JP2009220719A - On-vehicle camera rain drop removing device - Google Patents

Abstract

Raindrops attached to a camera lens of an in-vehicle camera are removed at an appropriate timing.
A raindrop removal ECU includes a parking prediction unit that predicts whether or not a vehicle is to be parked soon before a gear change operation to a reverse gear by a driver is performed, and a parking prediction unit A raindrop removal unit 113 that starts a process of removing dirt including raindrops attached to the camera lens of the in-vehicle camera 26 when the vehicle is predicted to be parked soon by 112.
[Selection] Figure 2

Description

  The present invention relates to an in-vehicle camera raindrop removal device that removes dirt including raindrops attached to a camera lens of an in-vehicle camera that captures at least one of the rear and side of a vehicle.

  2. Description of the Related Art Conventionally, an in-vehicle camera that captures the rear or side of a vehicle is mounted in order to support a driver's parking operation and the like. However, when dirt such as raindrops or mud adheres to the camera lens of the in-vehicle camera, the front glass, etc., the quality of the video acquired by photographing with the in-vehicle camera is deteriorated. Therefore, it is necessary to remove dirt such as raindrops and mud adhering to the camera lens of the in-vehicle camera.

  In order to solve the above problems, various apparatuses, methods, and the like have been proposed. For example, an in-vehicle camera device that includes a compressed air generation unit and removes dirt such as water droplets and mud by causing the compressed air of the compressed air generation unit to blow high-pressure air from the nozzle onto the front glass of the in-vehicle camera is disclosed. (See Patent Document 1).

In addition, for example, a parking assist device that includes a translucent film speaker on a lens surface of an in-vehicle camera and removes water droplets attached to the film speaker by vibration of the film speaker is disclosed (see Patent Document 2).
JP 2001-171491 A JP 2006-96190 A

  However, in the in-vehicle camera device described in Patent Document 1, the dirt removal process is started when the driver performs an operation of starting the compressed air generation unit (or in conjunction with another operation) (paragraph). 0013, 0014, FIG. 4 etc.). Further, in the parking assistance device described in Patent Document 2, when it is detected that the shift position of the transmission of the vehicle is put in the reverse (reverse), the dirt removal process is started (paragraph 0036, FIG. 3, FIG. 4 etc.).

  Therefore, in the in-vehicle camera device described in Patent Document 1 and the parking assistance device described in Patent Document 2, a good quality image is acquired from the start of the dirt removal process to the completion of the dirt removal process. This may not be possible and may hinder the driver's parking operation. Also, parking operations at parking lots and the like often have no time allowance, and particularly in such a case, the above-described problem gives a great stress to the driver.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to remove an in-vehicle camera raindrop capable of removing dirt including raindrops attached to the camera lens of the in-vehicle camera at an appropriate timing. To provide an apparatus.

  In order to achieve the above object, the present invention has the following features. 1st invention is a vehicle-mounted camera raindrop removal apparatus which removes the dirt containing the raindrop adhering to the camera lens of the vehicle-mounted camera which image | photographs at least any one of back and side of a vehicle, Comprising: To a reverse gear by a driver | operator When it is predicted that the vehicle will be parked soon by the parking prediction means, and a parking prediction means for predicting whether or not the vehicle will be parked soon before the gear change operation is performed. Raindrop removing means for starting a removal process of dirt including raindrops attached to the camera lens of the in-vehicle camera.

  According to a second aspect, in the first aspect, the vehicle is connected to a navigation device that detects a vehicle position that is a position on the map of the vehicle, and the parking prediction unit is configured to receive the vehicle position from the navigation device. Based on the information, it is predicted whether the vehicle will be parked soon.

  In a third aspect based on the second aspect, the parking prediction means determines whether the distance between the destination registered in the navigation device and the vehicle position is equal to or less than a preset threshold value. When it is determined that the vehicle is below the threshold, the vehicle is predicted to be parked soon.

  In a fourth aspect based on the second aspect, the parking prediction means determines whether the estimated travel time from the vehicle position to the destination registered in the navigation device is equal to or less than a preset threshold value. When it is determined that the vehicle is below the threshold, the vehicle is predicted to be parked soon.

  In a fifth aspect based on the second aspect, the parking prediction means determines whether the distance between the home position registered in the navigation device and the vehicle position is closer than a preset distance. If it is determined that the vehicle is closer than a preset distance, the vehicle is predicted to be parked soon.

  In a sixth aspect based on the second aspect, the parking prediction means determines whether or not the vehicle position is on a road and determines that the position is not on the road via the navigation device. Predict that the vehicle will be parked soon.

  In a seventh aspect based on the first aspect, the parking prediction means determines whether or not an operation for starting a parking support system for supporting a driver's parking operation has been performed, and starts the parking support system. When it is determined that an operation to be performed is performed, the vehicle is predicted to be parked soon.

  According to an eighth invention, in the first invention, the camera lens of the in-vehicle camera further includes raindrop estimation means for estimating whether dirt including raindrops is attached, and the raindrop removal means includes the raindrop estimation means. Only when it is estimated that dirt including raindrops is attached, the process of removing dirt including raindrops attached to the camera lens of the in-vehicle camera is started.

  In a ninth aspect based on the eighth aspect, when the raindrop estimation means determines that there is rain by a rain sensor that detects the presence or absence of rain on the windshield, the raindrop is applied to the camera lens of the in-vehicle camera. It is presumed that dirt including

  In a tenth aspect based on the eighth aspect, the raindrop estimating means determines whether or not a wiper for removing raindrops on the windshield is operating, and it is determined that the wiper is operating. Further, it is estimated that dirt including raindrops is attached to the camera lens of the in-vehicle camera.

  In an eleventh aspect of the present invention, in the first aspect of the present invention, only when the raindrop removing means determines whether or not the vehicle speed is equal to or lower than a preset threshold value and is determined to be equal to or lower than the threshold value, A process for removing dirt including raindrops attached to the camera lens of the in-vehicle camera is started.

  In a twelfth aspect based on the first aspect, the raindrop removing means includes raindrops attached to the camera lens of the in-vehicle camera via a lens washer that injects a cleaning liquid onto the surface of the camera lens of the in-vehicle camera. Remove dirt.

  In a thirteenth aspect based on the first aspect, the raindrop removal means adheres to the camera lens of the in-vehicle camera via an air injection mechanism that injects compressed air onto the surface of the camera lens of the in-vehicle camera. Remove dirt including.

