the flow channel includes a first valve that controls the flow of the fluid to the spraying nozzle560A and a second valve that controls the flow of the fluid to the spraying nozzle560B. The flow of the fluid to different ones of the spraying nozzles515and560can be controlled separately. The valves can be automatic and controlled by the sensor cleaning module350of the onboard computer150, for example.

The spraying nozzles560are associated with the wind shield550. Each spraying nozzle560can spray fluid from the heat exchanger540onto a portion of the wind shield550. Even though not shown inFIG.5, a spraying nozzle560may be associated with a pump that can pump fluid from the flow channel580to the wind shield550, and the pumping can create a momentum of the fluid to facilitate cleaning of the surface of the wind shield550. The spraying nozzle560may also be associated with a wiper that can wipe the wind shield550during or after the spraying nozzle560sprays the fluid. The spraying nozzles560and560can be automatic. In some embodiments, a spraying nozzle560can receive an instruction from the onboard computer150and perform a cleaning cycle in accordance with the instruction.

The heat exchanger545is associated with the sensors510. The heat exchanger545can receive heat from one or both of the sensors510and transfer the heat to fluid inside the heat exchanger545. In some embodiments, the heat exchanger545contacts one or both of the sensors510. The temperature of the heat exchanger545may be the same or similar to the temperature of the sensors510. The heat exchanger545may be placed at or near areas of the sensors510where most heat is generated. This can keep the fluid as hot as possible being the fluid is being sprayed to clean the sensors510. InFIG.5, the heat exchanger545is placed at a side of the sensors510that is opposite to the side where the spraying nozzles515are located. In other embodiments, the heat exchanger545may be arranged at a different area.

The heat exchanger545receives the fluid from the reservoir520through the flow channel575. The heat exchanger545can transfer heat generated by one or both of the sensors510to the fluid. In some embodiments, the heat is a byproduct of the sensors510during an operation of the sensors510. The generation of the heat may not be an intended function of the sensors510. Rather, the heat may be an unintended or even undesired result of the operation of the sensors510. Too much heat may even impair performance of the sensors510or another part that is adjacent to the sensors510that can receive the heat. By using the heat generated by the sensors510to warm up the fluid can not only enhance the effect of cleaning the sensors510with the fluid but also cool down the sensors510to avoid overheating of the sensors510or one or more other parts that are adjacent to the sensors510. The temperature of the fluid is increased in the heat exchanger545, e.g., to a temperature that is the same or similar as the temperature of a sensor510. The heat exchanger545is connected to the flow channel585, through which the fluid, after being heated by the heat exchanger545, can flow to the spraying nozzles515.

The flow channel585connects the heat exchanger545to the spraying nozzles515. For purpose of simplicity and illustration, the flow channel585is shown as dashed lines inFIG.5. In various embodiments, the flow channel585may include one or more tubes (e.g., hose). The flow channel585may also include one or more valves that control the flow rate of the fluid. When a valve is open, the fluid can flow through it. When the valve is closed, the fluid cannot flow through it. The opening of the valve can be controlled to control the volume or flow rate of the fluid flowing though the valve. In an embodiment, the flow channel may include a valve that controls the flow of the fluid to one or both of the spraying nozzles515. For instance, the flow channel includes a first valve that controls the flow of the fluid to the spraying nozzle515A and a second valve that controls the flow of the fluid to the spraying nozzle515B. The flow of the fluid to different ones of the spraying nozzles515and515can be controlled separately. The valves can be automatic and controlled by the sensor cleaning module350of the onboard computer150, for example.

Each spraying nozzle515is associated with a sensor510. The spraying nozzle515can spray fluid from the heat exchanger545onto a surface of the sensor510. The surface may be a surface of an enclosure of the sensor510, a surface of a window of the sensor510, an optical surface (e.g., lens, filter, etc.) of the sensor510, or other types of surfaces. Even though not shown inFIG.5, a spraying nozzle515may be associated with a pump that can pump fluid from the flow channel585to the spraying nozzle515, and the pumping can create a momentum of the fluid to facilitate cleaning of the surface of the sensor510. The spraying nozzle515may also be associated with a wiper that can wipe the surface of the sensor510during or after the spraying nozzle515sprays the fluid. The spraying nozzles515and515can be automatic. In some embodiments, a spraying nozzle515can receive an instruction from the onboard computer150and perform a cleaning cycle in accordance with the instruction.

The fluid cleaning system500have multiple advantages. For example, undesired heat generated from the sensors510is used to enhance cleaning efficacy by heating it. This also helps to cool the sensors510via this thermal transfer. As another example, the heat exchanger540is closer to point of use and therefore, can count for any cooling as the fluid travels through the flow channel575, even if it was already heated in heat exchanger540or even in the reservoir510.

