CN113787987A - Self-cleaning method and system for field of view area of front-view camera of windshield - Google Patents

Abstract

The invention discloses a self-cleaning method and a self-cleaning system for a view field area of a front-view camera of a windshield, wherein the method comprises the following steps: collecting image information in a forward-looking camera view area of a vehicle windshield; judging whether a polluted foreign matter exists in a front-view camera view area of a vehicle windshield according to the image information; if so, cleaning the polluted foreign matters through the wiper system and the washing system. According to the self-cleaning method and the system for the front-view camera vision area of the windshield, when the existence of the polluted foreign matters in the front-view camera vision area of the windshield of the vehicle is judged according to the image information, the cleaning is carried out through the wiper system and the washing system, so that the cleaning of the front-view camera and the windshield area can be ensured, the image acquisition quality of the front-view camera is improved, and the normal work of a high-grade driving auxiliary system is ensured; the realization corresponds the self-cleaning of pollution area, removes manual operation's careless omission and inconvenience from, promotes user's intelligent vehicle experience.

Description

Self-cleaning method and system for field of view area of front-view camera of windshield

Technical Field

The invention relates to the technical field of vehicle self-cleaning, in particular to a self-cleaning method and a self-cleaning system for a view field area of a front-view camera of a windshield.

Background

With the rapid advance of the application of artificial intelligence and image processing technology in recent years, the automobile industry is facing a new revolution of intellectualization. The road traffic information sensing is carried out through sensors such as a camera and a radar, and the road traffic information sensing is a basic link of intelligent driving. The vehicle-mounted forward-looking camera plays an important role in lane line recognition and front vehicle and pedestrian recognition. The monocular camera can perform image identification and classification only by acquiring a large number of samples, and generally estimates the distance according to the imaging size of a target, so that the uncertainty is high; compared with the prior art, the binocular camera directly utilizes the parallax of the two cameras to calculate the target distance, so that a three-dimensional information graph is obtained, and the binocular camera is more and more favored by car enterprises.

Most host computer factories choose to arrange the front view camera inside the front windshield at the present stage, and the actual problem that stains and rainwater are easy to block on the windshield in the view field of the front view camera causes adverse effects on the quality of collected images, reduces the recognition accuracy of the traffic condition of the front road, and deepens the potential safety hazard of vehicle driving.

Therefore, a self-cleaning method and system for the field of view of a front camera of a windshield is needed.

Disclosure of Invention

The invention aims to provide a self-cleaning method and a self-cleaning system for a view field area of a front-view camera of a windshield, which are used for solving the problems in the prior art, realizing automatic detection and cleaning for stains on the windshield in the view field of the front-view camera and improving the accurate reliability of intelligent driving perception and the intelligent vehicle using experience of a driver.

The invention provides a self-cleaning method for a view field area of a front camera of a windshield, which comprises the following steps:

collecting image information in a forward-looking camera view area of a vehicle windshield;

judging whether a polluted foreign matter exists in a front-view camera view area of a vehicle windshield according to the image information;

if so, cleaning the polluted foreign matters through a wiper system and a washing system.

The self-cleaning method for the front-view camera view area of the windshield, as described above, preferably, the acquiring image information in the front-view camera view area of the vehicle windshield includes:

acquiring image information of visual field areas of two cameras by adopting a binocular camera;

performing stereo matching on two images synchronously acquired by the binocular camera by adopting an image processing module to obtain a stereo matching result;

and determining whether an area which is detected by one camera of the binocular cameras but not detected by the other camera exists in the stereo matching result, and if so, determining the area as suspected contaminated foreign matter.

The self-cleaning method for the front view camera view area of the windshield, as described above, preferably, the determining whether there is a contaminant in the front view camera view area of the vehicle windshield according to the image information includes:

and judging whether the pollution foreign matter exists in the front-view camera visual field area of the vehicle windshield through the vehicle body controller according to the image information corresponding to the suspected pollution foreign matter.

The self-cleaning method for the front-view camera viewing area of the windshield, preferably, the determining, by the vehicle body controller, whether a contaminating foreign object is present in the front-view camera viewing area of the windshield of the vehicle according to the image information corresponding to the suspected contaminating foreign object includes:

after receiving image information corresponding to the suspected polluted foreign matter, the vehicle body controller judges whether the gray value of the pixel points of the suspected polluted foreign matter exceeds a preset pixel gray threshold value or not, and judges whether the number of the pixel points of the suspected polluted foreign matter exceeds the number of the preset pixel points or not;

and if the gray value of the pixel points of the suspected polluted foreign matters exceeds a preset pixel point gray threshold value and the number of the pixel points of the suspected polluted foreign matters exceeds the number of the preset pixel points, determining that the polluted foreign matters exist in a forward-looking camera view area of the vehicle windshield, and taking the suspected polluted foreign matters as the polluted foreign matters.