  In a fourteenth aspect based on the thirteenth aspect, the raindrop removing means is configured to reduce the amount of compressed air injected from the air injection mechanism based on the outside air temperature detected by an outside air temperature sensor that detects the outside air temperature. Control at least one of temperature and injection time.

  In a fifteenth aspect based on the first aspect, the raindrop removing means adheres to the camera lens of the in-vehicle camera via an ultrasonic vibrator that applies ultrasonic vibration to the surface of the camera lens of the in-vehicle camera. Remove dirt including raindrops.

  According to the first aspect of the invention, when the vehicle is predicted to be parked soon before the driver performs a gear change operation to the reverse gear, the vehicle is attached to the camera lens of the in-vehicle camera. Since the process for removing the dirt including raindrops is started, it is possible to remove the dirt including raindrops attached to the camera lens of the in-vehicle camera at an appropriate timing.

  In other words, since the dirt removal process is started before the driver performs the gear change operation to the reverse gear, the dirt removal process can be completed before the parking operation is started. Therefore, it becomes possible to remove the dirt including raindrops attached to the camera lens of the in-vehicle camera at an appropriate timing.

  The camera lens refers to a lens that is provided in the in-vehicle camera and contacts the outside air.For example, when the camera lens of the in-vehicle camera is covered with a cover, the object for removing dirt is the cover and Become. Therefore, the “camera lens” is used here as a general term for a member (= target to remove dirt) to which dirt that obstructs the field of view of the camera adheres.

  According to the second aspect of the invention, whether or not the vehicle is soon parked based on the vehicle position information from the navigation device is connected to the navigation device that detects the vehicle position that is the position on the map of the vehicle. Therefore, it is possible to accurately predict whether the vehicle will be parked soon, so it is possible to remove dirt including raindrops attached to the camera lens of the in-vehicle camera at a more appropriate timing. It becomes.

  That is, for example, when the vehicle position approaches the destination, or when the vehicle position is not on the road (for example, when in the parking lot), the vehicle is predicted to be parked soon. Therefore, by predicting whether the vehicle will be parked soon based on the vehicle position information, it is possible to accurately predict whether the vehicle will be parked soon.

  According to the third aspect, it is determined whether or not the distance between the destination registered in the navigation device and the vehicle position is equal to or less than a preset threshold (for example, 100 m). If it is determined that the vehicle will be parked soon, it is likely that the vehicle will be parked when it arrives at the destination, so it is predicted whether the vehicle will be parked soon Can be performed more accurately.

  According to the fourth aspect, it is determined whether or not the estimated travel time from the vehicle position to the destination registered in the navigation device is equal to or less than a preset threshold value (for example, 1 minute). If it is determined that the vehicle will be parked soon, it is highly likely that the vehicle will be parked when it arrives at the destination. Prediction can be made more accurately.

  According to the fifth aspect, it is determined whether or not the distance between the home position and the vehicle position registered in the navigation device is closer than a preset distance (for example, 30 m). If it is determined that the vehicle is approaching the distance, it is predicted that the vehicle will be parked soon.Therefore, it is highly likely that the vehicle will be parked when it arrives at home. Such a prediction can be made more accurately.

  According to the sixth invention, it is determined whether or not the vehicle position is on the road via the navigation device, and if it is determined that the vehicle position is not on the road, the vehicle is predicted to be parked soon. Therefore, for example, when the vehicle position is in a parking lot or the like (= determined not on the road), it is highly likely that the parking operation will be performed soon. Prediction can be made more accurately.

  According to the seventh aspect, when it is determined whether or not an operation for starting the parking support system that supports the driver's parking operation has been performed, and it is determined that an operation for starting the parking support system has been performed. Because it is predicted that the vehicle will be parked soon, it is possible to accurately predict whether or not the vehicle will be parked soon, so that more appropriate timing for dirt including raindrops attached to the camera lens of the in-vehicle camera Can be removed.

  That is, when an operation for starting the parking support system is performed, there is a high possibility that the parking operation will be started immediately after that, so it is possible to accurately predict whether or not the vehicle will be parked soon. It is.

  According to the eighth aspect of the present invention, it is estimated whether or not dirt including raindrops is attached to the camera lens of the in-vehicle camera, and only when it is estimated that dirt including raindrops is attached. Since the process of removing dirt including raindrops attached to the camera lens is started, if it is estimated that dirt containing raindrops is not attached, the dirt removal process is not performed (= Therefore, dirt including raindrops attached to the camera lens of the in-vehicle camera can be removed at a more appropriate timing.

  According to the ninth aspect of the invention, when it is determined that there is rain by the rain sensor that detects the presence or absence of rain on the windshield, it is estimated that dirt including raindrops is attached to the camera lens of the in-vehicle camera. Therefore, it is possible to accurately estimate whether dirt including raindrops is attached to the camera lens of the in-vehicle camera with a simple configuration.

  In other words, if a rain sensor that detects the presence or absence of rain on the windshield is provided for the purpose of activating a wiper that removes raindrops on the windshield, it is simply determined that there is rain by this rain sensor. In this case, it is sufficient to estimate that dirt including raindrops is attached to the camera lens of the in-vehicle camera, so it is possible to determine whether dirt including raindrops is attached to the camera lens of the in-vehicle camera with a simple configuration. It can be estimated accurately.

  According to the tenth aspect of the present invention, it is determined whether or not the wiper for removing raindrops on the windshield is operating. When it is determined that the wiper is operating, the camera lens of the in-vehicle camera includes raindrops. Since it is estimated that dirt is attached, it is possible to accurately estimate whether or not dirt including raindrops is attached to the camera lens of the in-vehicle camera with a simple configuration.

  According to the eleventh aspect, it is determined whether or not the vehicle speed is equal to or lower than a predetermined threshold value (for example, 5 km / hour), and only when it is determined to be equal to or lower than the predetermined threshold value. Since the operation for removing dirt including raindrops attached to the camera lens of the in-vehicle camera is started, the dirt including raindrops attached to the camera lens of the in-vehicle camera can be further removed at an appropriate timing.

  That is, when the parking operation is performed by the driver, the vehicle is always stopped once, so when it is determined that the vehicle speed is equal to or lower than a predetermined threshold value (for example, 5 km / hour). Since there is a high possibility that the parking operation will be performed immediately after that, it becomes possible to further remove dirt including raindrops attached to the camera lens of the in-vehicle camera at an appropriate timing. The “parking operation” means an operation for parking accompanied by a gear change operation to the reverse gear (= an operation for parking performed using an image taken by an in-vehicle camera). On the other hand, since the dirt removal operation is not started when it is determined that it is not less than the predetermined threshold value, it is possible to prevent unnecessary dirt removal processing from being performed.