FIG.6illustrates an example fluid cleaning system600including two heat exchangers640and645, according to some embodiments of the present disclosure. The fluid cleaning system600is configured to use a fluid to clean sensors610A and610B (collectively referred to as “sensors610” and “sensor610”) of an AV110. The fluid may be a gas or liquid. The sensors610may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors610. In addition to the heat exchanger640, the fluid cleaning system600also includes spraying nozzles615A and615B (collectively referred to as “spraying nozzles615” and “spraying nozzle615”), a reservoir620, spraying nozzles660A and660B (collectively referred to as “spraying nozzles660” and “spraying nozzle660”), and flow channels670,680, and685. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system600. Further, functionality attributed to one component of the fluid cleaning system600may be accomplished by a different component included in the fluid cleaning system600or a different system from those illustrated.

The reservoir620stores the fluid to be used to clean the sensors610. The fluid includes water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. The reservoir620may be the same or similar as the reservoir520. The heat exchanger640is associated with a part630of the AV110. The heat exchanger640receives the fluid from the reservoir620through the flow channel670. The heat exchanger640can transfer heat generated by the part630to the fluid. The part630may be the same or similar as the part530. The heat exchanger640may be the same or similar as the heat exchanger540. The flow channel680connects the heat exchanger640to the spraying nozzles660. The spraying nozzles660are associated with the wind shield650. The spraying nozzles660may be the same or similar as the spraying nozzles560. Also, the flow channels670and680may be the same or similar as the flow channels570and580, respectively.

The heat exchanger645is associated with the sensors610. The heat exchanger645can receive heat from one or both of the sensors610and transfer the heat to fluid inside the heat exchanger645. The heat exchanger645may be the same or similar as the heat exchanger545in the fluid cleaning system500. The flow channel685connects the heat exchanger645to the spraying nozzles615. Each spraying nozzle615can spray fluid from the heat exchanger645onto a surface of the corresponding sensor610. The spraying nozzles615may be the same or similar as the spraying nozzles515in the fluid cleaning system500.

Different from the fluid cleaning system500, in the fluid cleaning system600, the heat exchanger645is connected to the heat exchanger640through the flow channel685. With such as design, the fluid for cleaning the sensors610are doubled heated: first in the heat exchanger640, and then in the heat exchanger645. By heating the fluid twice, the fluid sprayed by the spraying nozzles615inFIG.6may have a higher temperature in than fluid sprayed by the spraying nozzles415inFIG.4or the spraying nozzles515inFIG.5. The double heating of the fluid in the heat exchanger645can compensate for heat loss caused by the flow of the fluid in the flow channel685, e.g., in embodiments where a distance between the reservoir620or heat exchanger640and the spraying nozzles615is relatively long.

FIG.7illustrates yet another example fluid cleaning system700including local heaters730,745A, and745B, according to some embodiments of the present disclosure. The fluid cleaning system700is configured to use a fluid to clean sensors710A-710D (collectively referred to as “sensors710” and “sensor710”) of an AV110. The fluid may be a gas or liquid. The sensors710may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors710. In addition to the heat exchanger740, the fluid cleaning system700also includes spraying nozzles715A-715D (collectively referred to as “spraying nozzles715” and “spraying nozzle715”), a reservoir720, spraying nozzles760A and760B (collectively referred to as “spraying nozzles760” and “spraying nozzle760”), and flow channels770,775,780,785A, and785B. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system700. Further, functionality attributed to one component of the fluid cleaning system700may be accomplished by a different component included in the fluid cleaning system700or a different system from those illustrated.

The reservoir720stores the fluid to be used to clean the sensors710and a wind shield750. The fluid includes water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. A portion of the fluid may be used to clean the sensors710, and another portion of the fluid may be used to clean the wind shield750. The reservoir720may be the same or similar as the reservoir420.

The reservoir720is connected to the local heater730through the flow channel770. The local heater730is local as to the wind shield750. For instance, the local heater730is closer to the wind shield750than the sensors710. The local heater730can generate heat, e.g., intended heat, to increase a temperature of fluid when the fluid flows through or stays in the local heater730. The heated fluid can then flow to the spraying nozzles760through the flow channel780. The spraying nozzles760can spray the fluid onto the wind shield750to clean the wind shield. The spraying nozzles760may be the same or similar as the spraying nozzles560. The flow channel780may be the same or similar as the flow channel580.