The self-cleaning method for the view field area of the front camera of the windshield as described above, wherein preferably, the cleaning of the contaminating foreign objects by the wiper system and the washing system specifically includes:

in the case where a contaminating foreign object exists in a forward-looking camera view area of a vehicle windshield, the wiper system and the washing system start cleaning the contaminating foreign object in response to a cleaning control command issued by the body controller.

The self-cleaning method for the view area of the front view camera of the windshield as described above, wherein preferably, the wiper system and the washing system start cleaning the contaminated foreign objects in response to a cleaning control command issued by the vehicle body controller, specifically comprising:

the wiper system adopts an electric wiper to clean the polluted foreign matters;

the washing system controls the water spraying height of the water spraying nozzle through the automatic water spraying nozzle angle adjusting device, so that washing liquid is sprayed to the polluted foreign matter in the visual field area of the front-view camera of the windshield in a concentrated mode.

The self-cleaning method for the view area of the front camera of the windshield as described above, wherein preferably, the washing system controls the water spraying height of the water spraying nozzle through the automatic water spraying nozzle angle adjusting device, and specifically includes:

under the condition that a polluted foreign matter exists in a visual field area of a front-view camera of a vehicle windshield, a water nozzle angle adjusting switch is closed, so that a water nozzle angle adjusting motor drives a water nozzle to adjust the spraying angle;

and after the spraying angle of the water spraying nozzle is adjusted in place, the water spraying nozzle angle adjusting switch is switched off, and the water spraying nozzle angle adjusting motor stops working.

The self-cleaning method for the view area of the front view camera of the windshield as described above, wherein preferably the method further comprises:

and prompting is carried out through a combination instrument before, in the cleaning process and after the wiper system and the washing system are cleaned.

The self-cleaning method for the view area of the front view camera of the windshield as described above, wherein preferably the method further comprises:

and after the wiper system and the washing system are cleaned, returning to the steps of acquiring image information and judging whether a polluted foreign matter exists in the visual field area of the front-view camera, and if so, continuously cleaning the polluted foreign matter through the wiper system and the washing system until the polluted foreign matter is cleaned.

The invention also provides a self-cleaning system for the view field area of a front camera of a windshield by adopting the method, which comprises the following steps:

the image acquisition module is used for acquiring image information in a front-view camera view area of a vehicle windshield;

the vehicle body controller is used for judging whether a polluted foreign matter exists in a front-view camera view field area of a vehicle windshield according to the image information;

the cleaning control module is used for cleaning the polluted foreign matters through the wiper system and the washing system when the polluted foreign matters exist in the visual field area of the front-view camera of the windshield of the vehicle.

The invention provides a self-cleaning method and a system for a front-view camera view area of a windshield, when the existence of a polluted foreign matter in the front-view camera view area of a vehicle windshield is judged according to image information, the cleaning is carried out through a wiper system and a washing system, the cleaning of the front-view camera view area can be ensured, the image acquisition quality of the front-view camera is improved, and the normal work of a high-grade driving auxiliary system is ensured; the realization corresponds the self-cleaning of pollution area, removes manual operation's careless omission and inconvenience from, promotes user's intelligent vehicle experience.

Drawings

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:

FIG. 1 is a flow chart of an embodiment of a self-cleaning method provided by the present invention for a field of view area of a front camera of a windshield;

FIG. 2 is a schematic view of an embodiment of a self-cleaning method provided by the present invention for a field of view area of a front-view camera of a windshield;

FIG. 3 is a schematic view of a contaminant in a field of view of a front camera of a windshield according to the present invention;

FIG. 4 is a schematic view of the working principle of the automatic angle adjustment device for a water nozzle provided by the present invention;

FIG. 5 is a block diagram of an embodiment of a self-cleaning system for a field of view area of a front camera of a windshield according to the present invention.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

As used in this disclosure, "first", "second": and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be intervening components between the specific component and the first component or the second component. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without having an intervening component, or may be directly connected to the other components without having an intervening component.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

The actual problem that stains and rainwater are easy to block on the windshield in the visual field of the front-view camera causes adverse effects on the quality of collected images, the recognition accuracy of the traffic condition of the front road is reduced, and the potential safety hazard of vehicle driving is deepened.

