JP2018047878A - Deposit removal device and deposit removal method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To remove a deposit at a suitable timing and to further improve convenience.SOLUTION: A deposit removal device comprises a removal part, an acquisition part, and an operation control part. The removal part removes a deposit adhered to each lens of one or more cameras mounted on a vehicle. The acquisition part acquires a vehicle state including at least any one of a driving condition of an operator, a travel state of the vehicle and peripheral environment of the vehicle. The operation control part operates the removal part in the case that the operation control part detected occurrence of a prescribed event based on the acquisition result of the acquisition part.SELECTED DRAWING: Figure 2

Description

  Embodiments disclosed herein relate to a deposit removing apparatus and a deposit removing method.

  2. Description of the Related Art Conventionally, an in-vehicle camera that is mounted on a vehicle and images the periphery of the vehicle is known. An image captured by the in-vehicle camera is displayed on a monitor, for example, for assisting the driver's field of view, or used for sensing to detect a white line on the road or an approaching object to the vehicle.

  On the other hand, for example, raindrops, snowflakes, dust, and mud adhere to the lens of the in-vehicle camera, which may hinder the above-mentioned visual assistance and sensing. Thus, a technique has been proposed in which, when a predetermined manual operation by the driver is accepted, the deposits are removed by spraying cleaning water or compressed air toward the lens of the in-vehicle camera (see, for example, Patent Document 1). ).

JP 2009-083730 A

  However, the above-described conventional technology has room for further improvement in terms of removing the deposits at an appropriate timing and enhancing convenience.

  Specifically, when the above-described conventional technology is used, the deposit is not always removed at an appropriate timing because the driver manually operates at an arbitrary timing. For example, even when it is time to remove the deposits, the driver may not be able to perform the above-described manual operation if the driver is traveling in a hostile environment where the driver should focus on driving. On the other hand, there may be a case where the driver performs the above-described manual operation unnecessarily even at the timing when it is not necessary to remove the deposit.

  One aspect of the embodiments has been made in view of the above, and provides an attached matter removing apparatus and an attached matter removing method capable of removing attached matter at an appropriate timing and further enhancing convenience. Objective.

  The deposit removing apparatus according to an aspect of the embodiment includes a removal unit, an acquisition unit, and an operation control unit. The said removal part removes the deposit | attachment adhering to each lens of one or more cameras mounted in the vehicle. The acquisition unit acquires a vehicle situation including at least one of a driving situation of the driver, a running situation of the vehicle, and a surrounding environment of the vehicle. The operation control unit operates the removal unit when detecting the occurrence of a predetermined event based on the acquisition result of the acquisition unit.

  According to one aspect of the embodiment, the deposits can be removed at an appropriate timing, and the convenience can be further improved.

Drawing 1A is an outline explanatory view (the 1) of a deposit removal method concerning an embodiment. FIG. 1B is a schematic explanatory diagram (No. 2) of the deposit removal method according to the embodiment. FIG. 1C is a schematic explanatory diagram (No. 3) of the deposit removal method according to the embodiment. FIG. 1D is a schematic explanatory diagram (part 4) of the deposit removal method according to the embodiment. FIG. 2 is a block diagram of the in-vehicle system according to the embodiment. FIG. 3A is a diagram (part 1) illustrating a specific example of operation control of a lens washer. FIG. 3B is a second diagram illustrating a specific example of the operation control of the lens washer. FIG. 3C is a third diagram illustrating a specific example of the operation control of the lens washer. FIG. 3D is a diagram (No. 4) illustrating a specific example of the operation control of the lens washer. FIG. 3E is a diagram (part 5) illustrating a specific example of the operation control of the lens washer. FIG. 3F is a sixth diagram illustrating a specific example of lens washer operation control. FIG. 3G is a diagram (part 7) illustrating a specific example of operation control of the lens washer. FIG. 3H is a diagram (part 8) illustrating a specific example of the operation control of the lens washer. FIG. 4 is a diagram showing another example of the operation control of the lens washer. FIG. 5 is a flowchart illustrating a processing procedure executed by the deposit removing apparatus according to the embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a deposit removal apparatus and a deposit removal method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

  Moreover, below, it demonstrates taking the case where the vehicle-mounted camera mounted in the vehicle C and imaging the circumference | surroundings of this vehicle C is provided as an example. Hereinafter, when these vehicle-mounted cameras are collectively referred to as “camera 7”.