The reservoir720is also connected to the local heaters745A and745B (collectively referred to as “local heaters745” and “local heater745”) through the flow channel775. The local heaters745are local as to the sensors710. For instance, the local heaters745are closer to the sensors710than the wind shield750. In particular, the local heater745A is associated with the sensors710A and710B, the local heater745B is associated with the sensors710C and710D. Each local heater745can generate heat, e.g., intended heat, to increase a temperature of fluid when the fluid flows through or stays in the local heater745. The fluid heated by the local heater745A flows from the local heater745A to the spraying nozzles715A and715B through the flow channel785A. The fluid heated by the local heater745B flows from the local heater745B to the spraying nozzles715C and715D through the flow channel785B. A local heater745may be controlled in a way that the local heater745is activated when a fluid flow into the local heater745is detected, e.g., by a flow sensor associated with the local heater745. In other embodiments, a local heater745may be activated or deactivated by the sensor cleaning module350, e.g., to maintain a desired temperature of the fluid flowing through the local heater745. A local heater730or745may be integrated with or into a manifold that distributes fluid.

The spraying nozzles715can spray the heated fluid onto surfaces of the sensors710to clean the sensors. The spraying nozzles715may be the same or similar as the spraying nozzles415. An advantage of using the local heaters730and770is that the heat loss caused by flow of the fluid along long flow channel lengths can be minimized so that the efficiency of the local heaters730and770can be maximized.

FIG.8illustrates an example fluid cleaning system800including a heat exchanger840and local heaters880A and880B (collectively referred to as “local heaters880” and “local heater880”), according to some embodiments of the present disclosure. The fluid cleaning system800is configured to use a fluid to clean sensors810A-810D (collectively referred to as “sensors810” and “sensor810”) of an AV110. The fluid may be a gas or liquid. The sensors810may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors810. In addition to the heat exchanger840, the fluid cleaning system800also includes spraying nozzles815A-815D (collectively referred to as “spraying nozzles815” and “spraying nozzle815”), a reservoir820, spraying nozzles860A and860B (collectively referred to as “spraying nozzles860” and “spraying nozzle860”), and flow channels870,875,880,885A, and885B. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system800. Further, functionality attributed to one component of the fluid cleaning system800may be accomplished by a different component included in the fluid cleaning system800or a different system from those illustrated.

The reservoir820stores the fluid to be used to clean the sensors810and a wind shield850of the AV110. The fluid includes water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. A portion of the fluid may be used to clean the sensors810, and another portion of the fluid may be used to clean the wind shield850. The reservoir820may be the same or similar as the reservoir420.

The reservoir820is connected to the heat exchanger840, which is associated with a part830, through the flow channel870. The part830may be the same or similar as the part430. The heat exchanger840may be the same or similar as the heat exchanger440. The flow channel870may be the same or similar as the flow channel470. The spraying nozzles860receive heated fluid from the heat exchanger840through the flow channel880. The spraying nozzles860can spray the heated fluid onto the wind shield850to clean the wind shield850. The spraying nozzles860may be the same or similar as the spraying nozzles560. The flow channel880may be the same or similar as the flow channel580.

The reservoir820is also connected to the local heaters845A and845B (collectively referred to as “local heaters845” and “local heater845”) through the flow channel875. The local heaters845are local as to the sensors810. For instance, the local heaters845are closer to the sensors810than the wind shield850. In particular, the local heater845A is associated with the sensors810A and810B, the local heater845B is associated with the sensors810C and810D. Each local heater845can generate heat, e.g., intended heat, to increase a temperature of fluid when the fluid flows through or stays in the local heater845. The fluid heated by the local heater845A flows from the local heater845A to the spraying nozzles815A and815B through the flow channel885A. The fluid heated by the local heater845B flows from the local heater845B to the spraying nozzles815C and815D through the flow channel885B. The spraying nozzles815can spray the heated fluid onto surfaces of the sensors810to clean the sensors. The spraying nozzles815may be the same or similar as the spraying nozzles415. An advantage of using the local heaters845is that the heat loss caused by flow of the fluid can be minimized so that the efficiency of the local heaters830and870can be maximized.

FIG.9illustrates an example fluid cleaning system900including a local heater930and heat exchangers945A and945B (collectively referred to as “heat exchangers945” and “heat exchanger945”), according to some embodiments of the present disclosure. The fluid cleaning system900is configured to use a fluid to clean sensors910A-910D (collectively referred to as “sensors910” and “sensor910”) of an AV110. The fluid may be a gas or liquid. The sensors910may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors910. In addition to the heat exchanger940, the fluid cleaning system900also includes spraying nozzles915A-915D (collectively referred to as “spraying nozzles915” and “spraying nozzle915”), a reservoir920, spraying nozzles960A and960B (collectively referred to as “spraying nozzles960” and “spraying nozzle960”), and flow channels970,975A,975B,980,985A, and985B. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system900. Further, functionality attributed to one component of the fluid cleaning system900may be accomplished by a different component included in the fluid cleaning system900or a different system from those illustrated.