  According to the twelfth aspect of the invention, since dirt including raindrops attached to the camera lens of the in-vehicle camera is removed via the lens washer that injects the cleaning liquid onto the surface of the camera lens of the in-vehicle camera, the camera lens of the in-vehicle camera. It is possible to efficiently remove dirt including raindrops attached to the surface.

  According to the thirteenth aspect, dirt including raindrops attached to the camera lens of the in-vehicle camera is removed via the air injection mechanism that injects compressed air onto the surface of the camera lens of the in-vehicle camera. Dirt including raindrops adhering to the camera lens can be surely removed.

  According to the fourteenth aspect of the present invention, at least one of the temperature of the compressed air injected from the air injection mechanism and the injection time is controlled based on the temperature of the outside air detected by the outside air temperature sensor that detects the temperature of the outside air. Therefore, for example, when raindrops attached to the camera lens are frozen because the temperature of the outside air is low, the temperature of the compressed air is increased (or the injection time of the compressed air is increased), so that the camera lens of the in-vehicle camera It is possible to efficiently remove dirt including raindrops attached to the surface.

  According to the fifteenth aspect of the invention, dirt including raindrops attached to the camera lens of the in-vehicle camera is removed via the ultrasonic transducer that applies ultrasonic vibration to the surface of the camera lens of the in-vehicle camera. Dirt including raindrops adhering to the camera lens of the camera can be gently removed.

  Hereinafter, an embodiment of an in-vehicle camera raindrop removal apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an example of a vehicle on which an in-vehicle camera raindrop removal device according to the present invention is mounted.

(First embodiment)
FIG. 2 is a block diagram showing an example of the configuration of the in-vehicle camera raindrop removal apparatus according to the first embodiment of the present invention. As shown in FIG. 2, a raindrop removal ECU (Electronic Control Unit) 11 (= corresponding to an in-vehicle camera raindrop removal device) according to the present invention includes a wiper switch 21, a rain sensor 22, a navigation ECU 23, a shift lever switch 24, a vehicle speed. The sensor 25, the in-vehicle camera 26, the lens washer 31, and the display 32 are communicably connected.

  The raindrop removal ECU 11 functionally includes a raindrop estimation unit 111, a parking prediction unit 112, a raindrop removal unit 113, and a video acquisition unit 114. The raindrop removal ECU 11 causes a microcomputer (not shown) to execute a control program stored in advance in a ROM (Read Only Memory) or the like, thereby causing the microcomputer to function as a raindrop estimation unit 111, a parking prediction unit. 112, the raindrop removal unit 113, the image acquisition unit 114, and the like.

  Here, with reference to FIG. 1, FIG. 2, the peripheral device of raindrop removal ECU11 is demonstrated. As shown in FIG. 1, the wiper switch 21 is a switch for instructing an operation of an unillustrated wiper for removing dirt such as raindrops and mud adhering to the windshield 12 of the vehicle 1. The wiper switch 21 is configured to be capable of selecting, for example, any one of a high-speed continuous operation, a medium-speed continuous operation, a low-speed continuous operation, an intermittent operation, and an operation stop according to a driver's operation. In addition, the wiper switch 21 outputs a signal indicating whether or not the wiper is operating to the raindrop removal ECU 11 (here, the raindrop estimation unit 111), and the raindrop removal ECU 11 (here, the raindrop removal unit 113). ) To output a signal indicating the operation speed of the wiper.

  As shown in FIG. 1, the rain sensor 22 is a sensor that is provided in the lower part of the windshield 12 of the vehicle 1 and detects the presence or absence of rainfall on the windshield 12 and the amount of rain. The rain sensor 22 is provided for operating a wiper (not shown) that removes dirt such as raindrops and mud adhered to the windshield 12 during rainfall. The rain sensor 22 outputs a signal indicating the presence or absence of rainfall to the raindrop removal ECU 11 (here, the raindrop estimation unit 111), and also outputs to the raindrop removal ECU 11 (here, the raindrop removal unit 113). Outputs a signal indicating rainfall.

  The navigation ECU 23 (= corresponding to a part of the navigation device) includes map information, detects a vehicle position on the map of the vehicle 1 via a GPS (Global Positioning System) or the like, and the vehicle on the map The position is displayed on the display 32. In addition, the navigation ECU 23 is configured to be able to register the position of the destination, etc., and the raindrop removal ECU 11 (here, the parking prediction unit 112) can determine the destination information based on the distance information between the destination and the vehicle position. The estimated travel time information to the ground and information indicating whether the vehicle position is on the road are output.

  The shift lever switch 24 is a switch that is provided below the shift lever and detects the position of the shift lever. The shift lever switch 24 outputs a signal indicating the position of the shift lever to the raindrop removal ECU 11 (here, the parking image acquisition unit 114).

  The vehicle speed sensor 25 is a sensor that detects the vehicle speed, and outputs a signal indicating the vehicle speed to the raindrop removal ECU 11 (here, the raindrop removal unit 113).

  The in-vehicle camera 26 is composed of a CCD (Charge Coupled Device) or the like and is provided on the upper portion of the rear window 13 as shown in FIG. The video information captured by the in-vehicle camera 26 is configured to be displayed on the display 32 via the raindrop removal ECU 11 (here, the video acquisition unit 114) in order to assist the driver in a parking operation.

  The lens washer 31 removes dirt such as raindrops and mud attached to the camera lens of the in-vehicle camera 26 in accordance with an instruction from the raindrop removal ECU 11 (here, the raindrop removal unit 113). Spray the cleaning liquid onto the surface.

  As shown in FIG. 1, the display 32 is composed of an LCD (Liquid Crystal Display) or the like provided on the lower front side of the driver's seat, and displays the vehicle position on the map according to an instruction from the navigation ECU 23 and also the raindrop removal ECU 11. In this case, in accordance with an instruction from the video acquisition unit 114, the video shot by the in-vehicle camera 26 is displayed.

Next, the functional configuration of the raindrop removal ECU 11 will be described. The raindrop estimation unit 111 (= corresponding to raindrop estimation means) is a functional unit that estimates whether dirt including raindrops is attached to the camera lens of the in-vehicle camera 26. Specifically, the raindrop estimation unit 111 estimates that dirt including raindrops is attached to the camera lens of the in-vehicle camera 26 when the following condition 1 or condition 2 is satisfied.
Condition 1: A signal indicating that there is rainfall is received from the rain sensor 22.
Condition 2: A signal indicating that the wiper is operating is received from the wiper switch 21.

