Light obstruction can be detected using a light obstruction sensor. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes receiving, by a light obstruction sensor, light being emitted by a light source, a light level being associated with the light, and the light source and the light obstruction sensor being disposed in a light assembly. The method further includes determining, by a processing device, whether the light level exceeds a first threshold. The method further includes, responsive to determining that the light level exceeds the first threshold, determining that the light being emitted by the light source is at least partially impaired by an object. The method further includes validating, by the processing device, the determination that the light source is at least partially impaired by the object to confirm whether the light source is at least partially impaired by the object.

Light obstruction can be detected using a light obstruction sensor. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes receiving, by a light obstruction sensor, light being emitted by a light source, a light level being associated with the light, and the light source and the light obstruction sensor being disposed in a light assembly. The method further includes determining, by a processing device, whether the light level exceeds a first threshold. The method further includes, responsive to determining that the light level exceeds the first threshold, determining that the light being emitted by the light source is at least partially impaired by an object. The method further includes validating, by the processing device, the determination that the light source is at least partially impaired by the object to confirm whether the light source is at least partially impaired by the object.

Sensor cleaning devices, methods, and systems are provided. Output from sensors of a vehicle may be used to describe an environment around the vehicle. In the event that a sensor is obstructed by dirt, debris, or detritus the sensor may not sufficiently describe the environment for autonomous control operations. In response to receiving an indication of an obstructed sensor, the sensor cleaning devices, methods, and systems described herein may proceed to remove the obstruction from the sensor.

A sensor and a system using the sensor are described. The sensor may comprise: a cover; and a positive temperature coefficient (PTC) shroud located at a periphery of the cover. The system may include one or more such sensors in a passage of a housing. The system further may comprise a blower that moves air through the passage and across at least a portion of the sensor(s).

A system includes a processor and a memory. The memory stores instructions executable by the processor to detect an occlusion on a surface in a vehicle sensor optical path based on a segmentation of sensor image data, and to select a cleaning plan for the surface based on the detected occlusion, map data, and vehicle route data.

A sensor having a positive temperature coefficient shroud is described, as well as a computing system to control actuation of the positive temperature coefficient shroud. According to one example, the computing system executes a method that actuates the positive temperature coefficient shroud of the sensor based on a transmittance parameter of the sensor.

An occluded area on a vehicle sensor is identified by localizing the vehicle in space. A discrepancy between historic image data and real-time image data from the sensor is determined, and a cleaning actuator is actuated based on the determined discrepancy.

The disclosure provides for a wiper system for cleaning a surface of a sensor housing, such as a sensor housing positioned on top of a vehicle. The wiper system includes a plurality of windows spaced around a sensor housing, and a plurality of wipers positioned around the sensor housing, each of the wipers includes a wiper blade configured to clean a corresponding window of the plurality of windows. The wiper system further includes a drive system including a movable part coupled to a motor. The motor is configured to drive the drive system to simultaneously rotate the plurality of wipers around the sensor housing such that the plurality of wipers remove debris from the plurality of windows.

A sensor and a system using the sensor are described. The sensor may comprise: a cover; and a positive temperature coefficient (PTC) shroud located at a periphery of the cover. The system may include one or more such sensors in a passage of a housing. The system further may comprise a blower that moves air through the passage and across at least a portion of the sensor(s).

Sensor cleaning apparatus, systems, and related methods for use with vehicles are disclosed. A disclosed apparatus includes a sensor of a vehicle. The apparatus also includes a motor operatively coupled to the sensor to enable the sensor to move within a cavity of the vehicle. The apparatus also includes a wiper fixedly coupled to the vehicle and partially defining the cavity. An edge of the wiper is to engage the sensor when the sensor moves to remove debris.