  In the following, the outline of the deposit removal method according to the present embodiment will be described with reference to FIGS. 1A to 1D, and then the deposit removal apparatus 10 to which the deposit removal method according to the embodiment is applied will be described with reference to FIGS. This will be described with reference to FIG.

  First, the outline | summary of the deposit | attachment removal method which concerns on this embodiment is demonstrated using FIG. 1A-FIG. 1D. Drawing 1A-Drawing 1D are outline explanatory views (the 1)-(the 4) of a deposit removal method concerning an embodiment.

  As shown in FIG. 1A, for example, four cameras 7 for imaging the periphery of the vehicle C are mounted: a front camera 71, a back camera 72, a right side camera 73, and a left side camera 74.

  The camera 7 includes an imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), images the periphery of the vehicle C with the imaging device, and the captured image of the captured image according to the present embodiment. Is output to the in-vehicle system 1.

  The lens 7a (see FIG. 1B) of the camera 7 is a wide-angle lens such as a fisheye lens, and the camera 7 has an angle of view of 180 degrees or more. Can be imaged.

  Further, as shown in FIG. 1B, the deposit removal apparatus 10 according to the present embodiment includes a lens washer 13 that removes deposits such as raindrops, snowflakes, dust, and mud attached to the lens 7 a of the camera 7.

  The lens washer 13 includes a nozzle 13a. The nozzle 13a is provided with a discharge port directed toward the lens 7a. For example, the compressed air supplied through the compressed air supply source 13b and the valve 13c and the cleaning liquid supplied through the cleaning liquid supply source 13d and the valve 13e are used as the lens. Deposits are removed by spraying toward 7a.

  The operation control of the lens washer 13 is performed by the operation control unit 11b provided in the deposit removing device 10. The operation control unit 11b operates the lens washer 13 by sending an instruction signal for opening the valves 13c and 13e, for example, and stops the lens washer 13 by sending an instruction signal for closing the valves 13c and 13e.

  In this embodiment, the operation control of the lens washer 13 by the operation control unit 11b is performed at an appropriate timing without being manually operated by the driver.

  Specifically, as shown in FIG. 1C, the deposit removal apparatus 10 first acquires the vehicle status (step S1). Here, the vehicle situation includes at least one of the driving situation of the driver, the running situation of the vehicle C, and the surrounding environment of the vehicle C.

  And the deposit | attachment removal apparatus 10 determines the acquired vehicle condition (step S2). In this step S2, as shown in FIG. 1D, for example, the timing at which the deposit on the lens 7a should be removed based on various factors of the vehicle situation such as "driver's line of sight", "vehicle speed", "steering angle", etc. It is determined whether or not a predetermined event corresponding to is occurring (step S2-1).

  When the occurrence of such an event is detected (step S2-1, Yes), the lens washer 13 is automatically operated (step S3). As a result, it is possible to prevent a situation that could occur in the past, such as when the lens washer 13 is not operated at the timing when the deposit is to be removed, or when the lens washer 13 is operated at a timing when the removal is not required. , Can improve convenience.

  In addition, since the lens washer 13 is operated at an appropriate timing to remove the attached matter on the lens 7a, it is possible to maintain visibility assistance and sensing accuracy, and to improve safety when the vehicle C is operated.

  Thus, in the deposit removal method according to the present embodiment, the vehicle situation including at least one of the driving situation of the driver, the running situation of the vehicle C, and the surrounding environment of the vehicle C is obtained, and the obtained acquisition result Based on the above, the lens washer 13 is operated when the occurrence of a predetermined event corresponding to the timing at which the adhered matter on the lens 7a should be removed is detected.

  Therefore, according to the deposit removing method according to the present embodiment, the deposit can be removed at an appropriate timing, and the convenience can be further improved.

  Hereinafter, the deposit removal apparatus 10 of the in-vehicle system 1 to which the deposit removal method described above is applied will be described more specifically.

  FIG. 2 is a block diagram of the in-vehicle system 1 according to the present embodiment. In FIG. 2, only components necessary for explaining the features of the present embodiment are represented by functional blocks, and descriptions of general components are omitted.

  In other words, each component illustrated in FIG. 2 is functionally conceptual and does not necessarily need to be physically configured as illustrated. For example, the specific form of distribution / integration of each functional block is not limited to the one shown in the figure, and all or a part thereof is functionally or physically distributed in arbitrary units according to various loads or usage conditions.・ It can be integrated and configured.