The reservoir920stores the fluid to be used to clean the sensors910and a wind shield950. The fluid includes water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. A portion of the fluid may be used to clean the sensors910, and another portion of the fluid may be used to clean the wind shield950. The reservoir920may be the same or similar as the reservoir420.

The reservoir920is connected to the local heater930through the flow channel970. The local heater930is local as to the wind shield950. For instance, the local heater930is closer to the wind shield950than the sensors910. The local heater930can generate heat, e.g., intended heat, to increase a temperature of fluid when the fluid flows through or stays in the local heater930. The heated fluid can then flow to the spraying nozzles960through the flow channel980. The spraying nozzles960can spray the fluid onto the wind shield950to clean the wind shield. The spraying nozzles960may be the same or similar as the spraying nozzles560. The flow channel980may be the same or similar as the flow channel580.

The local heater930is also connected to the heat exchangers945A and945B (collectively referred to as “heat exchangers945” and “heat exchanger945”) through the flow channel975. The heat exchanger945A is associated with the sensors910A and910B. The heat exchanger945B is associated with the sensors910C and910D. Each heat exchanger945can receive heat from one or both of the corresponding sensors910and transfer the heat to fluid inside the heat exchanger945. A heat exchanger945may be the same or similar as the heat exchanger545in the fluid cleaning system500. The flow channel985A connects the heat exchanger945A to the spraying nozzles915A and915B. The flow channel985B connects the heat exchanger945B to the spraying nozzles915C and915D. Each spraying nozzle915can spray fluid from the heat exchanger945onto a surface of the corresponding sensor910. The spraying nozzles915may be the same or similar as the spraying nozzles515in the fluid cleaning system500.

In the embodiments ofFIG.9, the fluid for cleaning the sensors910are doubled heated: first in the local heater930, then in the heat exchangers945. By heating the fluid twice, the fluid sprayed by the spraying nozzles915inFIG.9may have a higher temperature in than fluid sprayed by the spraying nozzles815inFIG.8. The warmer fluid can have better cleaning effects.

FIG.10illustrates an example fluid cleaning system1000including a reservoir heater1030, according to some embodiments of the present disclosure. The fluid cleaning system1000is configured to use a fluid to clean sensors1010A and1010B (collectively referred to as “sensors1010” and “sensor1010”) of an AV110. The fluid may be a gas or liquid. The sensors1010may be exterior sensors, e.g., some of the exterior sensors210described above in conjunction withFIG.2. The AV110operates, e.g., navigates, based on sensor data captured by the sensors1010. In addition to the heat exchanger1040, the fluid cleaning system1000also includes spraying nozzles1015A and1015B (collectively referred to as “spraying nozzles1015” and “spraying nozzle1015”), a reservoir1020, spraying nozzles1060A and1060B (collectively referred to as “spraying nozzles1060” and “spraying nozzle1060”), and flow channels1080and1085. In alternative configurations, fewer, different and/or additional components may be included in the fluid cleaning system1000. Further, functionality attributed to one component of the fluid cleaning system1000may be accomplished by a different component included in the fluid cleaning system1000or a different system from those illustrated.

The reservoir1020stores the fluid to be used to clean the sensors1010and a wind shield1050of the vehicle. The fluid includes water. In some embodiments, the fluid may also include methanol, ethanol, ethylene glycol, other chemicals that have cleaning effects, or some combination thereof. The reservoir1020may include an opening, through which the fluid can flow into the reservoir1020. The fluid can be used to clean the wind shield1050and the sensors1010. In some embodiments, a portion of the fluid is used to clean the wind shield1050, and another portion of the fluid is used to clean the sensors1010. In other embodiments, the fluid can be used to clean other sensors or other parts of the AV110. The fluid can be warmed up before it is used to clean the wind shield1050and the sensors1010. With warmer fluid, the cleaning effect can be enhanced.

The reservoir heater1030is inside the reservoir1020. The reservoir heater1030can generate heat, e.g., intended heat, to warm up fluid in the reservoir1020. In some embodiments, the reservoir heater1030is partially or wholly immersed in the fluid. The fluid can be in contact with the reservoir heater and be heated by the reservoir heater. In alternative embodiments, the reservoir heater1030may be separated from the fluid, e.g., through a wall or a container, which can be thermally conductive and deliver heat from the reservoir heater1030to the fluid.

The reservoir is connected to the flow channel1080that connects the reservoir1020to the spraying nozzles1015and spraying nozzles1060. A portion of the fluid, after heated by the reservoir heater1030can flow from the reservoir1020to the spraying nozzles1015through a part the flow channel1080. Another portion of the fluid, after heated by the reservoir heater1030can flow from the reservoir1020to the spraying nozzles1060through another part of the flow channel1080. The spraying nozzles1015can spray the fluid onto surfaces of the sensors1010and clean the sensors1010. The spraying nozzles1060can spray the fluid onto the wind shield1050and clean the wind shield1050. The flow channel1080may be the same or similar as the flow channel480. The spraying nozzles1015may be the same or similar as the spraying nozzles415. The spraying nozzles1060may be the same or similar as the spraying nozzles460.