The parking prediction unit 112 (= corresponding to parking prediction means) is a functional unit that predicts whether or not the vehicle 1 will be parked soon before the gear change operation to the reverse gear by the driver is performed. It is. Specifically, here, the parking prediction unit 112 predicts that the vehicle 1 will be parked soon when the following conditions 3 and 4 are satisfied.
Condition 3: The distance L between the destination registered in the navigation ECU 23 and the vehicle position is equal to or less than a preset threshold value L0 (for example, 100 m).
Condition 4: Information indicating that the vehicle position is not on the road is received from the navigation ECU 23.

  The raindrop removal unit 113 (= corresponding to the raindrop removal means) is estimated by the raindrop estimation unit 111 that dirt including raindrops is attached to the camera lens of the in-vehicle camera 26, and the parking prediction unit 112 detects the vehicle 1. Is a functional unit that starts removal processing of dirt including raindrops attached to the camera lens of the in-vehicle camera 26 via the lens washer 31 when it is predicted that the vehicle will be parked soon. However, the raindrop removing unit 113 determines whether or not the vehicle speed V received from the vehicle speed sensor 25 is equal to or lower than a preset threshold value V0 (for example, 5 km / hour), and is determined to be equal to or lower than the threshold value V0. Only in the case, the process of removing dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is started. Further, the raindrop removing unit 113 is configured to operate the lens washer 31 based on the operation condition (for example, the operation time) based on at least one of the signal indicating the rain amount from the rain sensor 22 and the signal indicating the operation speed of the wiper from the wiper switch 21. , Cleaning liquid spraying speed, etc.).

  The video acquisition unit 114 (= corresponding to the video acquisition means) has previously completed the removal process of dirt including raindrops attached to the camera lens of the in-vehicle camera 26 by the raindrop removal unit 113, and from the time when the removal process is completed. When a signal indicating that the gear change operation from the shift lever switch 24 to the reverse gear has been performed is received within the set standby time (for example, 60 seconds), the vehicle 1 is connected via the in-vehicle camera 26. It is a function part which acquires the video information of back and side of, and displays it on the display 32.

  FIG. 3 is a flowchart showing an example of the operation of the raindrop removal ECU 11 according to the first embodiment. First, the raindrop estimation unit 111 determines whether or not the wiper is operating (S101). If it is determined that the wiper is operating (Yes in S101), the process proceeds to step S105. If it is determined that the wiper is not operating (No in S101), whether or not the raindrop estimation unit 111 has received a signal from the rain sensor 22 that there is rain (= raindrops are detected). A determination is made (S103).

  If a signal indicating that there is rainfall has not been received (No in S103), the process returns to Step S101, and the processes after Step S101 are repeatedly executed. When a signal indicating that there is rain is received (Yes in S103) or Yes in Step S101, the parking prediction unit 112 obtains the distance L between the destination and the vehicle position from the navigation ECU 23. (S105). Then, the parking prediction unit 112 determines whether or not the distance L acquired in step S105 is equal to or less than a preset threshold value L0 (for example, 100 m) (S107).

  If it is determined that the threshold is not less than or equal to the threshold L0 (No in S107), the process returns to step S101, and the processes after step S101 are repeatedly executed. If it is determined that it is equal to or less than the threshold L0 (Yes in S107), the parking prediction unit 112 determines whether or not the vehicle position received from the navigation ECU 23 is on the road (S109). If it is determined that the vehicle is on the road (Yes in S109), the process returns to step S101, and the processes after step S101 are repeatedly executed. When it is determined that the vehicle is not on the road (No in S109), the raindrop removing unit 113 acquires the vehicle speed V from the vehicle speed sensor 25 (S111).

  Then, the raindrop removing unit 113 determines whether or not the vehicle speed V acquired in step S111 is equal to or lower than a preset threshold value V0 (for example, 5 km / hour) (S113). If it is determined that the vehicle speed V is not equal to or lower than the threshold value V0 (No in S113), the process returns to step S101, and the processes after step S101 are repeatedly executed. When it is determined that the vehicle speed V is equal to or lower than the threshold value V0 (Yes in S113), the raindrop removal unit 113 indicates a signal indicating the amount of rain from the rain sensor 22 and the operation speed of the wiper from the wiper switch 21. Based on at least one of the signals, the operating condition of the lens washer 31 is set, and the removal process of dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is executed via the lens washer 31 (S115).

  Next, the video acquisition unit 114 starts counting the standby time, and determines whether or not a signal indicating that the gear change operation from the shift lever switch 24 to the reverse gear has been received is received ( S117). If it is determined that a signal indicating that a gear change operation to the reverse gear has been performed is received (Yes in S117), the process proceeds to step S121. When it is determined that the signal indicating that the gear change operation to the reverse gear has been performed is not received (No in S117), the video acquisition unit 114 sets a standby time T0 (for example, 60 seconds) set in advance. ) Is determined (S119). If it is determined that the standby time T0 has not elapsed (No in S119), the process returns to step S117, and the processes after step S117 are repeatedly executed.

  In the case of Yes in step S117, the video acquisition unit 114 acquires the video information of the rear and side of the vehicle 1 via the in-vehicle camera 26, and displays the video information on the display 32 (S121), and the process is terminated. .

  In this way, according to the raindrop removal ECU 11 according to the first embodiment, when the vehicle 1 is predicted to be parked soon before the gear change operation to the reverse gear by the driver is performed. Moreover, since the removal process of the dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is started, the dirt including raindrops attached to the camera lens of the in-vehicle camera 26 can be removed at an appropriate timing.

  In other words, since the dirt removal process is started before the driver performs the gear change operation to the reverse gear, the dirt removal process can be completed before the parking operation is started. Therefore, it is possible to remove the dirt including raindrops attached to the camera lens of the in-vehicle camera 26 at an appropriate timing.

  The camera lens refers to a lens that is provided in the in-vehicle camera 26 and is in contact with the outside air. For example, when the camera lens of the in-vehicle camera 26 is covered with a cover, It becomes a cover. Therefore, the “camera lens” is used here as a general term for a member (= target to remove dirt) to which dirt that blocks the field of view of the in-vehicle camera 26 is attached for convenience.