  First, as shown in FIG. 2, the in-vehicle system 1 includes a vehicle speed sensor 2, a rudder angle sensor 3, a wiper 4, a shift sensor 5, a brake 6, a camera 7, a deposit removal device 10, and a line of sight. A detection device 20, a driving support device 30, and an obstacle detection device 40 are included.

  The line-of-sight detection device 20 will be described. The line-of-sight detection device 20 includes an in-vehicle camera 20a. The in-vehicle camera 20a is provided, for example, above the steering column of the driver's seat of the vehicle C so as to include the driver's face in the imaging region. For example, the in-vehicle camera 20a is provided as a set of an infrared camera and an infrared LED so that the driver's line-of-sight direction can be detected.

  The line-of-sight detection device 20 is, for example, a positional relationship between a driver's pupil in an infrared image obtained by imaging a driver's face illuminated by an infrared LED with an infrared camera and an infrared illumination reflection image generated on the eyeball. Based on the above, the direction of the driver's line of sight is detected, and the detection result is output to the deposit removing device 10.

  The vehicle speed sensor 2 detects the vehicle speed of the vehicle C and outputs the detection result to the deposit removal device 10. The steering angle sensor 3 detects the steering angle of the vehicle C and outputs the detection result to the deposit removal device 10. The wiper 4 outputs the operating state to the deposit removal device 10.

  The shift sensor 5 outputs the transmission shift position to the deposit removal device 10. The brake 6 outputs the operating state to the deposit removing device 10. The driving support device 30 performs route guidance of the vehicle C based on the map information 30a, and notifies the deposit removing device 10 of the position of the vehicle on the map information 30a, for example.

  Since the cameras 71 to 74 of the camera 7 have already been described, the description thereof is omitted here. The obstacle detection device 40 detects an obstacle existing around the vehicle C using the radar 40a and outputs the detection result to the deposit removal device 10. The radar 40a is, for example, a millimeter wave radar or an ultrasonic sensor mounted on the vehicle C.

  The attached matter removing apparatus 10 includes a control unit 11, a storage unit 12, and a lens washer 13. The control unit 11 includes a vehicle status acquisition unit 11a and an operation control unit 11b.

  The storage unit 12 is a storage device such as a hard disk drive, a nonvolatile memory, or a register, and stores threshold information 12a and period information 12b.

  The lens washer 13 includes a front lens washer 131, a back lens washer 132, a right side lens washer 133, and a left side lens washer 134. The lens washers 131 to 134 correspond to the cameras 71 to 74 in order (see “attachment removal operation” in the figure).

  The control unit 11 controls the deposit removing device 10 as a whole. The vehicle status acquisition unit 11a includes various outputs output from the line-of-sight detection device 20, the vehicle speed sensor 2, the steering angle sensor 3, the wiper 4, the shift sensor 5, the brake 6, the driving support device 30, the camera 7, the obstacle detection device 40, and the like. Get vehicle status based on information. Further, the vehicle status acquisition unit 11a notifies the operation control unit 11b of the acquired vehicle status.

  Based on the vehicle status from the vehicle status acquisition unit 11a, the threshold information 12a in the storage unit 12, and the cycle information 12b, the operation control unit 11b generates a predetermined event corresponding to the timing at which the attached matter on the lens 7a should be removed. It is determined whether or not.

  The threshold information 12a is information relating to a threshold for determining occurrence of a predetermined event, and includes, for example, a predetermined value of a vehicle speed and a steering angle, which will be described later. The period information 12b is also information related to a period interval for determining occurrence of a predetermined event, and includes, for example, a predetermined value of distance to be described later.

  The operation control unit 11b operates the lens washer 13 when detecting the occurrence of such an event. Note that the operation control unit 11b can individually control the lens washers 131 to 134. Therefore, the operation control unit 11b can operate the lens washers 131 to 134 at the same time or operate at least one of the lens washers 131 to 134 according to the content of the event that has occurred. .

  Next, a specific example of the operation control of the lens washer 13 for each occurrence event will be described with reference to FIGS. 3A to 3H. 3A to 3H are diagrams (No. 1) to (No. 8) illustrating specific examples of the operation control of the lens washer 13. FIG.

  First, as illustrated in FIG. 3A, the operation control unit 11 b controls the operation of the lens washer 13 based on the line-of-sight direction included in the driving situation of the driver in the acquired vehicle situation. Specifically, the operation control unit 11b is directed toward the display monitor 8 mounted on the vehicle C, or the line-of-sight position VP indicating the line-of-sight direction moves toward the display monitor 8 (in the drawing). In the case of the arrow 301), the lens washer 13 is operated for the camera 7 corresponding to the image displayed on the display monitor 8.