Example Fleet Management System

FIG.11is a block diagram showing the fleet management system120, according to some embodiments of the present disclosure. As shown inFIG.11, the fleet management system120includes a service interface1110, a service datastore1120, a map datastore1130, and a vehicle manager1140. In alternative configurations, different and/or additional components may be included in the fleet management system120. Further, functionality attributed to one component of the fleet management system120may be accomplished by a different component included in the fleet management system120or a different system than those illustrated, such as the onboard computer150.

The service interface1110provides interfaces that allows users (e.g., users135) to request services that can be provided by AVs associated with the fleet management system120. In some embodiments, the service interface1110provides the interfaces to user devices, such as user devices130. For example, the service interface1110may provide one or more apps or browser-based interfaces that can be accessed by users, such as the users135, using user devices. The service interface1110enables the users to submit service requests provided or enabled by the fleet management system120through the interfaces.

The service datastore1120stores data associated with services managed by the fleet management system120. The service datastore1120may store information associated with services that the fleet of AVs can provide. The service datastore1120may store historical service data. For instance, the service datastore1120may also store service requests that have been made by users. The service datastore1120may also store information of services that is being performed or has been completed, such as status of service, time when the service was completed, and so on. In some cases, the service datastore1120may further include future service data, e.g., a future service that a user has scheduled with the fleet management system120. In some embodiments, service data stored in the service datastore1120may be associated with user accounts maintained by the fleet management system120. A user may make service requests or access information of historical service requests through the account of the user.

The map datastore1130stores a detailed map of environments through which the fleet of AVs may travel. The map datastore1130may include some or all data stored in map datastores of the AVs, e.g., the map datastore310. Some of the map datastore1130may be gathered by a fleet of AVs. For example, images obtained by exterior cameras of the AVs may be used to learn information about the AVs' environments. The images may be processed to identify particular features in the environment. Such features may include road conditions, such as road curve, bumps, traffic lights, traffic cones etc. The fleet management system120and/or AVs may have one or more image processing modules to identify features in the captured images or other sensor data. This feature data may be stored in the map datastore1130. In some embodiments, certain feature data (e.g., features that are expected to be temporary) may expire after a certain period of time. In some embodiments, data captured by an AV110(e.g., a different AV) may indicate that a previously-observed feature is no longer present (e.g., a traffic cone has been removed) and in response, the fleet management system120may remove this feature from the map datastore1130.

The vehicle manager1140manages and communicates with the fleet of AVs110. The vehicle manager1140assigns the AVs110to various tasks (e.g., service tasks) and directs the movements of the AVs110in the fleet. In some embodiments, the vehicle manager1140may direct the movements of the AVs110in the fleet based on data in the map datastore1130. In some embodiments, the vehicle manager1140may instruct AVs110to drive to other locations while not servicing a user, e.g., to improve geographic distribution of the fleet, to anticipate demand at particular locations, etc. The vehicle manager1140may also instruct AVs110to return to an AV110facility for fueling, inspection, maintenance, or storage. The vehicle manager1140may perform some or all of the functions of the onboard computer150that are described above in conjunction withFIGS.1and3.

In some embodiments, the vehicle manager1140selects AVs from the fleet to perform various tasks and instructs the AVs to perform the tasks. In some embodiments, the vehicle manager1140selects an AV110based on availability of the AV110. For example, the vehicle manager1140may determine that the AV110is available based on a determination that the AV110the AV110is not performing any task or is going to perform any task that has been assigned to the AV110. In cases where a service request specifies a time window for the service, the vehicle manager1140may determine that the AV110is available in the time window. The vehicle manager1140may select one of the available AVs based on other factors, such as physical proximity.

The vehicle manager1140or another system may maintain or access data describing each of the AVs in the fleet of AVs110, including current location, service status (e.g., whether the AV110is available or performing a service; when the AV110is expected to become available; whether the AV110is schedule for future service), fuel or battery level, etc. The vehicle manager1140may select AVs for service in a manner that optimizes one or more additional factors, including fleet distribution, fleet utilization, and energy consumption. The vehicle manager1140may interface with one or more predictive algorithms that project future service requests and/or vehicle use, and select vehicles for services based on the projections.

The vehicle manager1140transmits instructions dispatching the selected AVs. In particular, the vehicle manager1140instructs a selected AV110to drive autonomously to a location. For instance, the vehicle manager1140may generates a navigation instruction based on the location and provide the navigation instruction to the selected AV, which will then navigate to the location accordingly. The navigation instruction may include the location itself, a navigation route from another location to the location, road condition information, motion parameters, other types of navigation information, or some combination thereof.

