Windscreen wiper control method, device, equipment, medium and vehicle

Abstract

The invention relates to a windscreen wiper control method, device and equipment, a medium and a vehicle. According to the invention, the driving speed and the acceleration of the vehicle are introduced into the automatic windscreen wiper control logic, and the sensitivity of the automatic windscreen wiper and the cyclic wiping threshold value are correspondingly adjusted according to the difference of the driving speed and the acceleration; therefore, the difference between the windscreen wiper control strategies corresponding to the rainfall sensed by the user and the actual rainfall due to the running state of the vehicle is compensated, the requirement of a customer for automatic windscreen wiper under the current vehicle speed and rainfall is met, the driving experience of the user is improved, and the driving safety is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automatic control, and particularly to a wiper control method, device, equipment, medium and vehicle. Background Art

[0002] During the driving of a vehicle in rainy weather, raindrops falling on the front windshield will block the driver's line of sight. The wiper can wipe off the raindrops or water marks on the front windshield to ensure good driving visibility.

[0003] With the development of automotive intelligent control technology, the configuration and application of automatic wipers are becoming increasingly widespread. In the prior art, the automatic wiper automatically adjusts the wiper blade brushing frequency according to the rainfall amount, which can help the driver automatically adjust the working state of the wiper during rainy driving and improve the driver's intelligent driving experience.

[0004] However, when the vehicle speed increases, the driver will visually feel that the rainfall amount increases, while the actual rainfall amount does not change. Therefore, the wiper blade brushing frequency of the automatic wiper does not change, resulting in the driver visually feeling that the visibility becomes worse, the driving experience is poor, and even the driving safety is affected. Summary of the Invention

[0005] To solve the above technical problems, the present disclosure provides a wiper control method, device, equipment, medium and vehicle to meet the customer's requirements for the automatic wiper at the current vehicle speed and rainfall amount, improve the user's driving experience, and ensure driving safety.

[0006] In a first aspect, an embodiment of the present disclosure provides a wiper control method, including:

[0007] Obtain the driving state information of the vehicle, where the driving state information at least includes the driving speed of the vehicle and the acceleration of the vehicle;

[0008] Obtain the original control information of the wiper, where the original control information at least includes the original sensitivity of the automatic wiper and the first cycle brushing threshold corresponding to the current rainfall amount;

[0009] Adjust the original control information according to the driving state information to obtain compensation control information, where the compensation control information at least includes the adjusted sensitivity of the automatic wiper and the adjusted cycle brushing threshold;

[0010] Control the wiper to work according to the compensation control information.

[0011] In some embodiments, the adjusting the original control information according to the driving state information to obtain compensation control information includes:

[0012] When the driving speed is less than the first speed threshold, lower the original sensitivity of the automatic windshield wiper and increase the first cyclic wiping threshold to the second cyclic wiping threshold.

[0013] In some embodiments, adjusting the original control information according to the driving state information to obtain compensation control information includes:

[0014] When the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, use the original control information as the compensation control information, where the second speed threshold is greater than the first speed threshold.

[0015] In some embodiments, adjusting the original control information according to the driving state information to obtain compensation control information includes:

[0016] When the driving speed is greater than or equal to the second speed threshold, increase the original sensitivity of the automatic windshield wiper and lower the first cyclic wiping threshold to the third cyclic wiping threshold.

[0017] In some embodiments, the compensation control information further includes single-wiping control information, and adjusting the original control information according to the driving state information to obtain compensation control information includes:

[0018] When the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, if the rain accumulation value within a preset time is greater than the fourth cyclic wiping threshold, generate single-wiping control information, where the third speed threshold is less than the first speed threshold, the fourth cyclic wiping threshold is less than the second cyclic wiping threshold, and the single-wiping control information is used to control the wiper to perform a single wipe.

[0019] In some embodiments, adjusting the original control information according to the driving state information to obtain compensation control information further includes:

[0020] When the automatic windshield wiper is in the intermittent wiping mode, start timing since the last wipe;

[0021] If the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold after a preset time, generate single-wiping control information.