  In addition, the vehicle 1 is connected to a navigation ECU 23 that detects a vehicle position, which is a position on the map, so as to be communicable. Therefore, since it is possible to accurately predict whether or not the vehicle will be parked soon, dirt including raindrops attached to the camera lens of the in-vehicle camera 26 can be further removed at an appropriate timing.

  That is, for example, when the vehicle position approaches the destination, or when the vehicle position is not on the road (= for example, in the parking lot), the vehicle 1 is predicted to be parked soon. Therefore, by predicting whether or not the vehicle 1 will be parked soon based on the vehicle position information, it is possible to accurately predict whether or not the vehicle 1 will be parked soon.

  Further, it is determined whether or not the distance L between the destination registered in the navigation ECU 23 and the vehicle position is equal to or less than a preset threshold value L0 (for example, 100 m), and is determined to be equal to or less than the threshold value L0. In this case, since it is predicted that the vehicle 1 will be parked soon, it is highly likely that the parking operation will be performed when the vehicle arrives at the destination. Can be done accurately.

  In addition, it is determined via the navigation ECU 23 whether or not the vehicle position is on the road, and if it is determined that the vehicle position is not on the road, the vehicle 1 is predicted to be parked soon. For example, when it is in a parking lot or the like (= when it is determined that the vehicle is not on the road), there is a high possibility that the parking operation will be performed soon. Can be done.

  In addition, it is estimated whether or not dirt including raindrops is attached to the camera lens of the in-vehicle camera 26, and only when it is estimated that dirt including raindrops is attached to the camera lens of the in-vehicle camera 26. Since the removal process of the dirt including raindrops is started, the dirt removal process is not performed when it is estimated that the dirt including the raindrops is not attached. It becomes possible to remove dirt including raindrops at a more appropriate timing.

  Further, when it is determined that there is rain by the rain sensor 22 that detects the presence or absence of rain on the windshield 12, it is estimated that dirt including raindrops is attached to the camera lens of the in-vehicle camera 26. With this configuration, it is possible to accurately estimate whether or not dirt including raindrops is attached to the camera lens of the in-vehicle camera 26.

  That is, when the rain sensor 22 for detecting the presence or absence of rain on the windshield 12 is provided for the purpose of activating a wiper for removing raindrops on the windshield 12, the rain sensor 22 simply provides rain. If it is determined that there is a dirt including raindrops on the camera lens of the in-vehicle camera 26, the dirt including the raindrops is attached to the camera lens of the in-vehicle camera with a simple configuration. It is possible to accurately estimate whether or not it is.

  In addition, it is determined whether or not the wiper for removing raindrops on the windshield 12 is operating. When it is determined that the wiper is operating, dirt including raindrops adheres to the camera lens of the in-vehicle camera 26. Therefore, it is possible to accurately estimate whether dirt including raindrops is attached to the camera lens of the in-vehicle camera 26 with a simple configuration.

  Further, it is determined whether or not the vehicle speed V is equal to or less than a predetermined threshold value V0 (for example, 5 km / hour). Only when it is determined that the vehicle speed V is equal to or less than the predetermined threshold value, the camera lens of the in-vehicle camera. Since the operation of removing dirt including raindrops attached to the camera starts, the dirt including raindrops attached to the camera lens of the in-vehicle camera can be further removed at an appropriate timing.

  That is, whenever a parking operation is performed by the driver, the vehicle 1 is always stopped once, so it is determined that the vehicle speed V is equal to or lower than a predetermined threshold value V0 (for example, 5 km / hour). In such a case, since there is a possibility that a parking operation is performed immediately thereafter, it is possible to further remove dirt including raindrops attached to the camera lens of the in-vehicle camera 26 at an appropriate timing. The “parking operation” means an operation for parking accompanied by a gear change operation to the reverse gear (= operation for parking performed using an image taken by the in-vehicle camera 26). Conversely, when it is determined that the threshold value is not less than or equal to the predetermined threshold value V0, the dirt removal operation is not started, so that it is possible to prevent unnecessary dirt removal processing from being performed.

  Furthermore, since dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is removed via the lens washer 31 that injects the cleaning liquid onto the surface of the camera lens of the in-vehicle camera 26, the dirt adheres to the camera lens of the in-vehicle camera 26. Dirt including raindrops can be efficiently removed.

  In addition, based on at least one of the signal indicating the rain amount from the rain sensor 22 and the signal indicating the operation speed of the wiper from the wiper switch 21, the operation condition (for example, the operation time, the cleaning liquid injection speed) of the lens washer 31 is determined. Etc.) is controlled, dirt including raindrops attached to the camera lens of the in-vehicle camera 26 can be more efficiently removed.

The raindrop removal ECU 11 according to the present invention is not limited to the raindrop removal ECU 11 according to the first embodiment, and may be in the following form.
(A) In 1st Embodiment, when the raindrop estimation part 111 estimated the dirt containing a raindrop to the camera lens of the vehicle-mounted camera 26, when the said conditions 1 or 2 was satisfy | filled, it demonstrated. However, the raindrop estimation unit 111 may estimate that dirt including raindrops is attached to the camera lens of the in-vehicle camera 26 when the conditions 1 and 2 are satisfied. In this case, the frequency of the dirt removal process can be reduced.

  (B) In 1st Embodiment, when the parking prediction part 112 estimated that the vehicle 1 would be parked soon, when the said conditions 3 and 4 were satisfy | filled, the parking prediction part 112 said, When the condition 3 or 4 is satisfied, the vehicle 1 may be predicted to be parked soon. In this case, the dirt removal process can be surely started before the parking operation is started.

  (C) In the first embodiment, the parking prediction unit 112 determines that the condition 3 (= the distance L between the destination registered in the navigation ECU 23 and the vehicle position is a threshold L0 (for example, 100 m) set in advance. The following describes the case where it is predicted whether or not the vehicle 1 will be parked soon based on whether or not the following is satisfied), but the parking prediction unit 112 changes to (or in addition to) the condition 3 Whether the vehicle 1 will be parked soon based on whether the estimated travel time from the vehicle position acquired from the navigation ECU 23 to the destination is less than or equal to a preset threshold (for example, 1 minute). It is also possible to predict this. In this case, it is possible to predict whether or not the vehicle 1 will be parked sooner.

