Embodiments herein relate to an autonomous vehicle or self-driving vehicle with a vehicle control system. The vehicle control system can determine, prior to and/or during a collision, whether an escape path exits. If an escape path exists, the brakes are disengaged such that at least some of the energy and/or momentum from a colliding vehicle is transferred and a jolt or shock experienced by an occupant is reduced.

Methods and apparatus are provided for cleaning a sensor lens cover for an optical vehicle sensor. The method includes monitoring the sensor lens cover for a contaminant obstructing at least a portion of the sensor lens cover and determining the presence of the commandant and a contaminant type using information provided by one or more vehicle sensors. A cleaning modality selected based the contaminant type is activated and it is determined whether the cleaning modality has removed the contaminant from the sensor lens cover.

Methods and apparatus are provided for cleaning a sensor lens cover for an optical vehicle sensor. The method includes monitoring the sensor lens cover for a contaminant obstructing at least a portion of the sensor lens cover and determining the presence of the commandant and a contaminant type using information provided by one or more vehicle sensors. A cleaning modality selected based the contaminant type is activated and it is determined whether the cleaning modality has removed the contaminant from the sensor lens cover.

Techniques are described for cleaning sensors of a vehicle. An attribute of the surrounding environment (e.g., type of precipitation, intensity of precipitation, etc.) is determined along with orientations and/or attributes of the sensors (e.g. fields-of-view, focal lengths, spectral ranges, etc). Cleaning frequencies are then be determined based, at least in part, on the attribute of the environment together with the orientations and/or attributes of the sensors. Cleaning elements are then activated at the determined frequencies to clean the sensors. In some examples, the cleaning frequencies may be determined based additionally on an attribute of travel of the vehicle (e.g. direction of travel of the vehicle, speed of the vehicle, etc.).

Techniques are described for cleaning sensors of a vehicle. An attribute of the surrounding environment (e.g., type of precipitation, intensity of precipitation, etc.) is determined along with orientations and/or attributes of the sensors (e.g. fields-of-view, focal lengths, spectral ranges, etc). Cleaning frequencies are then be determined based, at least in part, on the attribute of the environment together with the orientations and/or attributes of the sensors. Cleaning elements are then activated at the determined frequencies to clean the sensors. In some examples, the cleaning frequencies may be determined based additionally on an attribute of travel of the vehicle (e.g. direction of travel of the vehicle, speed of the vehicle, etc.).

A device for cleaning a sensor can include a support structure and a platform assembly. The platform assembly can include a platform structure that includes a set of channels and a raised lip structure that is provided around at least a portion of the perimeter of the platform structure. The raised lip structure includes a set of cavities that is connected to the set of channels and a set of openings to enable air to move from the set of cavities to outside the raised lip structure in a direction towards a center of the platform structure.

A device for cleaning a sensor can include a support structure and a platform assembly. The platform assembly can include a platform structure that includes a set of channels and a raised lip structure that is provided around at least a portion of the perimeter of the platform structure. The raised lip structure includes a set of cavities that is connected to the set of channels and a set of openings to enable air to move from the set of cavities to outside the raised lip structure in a direction towards a center of the platform structure.

A sensor assembly includes a base, a sensor attached to the base, and a cover transparent to the sensor and forming a spherical joint with the base. The cover may have a partial spherical shape. The sensor assembly may include an exterior panel having a hole, and the cover may be disposed in the hole. The cover may be rotatable relative to the base about any axis extending parallel to the exterior panel.

A sensor assembly includes a base, a sensor attached to the base, and a cover transparent to the sensor and forming a spherical joint with the base. The cover may have a partial spherical shape. The sensor assembly may include an exterior panel having a hole, and the cover may be disposed in the hole. The cover may be rotatable relative to the base about any axis extending parallel to the exterior panel.

A device for cleaning a sensor can include a first valve, a second valve, a set of fluid nozzles, and a housing structure. The housing structure includes a first channel to enable fluid to move from the first valve to the set of fluid nozzles, a cavity, a second channel to enable air to move from the second valve to the cavity, and a slit opening to enable air to move from the cavity to outside the housing structure.