The inductive wiper can realize self-cleaning aiming at the rainwater problem of the front windshield. The rain sensor adopted by the inductive wiper mainly comprises an optical sensor and a capacitance sensor. The optical rainfall sensor mainly works according to the principle of refraction and reflection of light, a light-emitting diode in the sensor emits a beam of light which penetrates through a front windshield and then is reflected to the optical sensor, and rainwater detection is achieved by detecting the change of the received light quantity caused by deviation of the reflected light when raining. The capacitive rain sensor is generally characterized in that two parallel finger-shaped metal electrode plates are placed between the inner layer and the outer layer of the windshield, and the change of the capacitance dielectric coefficient caused by the change of the rain quantity realizes the rain detection. The size of induction type windscreen wiper can respond to the raindrop through the rainfall sensor, and automatically regulated windshield wiper operating speed accomplishes windshield's cleaning through windscreen wiper piece and glass friction, provides good field of vision for the driver, has also guaranteed simultaneously that windshield forward-looking camera field of vision is clean in the region, improves convenience and the security that the rainy day was driven greatly.

The existing induction windscreen wiper is relatively mature in rainwater detection technology under the rainy condition, but is insufficient in detection and cleaning capabilities of other pollution types of windscreen in the visual field of a forward-looking camera, and mainly comprises the following four aspects: firstly, due to the limitation of a detection principle, the rain sensors can only detect rain water, and other types of visual field pollution, such as large-particle mud dirt dust, fine fallen leaves, bird and insect feces and the like, are not detected sufficiently, so that the windscreen wiper cannot be driven to automatically clean; secondly, the area sensed by the rainfall sensor does not cover the visual field area of the camera, and different from the characteristic that the probability of rainwater falling on each area of the windshield is relatively uniform, the rainfall sensor cannot detect the pollution only occurring on the windshield in the visual field of the camera and cannot drive the wiper to automatically clean; thirdly, the existing windscreen wiper needs to clean the non-rainwater pollution of the windshield, and must be manually opened by a driver, and the actual driver is probably not aware of the pollution in time and is not cleaned in time; finally, for dry pollution of the windshield, the existing windscreen wiper can work effectively only when a washing system is matched, but for local pollution of the type on the windshield in the visual field of the camera, a washing liquid system cannot spray washing liquid to a corresponding polluted area in a targeted manner, so that waste of the washing liquid is caused.

As shown in fig. 1 and fig. 2, in an actual implementation process, the self-cleaning method for a front view area of a camera in a windshield provided by this embodiment specifically includes the following steps:

and step S1, acquiring image information in the front view camera view field of the vehicle windshield.

In an embodiment of the self-cleaning method for the view area of the front camera of the windshield, the step S1 may specifically include:

and step S11, acquiring image information of the visual field areas of the two cameras by adopting the binocular camera.

And step S12, performing stereo matching on the two images synchronously acquired by the binocular camera by adopting an image processing module to obtain a stereo matching result.

And step S13, determining whether an area which is detected by one camera of the binocular cameras but not detected by the other camera exists in the stereo matching result, and if so, determining the area as suspected contaminated foreign matter.

Due to the limitation of the camera detection angle and the binocular camera baseline length constraint, a contaminating foreign object on the glass in a single camera area cannot be detected by another camera, as shown in fig. 3. The pollution P on the windshield in the visual field of the lens A is imaged in the lens A, but cannot be imaged in the lens B, the successful matching of pixel points in the two images in the surrounding area of the P 'is compared, and the fact that the position of the corresponding object of the P' is on the windshield in the visual field of the lens A but not in the double-camera detection area of the shadow part can be judged.

And step S2, judging whether the pollution foreign matter exists in the front view camera view field of the vehicle windshield according to the image information.

Specifically, whether the contaminating foreign object exists in the front view camera view area of the vehicle windshield is judged according to the image information corresponding to the suspected contaminating foreign object through a Body Control Module (BCM). In an embodiment of the self-cleaning method for the view area of the front camera of the windshield, the step S2 may specifically include:

step S21, after receiving the image information corresponding to the suspected contaminated foreign object, the vehicle body controller determines whether the gray value of the pixel point of the suspected contaminated foreign object exceeds a preset gray threshold of the pixel point, and determines whether the number of the pixel points of the suspected contaminated foreign object exceeds a preset number of the pixel points.