  Therefore, in the example shown in FIG. 3A, the back lens washer 132 corresponding to the back camera 72 being “monitoring” is activated. Accordingly, the lens 7a of the corresponding camera 7 can be cleaned at the timing when the driver wants to confirm the monitor image exactly, so that the convenience can be further improved and the accuracy of visual assistance can be maintained.

  Further, as shown in FIG. 3B, the operation control unit 11b is configured such that when the vehicle speed of the vehicle C is equal to or lower than the predetermined speed and the steering angle of the vehicle C is equal to or higher than the predetermined angle, at least the rotation center side of the steering angle. The lens washer 13 is operated for the camera 7 located on the (inner ring side).

  Therefore, in the case of the example shown in FIG. 3B, the right side lens washer 133 corresponding to the right side camera 73 located on the rotation center side of the steering angle is operated at least. At this time, the front lens washer 131 corresponding to the front camera 71 may be operated together.

  As a result, it is possible to automatically maintain the visibility assistance and sensing accuracy such as when the vehicle C starts at a low speed in the left-right direction or turns left and right at a low speed, so that convenience can be further enhanced and safety can be improved. Can increase the sex.

  As shown in FIG. 3C, the operation control unit 11b operates the lens washers 13 for all the cameras 7 when the wiper 4 is operated in a state where the vehicle speed of the vehicle C is equal to or lower than a predetermined speed.

  As a result, it is possible to automatically maintain the visibility assistance and sensing accuracy when it is raining at the time of low speed traveling, for example, when the vehicle C enters and leaves the parking lot, so that convenience can be further enhanced. At the same time, safety can be improved.

  Further, as shown in FIG. 3D, the operation control unit 11b activates the front lens washer 131 for at least the front camera 71 when the brake 6 is released with the shift position based on the shift sensor 5 being in the drive range, for example. Make it work.

  As a result, it is possible to automatically maintain the visibility assistance and sensing accuracy such as when starting forward from the garage or after stopping once at an intersection with poor visibility, so that convenience can be further improved. , Can increase safety.

  Moreover, as shown to FIG. 3E, the operation control part 11b performs operation control of the lens washer 13 based on the road marking contained in the surrounding environment among the acquired vehicle conditions. Specifically, the operation control unit 11b operates the lens washer 13 when an instruction sign that calls attention is detected, such as “There is a pedestrian crossing or a bicycle crossing band” shown in the road sign M1 in the drawing. Let

  In the case of the example shown in FIG. 3E, such an instruction sign can be recognized by detecting a “diamond white line” by, for example, pattern matching based on an image from the camera 7. In addition, the indication sign is not limited to “with a pedestrian crossing or bicycle crossing zone”, but may be “approach to a safety zone or an obstacle on the road” as long as it alerts the driver.

  Thus, visibility assistance and sensing accuracy can be automatically maintained under conditions where attention should be paid to the driver, so that convenience can be further enhanced and safety can be enhanced. In addition, when there is a pedestrian crossing or a bicycle crossing zone, there is a high possibility that the vehicle C will be at a low speed. Therefore, the detection of the instruction sign can also be used for specifying the position of the host vehicle. Therefore, by operating the lens washer 13 at the time of detecting the above-described indication sign, it is possible to maintain the accuracy of sensing at the specific time.

  Further, as shown in FIG. 3F, the operation control unit 11b operates the lens washer 13 when the vehicle C passes through the toll gate 100. As a result, the visibility of the camera 7 is secured again at the timing when the surrounding environment is switched from the “toll road side” to the “general road side”, and from the “general road side” to the “toll road side”, and the visibility assistance and sensing are performed. Therefore, it is possible to maintain the accuracy for the purpose of improving safety.

  In particular, since the diversity of the surrounding environment is increased on the “general road side” compared to the “toll road side”, the lens washer 13 is operated at the timing of switching from the “toll road side” to the “general road side”. It is useful to ensure visibility again. Whether or not to pass the toll gate 100 can be determined based on, for example, the vehicle position on the map information 30a from the driving support device 30 described above.

  Further, the operation control unit 11b can operate the lens washer 13 at a predetermined cycle interval. The predetermined cycle interval is, for example, a distance. That is, the operation control unit 11b operates the lens washer 13 for each predetermined distance traveled by the vehicle C. As a result, the lens 7a that easily adheres to the deposit when the travel distance increases can be automatically cleared at predetermined intervals.