Example Gas System

FIG.12illustrates an example gas system1200for a plurality of sensors1240A-1240C, according to some embodiments of the present disclosure. The gas system1200includes a fan1210, a flow channel1220, and spraying assemblies1230A-1230C (collectively referred to as “spraying assemblies1230” or “spraying assembly1230”). The gas system1200may be used to clean or cool down the sensors1240A-1240C (collectively referred to as “sensors1240” or “sensor1240”). In other embodiments, the gas system1200may clean or cool down a different number of sensors. For instance, the gas system1200may be for a single sensor or more than three sensors. A sensor1240may be a sensor in a sensor suite of an AV, such as the sensor suite140.

In some embodiments, the fan1210may direct air into the flow channel1220. The air may be ambient air, e.g., air surrounding the fan1210. In other embodiments, the air may be compressed ambient air or heated ambient air. In other embodiments, the fan1210may direct other types of gas into the flow channel1220.

The flow channel1220may include an air duct. In some embodiments, one or more heat exchangers may be arranged on the flow channel1220, e.g., on a wall of the flow channel1220. In other embodiments, the wall of the flow channel1220itself may be a heat exchanger. In some embodiments, heat may be transferred from the sensors1240to the fluid inside the flow channel1220, which is represented by the dashed arrows inFIG.12. This can facilitate heat dissipation from the sensors1240and cool down the sensors1240. The heat may be generated by the sensors1240or other parts of the AV during an operation of the AV. In other embodiments, heat may be transferred from the fluid in the flow channel1220to the sensors1240. For instance, the fluid may be pre-heated, e.g., by a heater described above. The heated fluid can warm up the sensors1240, which may melt ice or snow accumulated on the sensors1240.

A spray assembly1230may be connected to the flow channel1220and spray the fluid from the flow channel1220onto the corresponding sensor1240. Even though each sensor1240has a different spray assembly1230inFIG.12, a spray assembly1230may spray fluid onto multiple sensors1240in other embodiments. The sprayed fluid may cool down, warm up, dry, or clean the sensor1240. In some embodiments, the sprayed fluid may blow away contaminants accumulated on the sensor1240, including dust, rain, snow, residue of other cleaning fluids, and so on.

FIG.13illustrates another example fluid system for a plurality of sensors1340A-1340F, according to some embodiments of the present disclosure. The gas system1300includes a compressor1310, a reservoir1315, flow channels1320A and1320B (collectively referred to as “flow channels1320” or “flow channel1320”), and spraying assemblies1330A-1330F (collectively referred to as “spraying assemblies1330” or “spraying assembly1330”). The gas system1300may be used to clean or cool down the sensors1340A-1340F (collectively referred to as “sensors1340” or “sensor1340”). In other embodiments, the gas system1300may clean or cool down a different number of sensors. A sensor1340may be a sensor in a sensor suite of an AV, such as the sensor suite140.

In some embodiments, the compressor1310may receive gas and compress the gas, e.g., to a predetermined pressure or a predetermined pressure range. The gas may be ambient air, e.g., air surrounding the compressor1310. In other embodiments, the air may be heated ambient air. The reservoir1315may receive and store the gas after the compression. In some embodiments, the reservoir1315maintains the predetermined pressure or predetermined pressure range. The reservoir1315may be a pressure tank.

The compressed gas may flow into the flow channels1320from the reservoir1315. In some embodiments, a flow channel1320may be associated with one or more valves that can be used to control the flow or flow rate of the gas in the flow channel1320. A flow channel1320may include an air duct. In some embodiments, one or more heat exchangers may be arranged on a flow channel1320, e.g., on a wall of the flow channel1320. In other embodiments, the wall of the flow channel1320itself may be a heat exchanger. In some embodiments, heat may be transferred from the sensors1340to the fluid inside the flow channel1320, which is represented by the dashed arrows inFIG.13. This can facilitate heat dissipation from the sensors1340and cool down the sensors1340. The heat may be generated by the sensors1340or other parts of the AV during an operation of the AV. In other embodiments, heat may be transferred from the fluid in the flow channel1320to the sensors1340. For instance, the fluid may be pre-heated, e.g., by a heater described above. The heated fluid can warm up the sensors1340, which may melt ice or snow accumulated on the sensors1340.

A spray assembly1330may be connected to a flow channel1320and spray the fluid from the flow channel1320onto the corresponding sensor1340. Even though each sensor1340has a different spray assembly1330inFIG.13, a spray assembly1330may spray fluid onto multiple sensors1340in other embodiments. The sprayed fluid may cool down, warm up, dry, or clean the sensor1340. In some embodiments, the sprayed fluid may blow away contaminants accumulated on the sensor1340, including dust, rain, snow, residue of other cleaning fluids, and so on.