Step S22, if the gray value of the pixel points of the suspected polluted foreign matter exceeds a preset pixel point gray threshold value and the number of the pixel points of the suspected polluted foreign matter exceeds a preset pixel point number, determining that the polluted foreign matter exists in a front-view camera view area of a vehicle windshield, and taking the suspected polluted foreign matter as the polluted foreign matter.

After the automobile body controller receives the pixel information of the P 'area, if the gray value and the number of the pixel points exceed the set sensitivity threshold, the automobile body controller defines P' as a polluted foreign matter needing to be cleaned, and the automobile body controller sends a cleaning control instruction to the wiper system and the washing system.

In some embodiments of the invention, if the base line distance of the two carried cameras is small, the pollution foreign matter in a specific area can be imaged on the two cameras, but the two images are necessarily provided with parallax, and at the moment, the object in a certain distance range can be judged to be the pollution foreign matter on the windshield according to the distance measurement principle of the binocular cameras. In other embodiments of the present invention, if a monocular camera is mounted, the characteristics of the contaminating foreign objects in the image may be modeled first, and then the detection of the contaminating foreign objects may be implemented by using a deep learning method.

And step S3, if yes, cleaning the polluted foreign matters through a wiper system and a washing system.

Specifically, in the case where a contaminating foreign object exists in a forward-looking camera view area of a vehicle windshield, the wiper system and the washing system start cleaning the contaminating foreign object in response to a cleaning control instruction issued by the vehicle body controller.

In an embodiment of the self-cleaning method for the view area of the front camera of the windshield, the step S3 may specifically include:

and step S31, cleaning the polluted foreign matters by the wiper system through an electric wiper.

Specifically, the wiper system adopts an electric wiper consisting of a wiper motor, a speed reducing mechanism, a linkage mechanism, a wiper arm, a wiper blade and the like.

And step S32, the washing system controls the water spraying height of the water spraying nozzle through the automatic water spraying nozzle angle adjusting device, so that the washing liquid is sprayed to the polluted foreign matter in the visual field area of the front camera of the windshield in a concentrated mode.

According to the washing system, the automatic angle adjusting device of the water spray nozzle is additionally arranged on the basis of the components such as the water storage tank, the water pump, the water delivery pipe and the water spray nozzle, so that the washing liquid can be concentrated in the front view camera view area of the windshield after being sprayed, a better cleaning effect is obtained, the washing liquid is saved, and the cleaning of the windshield in the front view camera view area is ensured. As shown in fig. 4, in an embodiment of the self-cleaning method for a front camera view area of a windshield according to the present invention, the step S32 may specifically include:

step S321, under the condition that a polluted foreign matter exists in the front view camera view area of the vehicle windshield, the water nozzle angle adjusting switch is closed, so that the water nozzle angle adjusting motor drives the water nozzle to adjust the spraying angle.

As shown in fig. 4, one end of the water spray nozzle angle adjusting switch is connected with the first end of the water spray switch and the first end of the water spray motor respectively, and the other end is connected with the water spray nozzle angle adjusting motor; the other end of the water spray nozzle angle adjusting motor is respectively connected with the second end of the water spray motor and the ground, the second end of the water spray switch is connected with the first end of the ignition switch, and the second end of the ignition switch is connected with the power supply.

And step S322, after the spraying angle of the water spraying nozzle is adjusted in place, disconnecting the water spraying nozzle angle adjusting switch, and stopping the water spraying nozzle angle adjusting motor.

At present, a knob on the side surface of a water spray nozzle needs to be manually adjusted to adjust the water spray height of the water spray nozzle, as shown in fig. 4, the invention is used for controlling the water spray height of the water spray nozzle by adding a group of small motors and corresponding control switches, the water spray nozzle angle adjusting switch is switched off under the condition of ordinary washing, and under the condition that the visual field of a camera is polluted, a vehicle body controller controls the water spray nozzle angle adjusting switch to be switched on, so that the water spray nozzle angle adjusting motor drives the water spray nozzle to adjust the spray angle, and the water spray nozzle angle is switched off after the water spray nozzle angle is adjusted to a corresponding angle.