(Second Embodiment)
Next, the raindrop removal ECU 11 according to the second embodiment and peripheral devices of the raindrop removal ECU 11 will be described. Peripheral devices of the raindrop removal ECU 11 according to the second embodiment are the same as the peripheral devices of the raindrop removal ECU 11 according to the first embodiment described with reference to FIGS. 1 and 2 except for the navigation ECU 23. The description of is omitted. Moreover, since raindrop removal ECU11 which concerns on 2nd Embodiment is the same as raindrop removal ECU11 which concerns on 1st Embodiment demonstrated using FIG.1 and FIG.2, except the parking prediction part 112, other than the parking prediction part 112 The description of is omitted.

  The navigation ECU 23 (= corresponding to a part of the navigation device) according to the second embodiment includes map information, and detects a vehicle position that is a position on the map of the vehicle 1 via GPS (Global Positioning System) or the like. Then, the vehicle position on the map is displayed on the display 32. Further, the navigation ECU 23 is configured so that the home position and the like can be registered, and distance information between the home position and the vehicle position and the vehicle position are roads with respect to the raindrop removal ECU 11 (here, the parking prediction unit 112). Outputs information indicating whether or not it is above.

  Further, the navigation ECU 23 is configured to be able to register parking lot position information acquired via a VICS (Vehicle Information and Communication System) or the like. Outputs distance information between the vehicle location and the vehicle position.

  The parking prediction unit 112 (= corresponding to the parking prediction unit) of the raindrop removal ECU 11 according to the second embodiment immediately parks the vehicle 1 before the driver performs the gear change operation to the reverse gear. It is a functional unit that predicts whether or not to be performed.

Specifically, here, the parking prediction unit 112 predicts that the vehicle 1 will be parked soon when the following condition 5, condition 6, or condition 7 is satisfied.
Condition 5: Information indicating that the vehicle position is not on the road is received from the navigation ECU 23.
Condition 6: The distance between the home position registered in the navigation ECU 23 and the vehicle position is closer than a preset distance (for example, 30 m).
Condition 7: The distance between the parking lot position and the vehicle position from the navigation ECU 23 is closer than a preset distance (for example, 20 m).

  Here, the parking prediction unit 112 compares the determination as to whether or not the vehicle is approaching in the above condition 6 with the distance between the home position and the vehicle position acquired last time, for example, and compares the home position and vehicle acquired this time. When the distance to the position is short, it is determined that the vehicle has approached. In addition, in the condition 6, in addition to the distance between the home position and the vehicle position, the condition that the vehicle is approaching is added because the condition 6 is satisfied when the vehicle departs from the home. The purpose is to prevent the process of removing dirt including raindrops attached to the camera lens from being erroneously started.

  FIG. 4 is a flowchart showing an example of the operation of the raindrop removal ECU 11 according to the second embodiment. Steps S201 and S203 are the same processes as steps S101 and S103 shown in FIG. 3, respectively, and steps S211 to S221 are the same processes as steps S111 to S121 shown in FIG. The description is omitted.

  If Yes in step S201 or Yes in step S203, the parking prediction unit 112 determines whether the vehicle position is on the road (S205). If it is determined that the vehicle position is not on the road (No in S205), the process proceeds to step S211. When it is determined that the vehicle position is on the road (Yes in S205), the parking prediction unit 112 causes the distance between the home position and the vehicle position to be greater than a preset distance (for example, 30 m). It is determined whether or not the vehicle is approaching (S207). If it is determined that the distance is closer than the preset distance (Yes in S207), the process proceeds to Step S211.

  When it is determined that the distance is not closer than the preset distance (No in S207), the parking prediction unit 112 determines that the distance between the parking lot position and the vehicle position is a preset distance (for example, , 20m) is determined (S209). If it is determined that the distance is closer than the preset distance (Yes in S209), the process proceeds to step S211. If it is determined that the distance is greater than or equal to the preset distance (No in S209), the process returns to step S201, and the processes after step S201 are repeatedly executed.

  In the case of No in step S205, Yes in step S207, or Yes in step S209, the vehicle speed V is acquired from the vehicle speed sensor 25 by the raindrop removal unit 113 (S211). The subsequent processing is the same as the processing after step S111 in FIG.

  Thus, according to the raindrop removal ECU 11 according to the second embodiment, the distance between the home position registered in the navigation ECU 23 and the vehicle position is closer than a preset distance (for example, 30 m). When it is determined whether or not the vehicle 1 is closer than a preset distance, it is predicted that the vehicle 1 will be parked soon. Therefore, there is a high possibility that the parking operation is performed when the vehicle 1 arrives at home. Therefore, it is possible to more accurately predict whether or not the vehicle 1 will be parked soon.

  If the house is a detached house, the vehicle 1 may be parked in the garage by performing a gear change operation from the road to the reverse gear, so even if the vehicle position is on the road, If it is determined that the distance between the position and the vehicle position is closer than a preset distance, it is preferable to predict that the vehicle 1 will be parked soon.

  Further, when it is determined that the distance between the parking position and the vehicle position is shorter than a preset distance (for example, 20 m), the vehicle 1 is predicted to be parked soon. Since there is a high possibility that the parking operation will be performed at the time of arrival, it is possible to more accurately predict whether or not the vehicle 1 will be parked soon.

The raindrop removal ECU 11 according to the present invention is not limited to the raindrop removal ECU 11 according to the second embodiment, and may be in the following form.
(D) In the second embodiment, the case where the parking prediction unit 112 predicts that the vehicle 1 will be parked soon when the condition 5, the condition 6, or the condition 7 is satisfied has been described. The form that the unit 112 predicts that the vehicle 1 will be parked soon when at least one of the conditions 5, 6 and 7 is satisfied may be adopted. For example, the parking prediction unit 112 may predict that the vehicle 1 will be parked soon when the conditions 5, 6 and 7 are satisfied, or the parking prediction unit 112 may When the condition 7 is satisfied, the vehicle 1 may be predicted to be parked soon. In these cases, it can be predicted that the vehicle 1 will be parked soon.

(Third embodiment)
Next, the raindrop removal ECU 11 according to the third embodiment and peripheral devices of the raindrop removal ECU 11 will be described. FIG. 5 is a block diagram showing an example of the configuration of the in-vehicle camera raindrop removal apparatus according to the third embodiment. Compared to the peripheral device of the raindrop removal ECU 11 according to the first embodiment described with reference to FIGS. 1 and 2, the peripheral device of the raindrop removal ECU 11 according to the third embodiment is replaced with the navigation ECU 23 and a parking assistance ECU 27. Since the outside air temperature sensor 28 is provided and an air injection mechanism 33 is provided instead of the lens washer 31, the description other than the parking assist ECU 27, the outside air temperature sensor 28, and the air injection mechanism 33 will be described. Omitted.