  Further, the operation control unit 11b can adjust the periodic interval. For example, as illustrated in FIG. 3G, the operation control unit 11b is included in the above-described period information 12b so that the distance that is the period interval is shortened as the number of operations of the wiper 4 increases according to the number of operations of the wiper 4. The predetermined value of the distance is changed.

  Thus, for example, when the wiper 4 is frequently operated, that is, when the amount of rainfall is large, the frequency of the lens washer 13 can be increased. Therefore, it is more convenient in a situation where raindrops are likely to be attached to the lens 7a due to rain. It can be increased and safety during rain can be increased.

  The operation control unit 11b controls the operation of the lens washer 13 based on an obstacle included in the surrounding environment in the acquired vehicle situation. Specifically, as illustrated in FIG. 3H, when the obstacle detection device 40 detects the obstacle O1, the motion control unit 11b uses a lens washer for the camera 7 that includes the position of the obstacle O1 in the imaging range. 13 is operated.

  Therefore, in the example shown in FIG. 3H, the back lens washer 132 corresponding to the back camera 72 that includes the position of the obstacle O1 in the imaging range R1 and the left side camera 74 that also includes the position of the obstacle O1 in the imaging range R2. The corresponding left side lens washer 134 is activated.

  Thereby, the visibility of the camera 7 according to the position of the obstacle O1 can be automatically secured to enhance convenience, and collision with the obstacle O1 can be prevented and safety can be improved.

  In addition to the description with reference to FIGS. 3A to 3H, the operation control unit 11 b can detect the occurrence of a predetermined event and operate the lens washer 13. The other example concerning FIG. 4 is shown. FIG. 4 is a diagram illustrating another example of the operation control of the lens washer 13.

  FIG. 4 shows a case of categorization into “when starting”, “when a predetermined period arrives”, and “random”.

  First, in “starting”, for example, No. Starting from 1, “Door lock release”, “Driver seat door open”, “Driver seat detection sensor detects driver's boarding”, “ACC or IG on”, “Starter on”, “Parking brake release” , “MT vehicle: vehicle speed = 0 km / h and gear is first speed or reverse” and “AT vehicle: shift position is other than“ P ”range” are predetermined events. The operation control unit 11b operates the lens washer 13 when detecting any of these events.

  In “when the predetermined period arrives”, for example, No. From “8”, “wiper operation count = predetermined count” and “travel time = predetermined time” are set as predetermined events. The operation control unit 11b operates the lens washer 13 when detecting any of these events. In addition, No. which showed "*" mark. In the case of 9 “traveling time = predetermined time”, the operation control unit 11b may change the time that is the periodic interval according to the number of operations of the wiper 4, as in the example illustrated in FIG. 3G.

  In “random”, for example, “No. From “10”, “rapid acceleration, sudden deceleration or change of inclination”, “detection of rain”, “immediately before displaying video on the display monitor”, “detection of parking frame”, and the like are set as predetermined events. In addition, No. with “**” mark. The “detection of rain” 11 may be detected by a rain sensor or the like instead of the number of operations of the wiper 4. The operation control unit 11b operates the lens washer 13 when detecting any of these events.

  In the example shown in FIG. 4 as well, by ensuring the visibility of the camera 7 automatically at an appropriate timing and maintaining the accuracy of visual field assistance and sensing, it is possible to improve convenience and safety. Can help. In addition to the examples shown in FIGS. 3A to 4, it goes without saying that a predetermined event corresponding to the timing at which the deposit should be removed may be provided.

  Next, a processing procedure executed by the deposit removing apparatus 10 according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart illustrating a processing procedure executed by the deposit removal apparatus 10 according to the embodiment.

  First, the vehicle status acquisition unit 11a acquires the vehicle status (step S101). Subsequently, it is determined whether or not the use of the vehicle C is ended from the acquired vehicle situation (step S102).

  Here, when it is determined that the use of the vehicle C is not finished (No at Step S102), based on the acquired vehicle situation, the operation control unit 11b generates a predetermined event corresponding to the timing at which the deposit should be removed. The presence / absence is determined (step S103).

  If it is determined that such an event has occurred (step S103, Yes), the operation control unit 11b automatically activates the lens washer 13 for the camera 7 corresponding to the event (step S104).

  Then, the processing from step S101 is repeated. On the other hand, also when the determination condition of step S103 is not satisfied (step S103, No), the processing from step S101 is repeated.

  If it is determined in step S102 that the use of the vehicle C has been completed (step S102, Yes), the process ends.