[0022] In some embodiments, before obtaining the driving state information of the vehicle, the method further includes:

[0023] Perform simulation according to the real vehicle glass model and the Eulerian raindrop model to obtain raindrop attachment state information, where the raindrop attachment state information includes the influence of rainfall and vehicle speed on the attachment state of raindrops on the glass.

[0024] In some embodiments, the raindrop attachment state information includes first attachment state information and second attachment state information. Obtaining the raindrop attachment state information through simulation based on the real vehicle glass model and the Eulerian raindrop model includes:

[0025] Import the real vehicle glass model and establish Eulerian raindrops of multiple preset volumes. Control the Eulerian raindrop model to drip onto the surface of the real vehicle glass model at a preset falling speed to obtain the first attachment state information. The multiple preset volumes of Eulerian raindrops respectively correspond to multiple rainfall amounts. The first attachment state information includes the attachment states of raindrops on the glass under different rainfall amounts.

[0026] Control the real vehicle glass model to move at multiple preset vehicle speeds, and control the Eulerian raindrop model to drip onto the surface of the real vehicle glass model at a preset falling speed to obtain the second attachment state information. The second attachment state information includes the attachment states of raindrops on the glass under different vehicle speeds.

[0027] In a second aspect, an embodiment of the present disclosure provides a windshield wiper control device, including:

[0028] A first acquisition module for acquiring the driving state information of the vehicle, where the driving state information at least includes the driving speed and the acceleration of the vehicle;

[0029] A second acquisition module for acquiring the original control information of the windshield wiper, where the original control information at least includes the original sensitivity of the automatic windshield wiper and the first cyclic wiping threshold corresponding to the current rainfall;

[0030] A compensation module for adjusting the original control information according to the driving state information to obtain compensation control information, where the compensation control information at least includes the adjusted sensitivity of the automatic windshield wiper and the adjusted cyclic wiping threshold;

[0031] A control module for controlling the windshield wiper to operate according to the compensation control information.

[0032] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0033] A memory;

[0034] A processor; and

[0035] A computer program;

[0036] Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0037] Fourthly, an embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

[0038] Fifthly, an embodiment of the present disclosure provides a vehicle, including the device, electronic device or computer-readable storage medium described above.

[0039] The windshield wiper control method, device, equipment, medium and vehicle provided by the embodiments of the present disclosure introduce the driving speed and acceleration of the vehicle into the automatic windshield wiper control logic, and correspondingly adjust the sensitivity of the automatic windshield wiper and the cyclic wiping threshold according to different driving speeds and accelerations, so as to compensate for the difference between the windshield wiper control strategies corresponding to the user-perceived rainfall and the actual rainfall caused by the driving state of the vehicle, meet the needs of the customer for the automatic windshield wiper at the current vehicle speed and rainfall, improve the user driving experience, and ensure driving safety. Description of the Drawings

[0040] The drawings here are incorporated into the description and form a part of this description, showing the embodiments in line with the present disclosure, and are used together with the description to explain the principles of the present disclosure.

[0041] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is a flowchart of the windshield wiper control method provided by the embodiment of the present disclosure;

[0043] Figure 2 It is a schematic diagram of an application scenario provided by the embodiment of the present disclosure;

[0044] Figure 3 It is a flowchart of the windshield wiper control method provided by another embodiment of the present disclosure;

[0045] Figure 4 It is a schematic diagram of the force analysis of raindrops on an inclined surface provided by the embodiment of the present disclosure;

[0046] Figure 5 It is a schematic diagram of a simulation model provided by the embodiment of the present disclosure;

[0047] Figure 6 It is a schematic diagram of the raindrop morphology from a macroscopic perspective provided by the embodiment of the present disclosure;

[0048] Figure 7 It is a schematic diagram of the raindrop morphology from a local perspective provided by the embodiment of the present disclosure;

[0049] Figure 8 This is a schematic diagram of the fitting curve of the critical value of the water droplet adhesion state provided by an embodiment of the present disclosure;

[0050] Figure 9 This is a schematic structural diagram of the wiper control device provided by an embodiment of the present disclosure;

[0051] Figure 10 This is a schematic structural diagram of the electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0052] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0053] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0054] An embodiment of the present disclosure provides a wiper control method, and the method will be introduced below in combination with specific embodiments.