SELECT EXAMPLES

Example 1 provides a system for cleaning a sensor of a vehicle with a fluid, including: a reservoir to store the fluid; a heat exchanger to: receive the fluid from the reservoir through a first flow channel, and transfer heat from a part of the vehicle to the fluid to heat the fluid, where the heat is a byproduct generated by the part during an operation of the vehicle; and a spraying assembly to: after the fluid is heated, receive the fluid through a second flow channel, and spray the fluid onto a surface of the sensor to clean the sensor with the fluid.Example 2 provides the system of example 1, where the heat exchanger is affixed to at least a portion of the part.Example 3 provides the system of example 1, where the part is a battery, motor, or engine of the vehicle.Example 4 provides the system of example 1, further including: an additional heat exchanger to: receive the fluid from the heat exchanger through a third flow channel, and transfer additional heat from the sensor to the fluid to further heat the fluid, where the additional heat is generated by the sensor during the operation of the vehicle.Example 5 provides the system of example 4, where the spraying assembly is to receive the fluid from the additional heat exchanger through the second flow channelExample 6 provides the system of example 1, where the part includes the sensor.Example 7 provides the system of example 6, where the reservoir is to store an additional fluid, and the system further includes: an additional heat exchanger to: receive the additional fluid from the reservoir through a third flow channel, and transfer additional heat from an additional part of the vehicle to the additional fluid to heat the additional fluid, where the additional heat is a byproduct generated by the additional part during the operation of the vehicle; and an additional spraying assembly to: after the additional fluid is heated, receive the additional fluid through a fourth flow channel, and spray the additional fluid onto a wind shield of the vehicle to clean the wind shield.Example 8 provides the system of example 1, where the reservoir is to store additional fluid, the heat exchanger is to transfer additional heat from the part of the vehicle to the additional fluid to heat the additional fluid, and the system further includes: an additional spraying assembly to: after the additional fluid is heated, receive the additional fluid through a third flow channel, and spray the additional fluid onto a wind shield of the vehicle to clean the wind shield.Example 9 provides the system of example 8, where the fluid is a first portion of a cleaning fluid in the reservoir, and the additional fluid is a second portion of the cleaning fluid.Example 10 provides the system of example 1, where the sensor is affixed to an exterior surface of the vehicle.Example 11 provides a system for cleaning a sensor of a vehicle with a fluid, including: a reservoir to store the fluid; a heater to: receive the fluid from the reservoir through a first flow channel, and heat the fluid, where the heater is closer to the sensor than the reservoir; and a spraying assembly to: after the fluid is heated, receive the fluid through a second flow channel, and spray the fluid onto a surface of the sensor to clean the sensor with the fluid.Example 12 provides the system of example 11, further including: an additional heater to: receive an additional fluid from the reservoir through a third flow channel, and heat the additional fluid, where the additional heater is closer to an additional sensor than the reservoir; and an additional spraying assembly to: after the additional fluid is heated, receive the additional fluid through a fourth flow channel, and spray the additional fluid onto a surface of the additional sensor to clean the additional sensor with the additional fluid.Example 13 provides the system of example 11, further including: a heat exchanger that is located on the first flow channel and is between the reservoir and the heater, the heater to: receive the fluid from the reservoir through a portion of the first flow channel, and transfer heat from a part of the vehicle to the fluid to heat the fluid, where the heat is a byproduct generated by the part during an operation of the vehicle, and the heater is to receive the fluid from the heat exchanger through another portion of the first flow channel.Example 14 provides the system of example 11, where the sensor is affixed to an exterior surface of the vehicle.Example 15 provides the system of example 11, further including: an additional heater to: receive an additional fluid from the reservoir through a third flow channel, and heat the additional fluid, where the additional heater is closer to the reservoir than the sensor; and an additional spraying assembly to: after the additional fluid is heated, receive the additional fluid through a fourth flow channel, and spray the additional fluid onto a wind shield of the vehicle to clean the wind shield with the additional fluid.Example 17 provides the system of example 11, where the reservoir is to store an additional fluid, the heater is to receive the additional fluid from the reservoir through the first flow channel and heat the additional fluid, and the system further includes: an additional spraying assembly to: after the additional fluid is heated, receive the additional fluid through a third flow channel, and spray the additional fluid onto a wind shield of the vehicle to clean the wind shield with the additional fluid.Example 18 provides the system of example 17, where the fluid is a first portion of a cleaning fluid in the reservoir, and the additional fluid is a second portion of the cleaning fluid.Example 19 provides a system for cleaning a sensor of a vehicle with a fluid, including: a reservoir to store the fluid; a heater to: receive the fluid from the reservoir through a first flow channel, and heat the fluid, where the heater is inside the reservoir; and a spraying assembly to: after the fluid is heated, receive the fluid through a second flow channel, and spray the fluid onto a surface of the sensor to clean the sensor with the fluid.Example 20 provides the system of example 19, where the reservoir is to store an additional fluid, the heater is to receive the additional fluid from the reservoir through the first flow channel and heat the additional fluid, and the system further includes: an additional spraying assembly to: after the additional fluid is heated, receive the additional fluid through a third flow channel, and spray the additional fluid onto a wind shield of the vehicle to clean the wind shield with the additional fluid.

