Antifouling method and device for sensor in unmanned vehicle, storage medium and unmanned vehicle

The invention discloses an anti-fouling method and device for a sensor in an unmanned vehicle, a storage medium and the unmanned vehicle, and belongs to the technical field of unmanned driving. The method comprises the following steps: acquiring driving environment information and driving strategy information of the unmanned vehicle, wherein the driving environment information comprises at least one of weather information, surrounding vehicle information and road information; according to the driving environment information and the driving strategy information, the risk that a sensor of the unmanned vehicle is polluted in the future time is predicted, indication parameters of the sensor polluted in the future time are determined, and the indication parameters comprise pollution positions; under the condition that it is determined that antifouling operation needs to be conducted on the sensor according to the indication parameters, the target spraying angle of fluid is determined according to the pollution pos