  The raindrop removal ECU 11 according to the third embodiment is the same as the raindrop removal ECU 11 according to the first embodiment described with reference to FIGS. 1 and 2 except for the parking prediction unit 112 and the raindrop removal unit 113. Descriptions other than the parking prediction unit 112 and the raindrop removal unit 113 are omitted.

  The parking assistance ECU 27 (= corresponding to a part of the parking assistance system) is an ECU that assists the driver's parking operation, and the parking of the driver with respect to the raindrop removal ECU 11 (here, the parking prediction unit 112). Information indicating that an operation for starting the parking support system that supports the operation is performed.

  Here, the parking assistance system is a system that assists the steering operation of the vehicle 1 during parking operation such as garage parking or parallel parking. Since the parking assistance system assists the steering operation only by checking the surrounding safety and adjusting the speed, the driver can perform the parking operation very easily. In addition, when performing parking operation using a parking assistance system, a driver performs operation which starts a parking assistance system before performing gear change operation to a reverse gear.

  As shown in FIG. 1, the outside air temperature sensor 28 is provided inside the lower part of the front bumper 14 that is not easily affected by solar radiation and the like, and is a sensor that detects the temperature of outside air in order to control the air conditioner and the like. The outside air temperature sensor 28 outputs a signal indicating the outside air temperature to the raindrop removal ECU 11 (here, the parking prediction unit 112).

  The air injection mechanism 33 removes dirt such as raindrops and mud attached to the camera lens of the in-vehicle camera 26 in accordance with an instruction from the raindrop removal ECU 11 (here, the raindrop removal unit 113). It is a mechanism which injects compressed air on the surface of the. The air injection mechanism 33 controls the temperature and the injection time of the compressed air to be injected in accordance with an instruction from the raindrop removal ECU 11 (here, the raindrop removal unit 113).

  The parking prediction unit 112 (= corresponding to the parking prediction unit) of the raindrop removal ECU 11 according to the third embodiment immediately parks the vehicle 1 before the driver performs the gear change operation to the reverse gear. It is a functional unit that predicts whether or not to be performed.

  Specifically, here, the parking prediction unit 112 performs an operation for starting the parking support system based on whether or not information indicating that an operation for starting the parking support system has been performed is received from the parking support ECU 27. It is determined whether or not the vehicle 1 has been performed, and when it is determined that an operation for starting the parking support system has been performed, the vehicle 1 is predicted to be parked soon.

  The raindrop removal unit 113 (= corresponding to raindrop removal means) according to the third embodiment is estimated by the raindrop estimation unit 111 that dirt including raindrops is attached to the camera lens of the in-vehicle camera 26, and is parked. When the prediction unit 112 predicts that the vehicle 1 will be parked soon, it is a functional unit that starts removal processing of dirt including raindrops attached to the camera lens of the in-vehicle camera 26 via the air injection mechanism 33.

  Further, the raindrop removing unit 113 controls the temperature and the injection time of the compressed air injected from the air injection mechanism 33 based on the outside air temperature signal from the outside air temperature sensor 28. For example, when it is estimated that the raindrop attached to the camera lens of the in-vehicle camera 26 is frozen, the raindrop removal unit 113 increases the temperature of the compressed air and the compressed air injection time. Lengthen.

  Thus, according to raindrop removal ECU11 concerning a 3rd embodiment, it is judged whether operation which starts a parking assistance system which supports a driver's parking operation was performed, and operation which starts a parking assistance system When it is determined that the vehicle is parked, it is predicted that the vehicle will be parked soon. Therefore, it is possible to accurately predict whether the vehicle 1 will be parked soon. It becomes possible to remove the dirt including the attached raindrops at a more appropriate timing.

  That is, when an operation for starting the parking support system is performed, it is highly likely that the parking operation is started immediately after that, so that it is possible to accurately predict whether or not the vehicle 1 will be parked soon. It can be done. Further, even when the vehicle 1 is not provided with a navigation device, it is possible to accurately predict whether or not the vehicle 1 will be parked soon.

  In addition, since dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is removed via the air injection mechanism 33 that injects compressed air onto the surface of the camera lens of the in-vehicle camera 26, the camera lens of the in-vehicle camera 26 The dirt including the attached raindrop can be surely removed. That is, when removing dirt through the lens washer 31, cleaning liquid ejected from the lens washer 31 may remain on the surface of the camera lens of the in-vehicle camera 26, but dirt is collected through the air ejection mechanism 33. In the case of removing, there is no possibility that the cleaning liquid or the like remains on the surface of the camera lens of the in-vehicle camera 26.

  Furthermore, since the temperature and the injection time of the compressed air injected from the air injection mechanism 33 are controlled based on the temperature of the outside air detected by the outside air temperature sensor 28 that detects the temperature of the outside air, for example, the temperature of the outside air is When raindrops that are low and attached to the camera lens are frozen, the temperature of the compressed air is increased and the jet time of the compressed air is increased to remove dirt including the raindrops attached to the camera lens of the in-vehicle camera 26. It can be removed efficiently.

The raindrop removal ECU 11 according to the present invention is not limited to the raindrop removal ECU 11 according to the third embodiment, and may be in the following form.
(E) In the third embodiment, the case where the parking prediction unit 112 predicts whether or not the vehicle 1 is parked soon is described based on the information from the parking support ECU 27. It may be possible to predict whether or not the vehicle 1 will be parked soon based on information from the navigation ECU 23 shown in FIG. 2 in addition to the information. In this case, it can be predicted more accurately whether the vehicle 1 will be parked soon.

  (F) In 3rd Embodiment, the case where the raindrop removal part 113 controls the temperature and injection time of the compressed air injected from the air injection mechanism 33 based on the external temperature signal from the external temperature sensor 28 is demonstrated. However, the raindrop removing unit 113 may control the temperature or the injection time of the compressed air injected from the air injection mechanism 33 based on the outside air temperature signal from the outside air temperature sensor 28. In this case, the process is simplified.

  (G) In the third embodiment, the case where the raindrop removal ECU 11 removes dirt including raindrops attached to the camera lens of the in-vehicle camera 26 via the air injection mechanism 33 has been described. Instead of (or in addition to) the ejection mechanism 33, dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is provided via an ultrasonic transducer that applies ultrasonic vibration to the surface of the camera lens of the in-vehicle camera 26. The form to remove may be sufficient.