In a specific implementation, the cleaning time of the wiper system and the washing system may be set to be, for example, 10s, and it should be noted that the cleaning time of the wiper system and the washing system is not particularly limited in the present invention.

Further, in some embodiments, the method further comprises:

and step S4, prompting by a combination meter before, during and after the cleaning of the wiper system and the washing system.

After the vehicle body controller receives the pixel information of the P 'area, if the gray value and the number of the pixel points exceed the set sensitivity threshold, the condition that P' is a pollution foreign matter needing to be cleaned is defined, and the vehicle body controller sends an information prompt instruction to the combination instrument.

After receiving an information prompt instruction of the vehicle body controller, the combination instrument displays information such as ' detection of pollution in a front-view camera windshield area, namely automatic cleaning of a windscreen wiper, self-cleaning of the camera in the process of view ', cleaning completion ' and the like in a text mode so as to prompt a driver.

Still further, in some embodiments, the method further comprises:

and step S5, after the wiper system and the washing system are cleaned, returning to the steps of collecting image information and judging whether a polluted foreign matter exists in the visual field area of the front-view camera, and if so, continuing to clean the polluted foreign matter through the wiper system and the washing system until the polluted foreign matter is cleaned.

The invention introduces the step of feeding back the cleaning effect, namely, the image is collected and processed again after the cleaning is finished, the comparison verifies the cleaning effect, if the cleaning effect is good, the combined instrument prompts that the cleaning is finished, if the effect is not ideal, the vehicle body controller controls the wiper system and the washing system to continue working until the expected effect is achieved, thus ensuring the cleaning effect.

According to the self-cleaning method for the front-view camera view area of the windshield, when the existence of the polluted foreign matters in the front-view camera view area of the windshield of the vehicle is judged according to the image information, the cleaning is carried out through the wiper system and the washing system, so that the cleaning of the front-view camera view area can be ensured, the image acquisition quality of the front-view camera is improved, and the normal work of a high-grade driving auxiliary system is ensured; the realization corresponds the self-cleaning of pollution area, removes manual operation's careless omission and inconvenience from, promotes user's intelligent vehicle experience.

Accordingly, as shown in fig. 5, the present invention also provides a self-cleaning system for a field of view area of a front camera of a windshield, comprising:

the image acquisition module 1 is used for acquiring image information in a front-view camera view area of a vehicle windshield;

a Body Control Module (BCM) 2 for determining whether a contaminant exists in a front view camera view area of the vehicle windshield according to the image information;

and thecleaning control module 3 is used for cleaning the polluted foreign matters through the wiper system and the washing system when the polluted foreign matters exist in the visual field area of the front-view camera of the windshield of the vehicle.

The image acquisition module 1 is connected with thevehicle body controller 2 through a CAN network, and thevehicle body controller 2 is connected with thecleaning control module 3 through a hard wire. The image acquisition module 1 and thebody controller 2 may be connected via ethernet in some embodiments.

Further, the self-cleaning system for the view area of the front camera of the windshield further comprises a combination instrument 4 which is connected with thevehicle body controller 2 and used for prompting the working states of the wiper system and the washing system before, during and after cleaning. Specifically, the combination meter 4 is connected to thevehicle body controller 2 through a CAN network. The invention in some embodiments, thebody controller 2 and the cluster 4 may be connected via ethernet.

According to the self-cleaning system for the front-view camera view area of the windshield, provided by the embodiment of the invention, the image information in the front-view camera view area of the vehicle windshield is collected through the image collection module; judging whether a polluted foreign matter exists in a front-view camera view area of a vehicle windshield through a vehicle body controller according to image information; when the polluted foreign matters exist in the sight area of the front-view camera of the vehicle windshield, the cleaning control module controls the wiper system and the washing system to clean the polluted foreign matters, so that the cleanness of the windshield area of the front-view camera can be ensured, the image acquisition quality of the front-view camera is improved, and the normal work of an advanced driving assistance system is ensured; the realization corresponds the self-cleaning of pollution area, removes manual operation's careless omission and inconvenience from, promotes user's intelligent vehicle experience.

Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (10)

1. A self-cleaning method for a field of view area of a front-view camera of a windshield, comprising:

collecting image information in a forward-looking camera view area of a vehicle windshield;

judging whether a polluted foreign matter exists in a front-view camera view area of a vehicle windshield according to the image information;

if so, cleaning the polluted foreign matters through a wiper system and a washing system.