Additional Examples

Example 1 provides a system for cleaning a sensor of a vehicle with a gas, including a heater to receive the gas through a first flow channel, and transfer heat to the gas; and a spraying assembly to after the gas is heated, receive the gas through a second flow channel, and spray the gas onto a surface of the sensor to clean the sensor with the gas.Example 2 provides the system of example 1, where the gas includes ambient air.Example 3 provides the system of example 1 or 2, further including a compressor to compress the gas; and a reservoir to store the gas after the gas is compressed by the compressor.Example 4 provides the system of example 3, where the heater is inside the reservoir.Example 5 provides the system of example 3 or 4, where the heater is closer to the sensor than the reservoir.Example 6 provides the system of any one of examples 1-5, where the heat is generated by a part of the vehicle during an operation of the vehicle.Example 7 provides the system of example 6, where the part is the sensor, another sensor, a battery, a motor, or an engine of the vehicle.Example 8 provides the system of any one of examples 1-7, further including a reservoir to store a fluid; an additional heater to receive the fluid from the reservoir through a third flow channel, and transfer additional heat to the fluid; and an additional spraying assembly to after the fluid is heated, receive the fluid through a fourth flow channel, and spray the fluid onto a wind shield of the vehicle to clean the wind shield.Example 9 provides the system of example 8, where the fluid is a liquid.Example 10 provides the system of any one of examples 1-9, where the sensor is affixed to an exterior surface of the vehicle.Example 11 provides a system for cleaning a sensor of a vehicle with a gas, including a compressor to compress the gas; a reservoir to store the gas after the gas is compressed by the compressor; a flow channel associated with the reservoir; and a spraying assembly to receive the gas from the reservoir through the flow channel, and spray the gas onto a surface of the sensor.Example 12 provides the system of example 11, further including a heat exchanger located on the flow channel, the heat exchanger to transfer heat from the sensor to the gas in the flow channel.Example 13 provides the system of example 11 or 12, where the gas is ambient

air.Example 14 provides the system of any one of examples 11-13, where the sensor is affixed to an exterior surface of the vehicle.Example 15 provides the system of any one of examples 11-14, further including an additional reservoir to store a cleaning liquid; and an additional spraying assembly to receive the cleaning liquid from the additional reservoir through an additional flow channel, and spray the cleaning liquid onto the sensor.Example 16 provides the system of example 15, where the cleaning liquid is sprayed onto a surface of the sensor, and the gas is sprayed onto the surface of the sensor after the cleaning liquid is sprayed onto the sensor.Example 17 provides the system of example 15 or 16, further including a heater to receive the cleaning liquid from the additional reservoir and to heat the cleaning liquid, where the spraying assembly is to receive the cleaning liquid from the heater after the cleaning liquid is heated by the heater.Example 18 provides a system for cleaning a sensor of a vehicle with ambient air, including a flow channel; a fan to direct the ambient air into the flow channel; and a spraying assembly to receive the ambient air through the flow channel, and spray the ambient air onto a surface of the sensor.Example 19 provides the system of example 18, further including a heat exchanger located on the flow channel, the heat exchanger to transfer heat from the sensor to the air in the flow channel.Example 20 provides the system of example 18 or 19, further including a reservoir to store a cleaning liquid; and an additional spraying assembly to receive the cleaning liquid from the reservoir through an additional flow channel, and spray the cleaning liquid onto the sensor.

Other Implementation Notes, Variations, and Applications

Note that with the numerous examples provided herein, interaction may be described in terms of two, three, four, or more components. However, this has been done for purposes of clarity and example only. It should be appreciated that the system can be consolidated in any suitable manner. Along similar design alternatives, any of the illustrated components, modules, and elements of the figures may be combined in various possible configurations, all of which are clearly within the broad scope of this Specification.

Numerous other changes, substitutions, variations, alterations, and modifications may be ascertained to one skilled in the art and it is intended that the present disclosure encompass all such changes, substitutions, variations, alterations, and modifications as falling within the scope of the appended claims. Note that all optional features of the systems and methods described above may also be implemented with respect to the methods or systems described herein and specifics in the examples may be used anywhere in one or more embodiments.