  As described above, the deposit removing device 10 according to the present embodiment includes the lens washer 13 (corresponding to an example of “removal unit”), the vehicle situation acquisition unit 11a (corresponding to an example of “acquisition unit”), And an operation control unit 11b.

  The lens washer 13 removes deposits attached to the lenses 7 a of the one or more cameras 7 mounted on the vehicle C. The vehicle status acquisition unit 11a acquires a vehicle status including at least one of the driving status of the driver, the driving status of the vehicle C, and the surrounding environment of the vehicle C. The operation control unit 11b operates the lens washer 13 when the occurrence of a predetermined event is detected based on the acquisition result of the vehicle state acquisition unit 11a.

  Therefore, according to the deposit removing apparatus 10 according to the present embodiment, the deposit can be removed at an appropriate timing, and convenience can be further improved. Moreover, since the operation | movement of the useless lens washer 13 can be prevented, the effect of suppressing power consumption can also be show | played.

  In the embodiment described above, the lens washer 13 ejects the cleaning liquid together with the compressed air toward the lens 7a. However, either the compressed air or the cleaning liquid may be used.

  Further, the deposit removing means is not limited to the compressed air and the cleaning liquid. For example, the deposit on the lens 7a may be removed by moving the wiper-like member. In such a case, the operation control unit 11b controls the drive unit of the wiper-like member.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 7 Camera 7a Lens 10 Adhering substance removal apparatus 11a Vehicle condition acquisition part 11b Operation control part 13 Lens washer 71 Front camera 72 Back camera 73 Right side camera 74 Left side camera 100 Toll gate 131 Front lens washer 132 Back lens washer 133 Right side lens Washer 134 Left side lens washer C Vehicle M1 Road marking O1 Obstacle R1, R2 Imaging range

Claims (11)

A removal unit that removes deposits attached to each lens of one or more cameras mounted on the vehicle;
An acquisition unit for acquiring a vehicle situation including at least one of a driving situation of the driver, a running situation of the vehicle and a surrounding environment of the vehicle;
An attached matter removing apparatus comprising: an operation control unit that operates the removing unit when occurrence of a predetermined event is detected based on an acquisition result of the acquiring unit. The driving situation includes a gaze direction of the driver,
The operation controller is
When the line-of-sight direction faces a display monitor mounted on the vehicle or moves toward the display monitor, the removal unit is operated for the camera corresponding to the video displayed on the display monitor. The deposit removing apparatus according to claim 1, wherein: The operation controller is
When the vehicle speed of the vehicle is equal to or lower than a predetermined speed and the steering angle of the vehicle is equal to or higher than a predetermined angle, the removal unit is operated at least on the camera located on the rotation center side of the steering angle. The deposit removing apparatus according to claim 1 or 2, characterized in that: The operation controller is
The deposit removing apparatus according to claim 3, wherein when the wiper is operated in a state where the vehicle speed is equal to or lower than a predetermined speed, the removing unit is operated for all the cameras. The operation controller is
When the brake is released in a state where the transmission is in the drive range, the removal unit is operated at least for the camera located at the front of the vehicle. The deposit removing apparatus according to 1. The surrounding environment includes road markings,
The operation controller is
The adhering matter removing apparatus according to any one of claims 1 to 5, wherein, when an instruction indication that calls attention is detected among the road indications, the removal unit is operated. The operation controller is
The deposit removing device according to any one of claims 1 to 6, wherein the removing unit is operated when the vehicle passes through a toll gate. The operation controller is
The deposit according to any one of claims 1 to 7, wherein the removing unit is operated for each predetermined distance traveled by the vehicle, and the predetermined distance is changed according to the number of times the wiper is operated. Removal device. The operation controller is
The deposit removing apparatus according to claim 8, wherein the predetermined distance is changed so that the predetermined distance is shortened as the number of times the wiper is operated. The surrounding environment includes an obstacle,
The operation controller is
The deposit removal according to any one of claims 1 to 9, wherein when the obstacle is detected, the removal unit is operated for the camera including the position of the obstacle in an imaging range. apparatus. A deposit removal method using a removal unit that removes deposits attached to each lens of one or more cameras mounted on a vehicle,
An obtaining step of obtaining a vehicle situation including at least one of a driving situation of the driver, a running situation of the vehicle and a surrounding environment of the vehicle;
And an operation control step of operating the removal unit when occurrence of a predetermined event is detected based on an acquisition result of the acquisition step.

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