2. The self-cleaning method for a forward-looking camera field of view of a windshield of claim 1, wherein said collecting image information within a forward-looking camera field of view of a vehicle windshield comprises:

acquiring image information of visual field areas of two cameras by adopting a binocular camera;

performing stereo matching on two images synchronously acquired by the binocular camera by adopting an image processing module to obtain a stereo matching result;

and determining whether an area which is detected by one camera of the binocular cameras but not detected by the other camera exists in the stereo matching result, and if so, determining the area as suspected contaminated foreign matter.

3. The self-cleaning method for the front view camera field of view of the windshield according to claim 2, wherein the determining whether there is a contaminating foreign object in the front view camera field of view of the vehicle windshield according to the image information specifically comprises:

and judging whether the pollution foreign matter exists in the front-view camera visual field area of the vehicle windshield through the vehicle body controller according to the image information corresponding to the suspected pollution foreign matter.

4. The self-cleaning method for the front-view camera viewing area of the windshield according to claim 3, wherein the determining, by the vehicle body controller, whether there is a contaminating foreign object in the front-view camera viewing area of the vehicle windshield according to the image information corresponding to the suspected contaminating foreign object includes:

after receiving image information corresponding to the suspected polluted foreign matter, the vehicle body controller judges whether the gray value of the pixel points of the suspected polluted foreign matter exceeds a preset pixel gray threshold value or not, and judges whether the number of the pixel points of the suspected polluted foreign matter exceeds the number of the preset pixel points or not;

and if the gray value of the pixel points of the suspected polluted foreign matters exceeds a preset pixel point gray threshold value and the number of the pixel points of the suspected polluted foreign matters exceeds the number of the preset pixel points, determining that the polluted foreign matters exist in a forward-looking camera view area of the vehicle windshield, and taking the suspected polluted foreign matters as the polluted foreign matters.

5. The self-cleaning method for a field of view of a windscreen front camera according to claim 3, wherein said cleaning of said contaminating foreign bodies by means of a wiper system and a washing system comprises in particular:

in the case where a contaminating foreign object exists in a forward-looking camera view area of a vehicle windshield, the wiper system and the washing system start cleaning the contaminating foreign object in response to a cleaning control command issued by the body controller.

6. The self-cleaning method for a windshield forward-looking camera field of view of claim 5, wherein the wiper system and the washing system begin cleaning the contaminating foreign objects in response to a cleaning control command issued by the body controller, specifically comprising:

the wiper system adopts an electric wiper to clean the polluted foreign matters;

the washing system controls the water spraying height of the water spraying nozzle through the automatic water spraying nozzle angle adjusting device, so that washing liquid is sprayed to the polluted foreign matter in the visual field area of the front-view camera of the windshield in a concentrated mode.

7. The self-cleaning method for the field of view of a front-view camera of a windshield according to claim 6, wherein the washing system controls the water spray height of the water spray nozzle through an automatic water spray nozzle angle adjusting device, and specifically comprises:

under the condition that a polluted foreign matter exists in a visual field area of a front-view camera of a vehicle windshield, a water nozzle angle adjusting switch is closed, so that a water nozzle angle adjusting motor drives a water nozzle to adjust the spraying angle;

and after the spraying angle of the water spraying nozzle is adjusted in place, the water spraying nozzle angle adjusting switch is switched off, and the water spraying nozzle angle adjusting motor stops working.

8. The self-cleaning method for a windshield forward-looking camera field of view area as recited in claim 1, further comprising:

and prompting is carried out through a combination instrument before, in the cleaning process and after the wiper system and the washing system are cleaned.

9. The self-cleaning method for a windshield forward-looking camera field of view area as recited in claim 1, further comprising:

and after the wiper system and the washing system are cleaned, returning to the steps of acquiring image information and judging whether a polluted foreign matter exists in the visual field area of the front-view camera, and if so, continuously cleaning the polluted foreign matter through the wiper system and the washing system until the polluted foreign matter is cleaned.

10. A self-cleaning system for a field of view area of a windscreen front camera using the method of any of claims 1-9, comprising:

the image acquisition module is used for acquiring image information in a front-view camera view area of a vehicle windshield;

the vehicle body controller is used for judging whether a polluted foreign matter exists in a front-view camera view field area of a vehicle windshield according to the image information;

the cleaning control module is used for cleaning the polluted foreign matters through the wiper system and the washing system when the polluted foreign matters exist in the visual field area of the front-view camera of the windshield of the vehicle.

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