  When removing dirt including raindrops attached to the camera lens of the in-vehicle camera 26 via an ultrasonic transducer instead of the air injection mechanism 33, the dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is removed. Can be removed gently. When removing dirt including raindrops attached to the camera lens of the in-vehicle camera 26 through the ultrasonic vibrator in addition to the air ejection mechanism 33, the dirt including raindrops attached to the camera lens of the in-vehicle camera 26 is removed. Further, it can be removed efficiently.

  In the first to third embodiments, the case where the raindrop removal ECU 11 functionally includes the raindrop estimation unit 111, the parking prediction unit 112, the raindrop removal unit 113, and the like has been described. Of the parking prediction unit 112 and the raindrop removal unit 113, at least one functional unit may be configured by hardware such as an electric circuit.

  The present invention can be applied to, for example, an in-vehicle camera raindrop removal device that removes dirt including raindrops attached to a camera lens of an in-vehicle camera that captures at least one of the rear and side of a vehicle.

The side view which shows an example of the vehicle by which the vehicle-mounted camera raindrop removal apparatus which concerns on this invention is mounted The block diagram which shows an example of a structure of the vehicle-mounted camera raindrop removal apparatus which concerns on 1st Embodiment of this invention. The flowchart which shows an example of operation | movement of raindrop removal ECU11 which concerns on 1st Embodiment. The flowchart which shows an example of operation | movement of raindrop removal ECU11 which concerns on 2nd Embodiment. The block diagram which shows an example of a structure of the vehicle-mounted camera raindrop removal apparatus which concerns on 3rd Embodiment.

Explanation of symbols

1 vehicle 11 raindrop removal ECU (vehicle camera raindrop removal device)
111 Raindrop estimation unit (raindrop estimation means)
112 Parking prediction unit (parking prediction means)
113 Raindrop removal unit (raindrop removal means)
114 Video acquisition unit 21 Wiper switch 22 Rain sensor 23 Navigation ECU (part of the navigation device)
24 shift lever switch 25 vehicle speed sensor 26 in-vehicle camera 31 lens washer 32 display

Claims (15)

An in-vehicle camera raindrop removal device that removes dirt including raindrops attached to a camera lens of an in-vehicle camera that captures at least one of the rear and side of the vehicle,
A parking prediction means for predicting whether or not the vehicle is parked soon before the gear change operation to the reverse gear by the driver is performed;
Raindrop removal means for starting a removal process of dirt including raindrops attached to the camera lens of the in-vehicle camera when the vehicle is predicted to be parked soon by the parking prediction means;
An in-vehicle camera raindrop removal device. Connected to a navigation device for detecting a vehicle position that is a position on the map of the vehicle,
The in-vehicle camera raindrop removal device according to claim 1, wherein the parking prediction unit predicts whether or not the vehicle is parked soon based on the vehicle position information from the navigation device.   The parking prediction means determines whether or not a distance between the destination registered in the navigation device and the vehicle position is equal to or less than a preset threshold, and is determined to be equal to or less than the threshold. The in-vehicle camera raindrop removal device according to claim 2, wherein the vehicle is predicted to be parked soon.   The parking prediction means determines whether or not an estimated traveling time from the vehicle position to the destination registered in the navigation device is equal to or less than a preset threshold, and is determined to be equal to or less than the threshold. The in-vehicle camera raindrop removal device according to claim 2, wherein the vehicle is predicted to be parked soon.   The parking prediction means determines whether the distance between the home position registered in the navigation device and the vehicle position is closer than a preset distance, and approaches the preset distance. The in-vehicle camera raindrop removal device according to claim 2, wherein when it is determined that the vehicle is parked, the vehicle is predicted to be parked soon.   The parking prediction means determines whether the vehicle position is on a road via the navigation device, and predicts that the vehicle will be parked soon when it is determined that the vehicle position is not on the road. The in-vehicle camera raindrop removal device according to claim 2.   The parking prediction means determines whether or not an operation for starting a parking support system for supporting a driver's parking operation has been performed, and when it is determined that an operation for starting the parking support system has been performed, The in-vehicle camera raindrop removal device according to claim 1, wherein the vehicle is predicted to be parked soon. Comprising raindrop estimating means for estimating whether dirt containing raindrops is attached to the camera lens of the in-vehicle camera,
The raindrop removing means starts a process for removing dirt including raindrops attached to a camera lens of the in-vehicle camera only when the raindrop estimating means estimates that dirt including raindrops is attached. The in-vehicle camera raindrop removal device according to Item 1.   The raindrop estimation means estimates that dirt including raindrops is attached to the camera lens of the in-vehicle camera when it is determined that there is rain by a rain sensor that detects the presence or absence of rain on the windshield. Item 11. A vehicle-mounted camera raindrop removal device according to Item 8.   The raindrop estimation means determines whether or not a wiper that removes raindrops on the windshield is operating, and if it is determined that the wiper is operating, the camera lens of the in-vehicle camera is contaminated with raindrops. The in-vehicle camera raindrop removal device according to claim 8, wherein it is presumed that is attached.   The raindrop removing means determines whether or not the vehicle speed is equal to or lower than a preset threshold value, and only when it is determined that the vehicle speed is equal to or lower than the threshold value, dirt including raindrops attached to the camera lens of the in-vehicle camera. The in-vehicle camera raindrop removal apparatus according to claim 1, wherein the removal process is started.   The in-vehicle camera according to claim 1, wherein the raindrop removing unit removes dirt including raindrops attached to the camera lens of the in-vehicle camera via a lens washer that injects a cleaning liquid onto a surface of the camera lens of the in-vehicle camera. Raindrop removal device.   The said raindrop removal means removes the dirt containing the raindrop adhering to the camera lens of the said vehicle-mounted camera via the air injection mechanism which sprays compressed air on the surface of the camera lens of the said vehicle-mounted camera. In-vehicle camera raindrop removal device.   The raindrop removing means controls at least one of a temperature and a jetting time of compressed air jetted from the air jetting mechanism based on a temperature of the outside air detected by an outside air temperature sensor that detects a temperature of the outside air. The on-vehicle camera raindrop removal device according to 13.   The raindrop removing means removes dirt including raindrops attached to the camera lens of the in-vehicle camera via an ultrasonic transducer that applies ultrasonic vibration to the surface of the camera lens of the in-vehicle camera. The on-vehicle camera raindrop removal device described.

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