[0055] Figure 1 This is a flowchart of the wiper control method provided by an embodiment of the present disclosure. The method can be applied to an intelligent driving scenario as shown in Figure 2 In the intelligent driving scenario, it includes a domain controller (XCU) 21 for controlling various functions of the vehicle, a rain and light sensor 22 for sensing the rainfall, a vehicle speed sensor 23 for collecting vehicle speed information and acceleration information, an automatic wiper switch 24 for controlling the automatic wiper function, and a wiper motor 25 for controlling the wiper operation. Data is transmitted between the components through a LIN (Local Interconnect Network) bus, a CAN (Controller Area Network) bus, or other in-vehicle communication methods. It can be understood that the wiper control method provided by the embodiments of the present disclosure can also be applied in other scenarios.

[0056] The following will be combined with the scenario shown in Figure 2 to introduce the wiper control method shown in Figure 1 The specific steps included in the method are as follows:

[0057] S101. Obtain the driving state information of the vehicle, where the driving state information at least includes the driving speed and the acceleration of the vehicle.

[0058] The vehicle is equipped with various sensors for collecting vehicle driving status information, such as a vehicle speed sensor for collecting vehicle driving speed and vehicle acceleration. Alternatively, the current vehicle driving speed and vehicle acceleration can also be obtained in real time through the control information of the vehicle computer, which is not limited in the embodiments of the present disclosure.

[0059] S102: Acquire original control information of the wiper, where the original control information at least includes an original sensitivity of the automatic wiper and a first cycle wiping threshold corresponding to the current rainfall.

[0060] The current rainfall is collected by a rainfall light sensor.

[0061] The original control information of the wiper complies with the original control strategy of the automatic wiper, and at least includes the original sensitivity of the automatic wiper and the first cycle wiper threshold corresponding to the current rainfall. The current rainfall is collected by the rainlight sensor (RLS). The rainlight sensor is used to sense the relevant information of the current rainfall so that the domain controller can judge the current rainfall size and select the corresponding original sensitivity of the automatic wiper and the first cycle wiper threshold.

[0062] The first cycle wiping threshold means that when the accumulated rainfall reaches this threshold, the automatic wiper will wipe once. In other words, the lower the first cycle wiping threshold, the higher the wiping frequency of the automatic wiper; the higher the first cycle wiping threshold, the lower the wiping frequency of the automatic wiper.

[0063] Different original sensitivities of the automatic wiper correspond to different working modes of the automatic wiper, and the first cycle wiping threshold of the automatic wiper is different in different working modes. For example, under the same rainfall in an actual environment, the higher the original sensitivity of the automatic wiper, the lower the corresponding first cycle wiping threshold; the lower the original sensitivity of the automatic wiper, the higher the corresponding first cycle wiping threshold.

[0064] S103, adjusting the original control information according to the driving state information to obtain compensation control information, wherein the compensation control information at least includes an adjusted rain light sensor sensitivity and an adjusted cycle wipe threshold.

[0065] Based on the Ebbinghaus illusion theory, the visual prominence effect, and the different light transmittances of raindrops in different states, it is speculated that the perception of increased rainfall when a vehicle accelerates is a result of human cognition. For example, although the rainfall in the actual environment remains unchanged, as the vehicle accelerates, more raindrops will accumulate on the windshield and not have time to disperse, thus blocking the view and giving the driver and passengers the illusion of increased rainfall.

[0066] At this time, the effect of the automatic windshield wiper working according to the original control information determined by the current rainfall amount can no longer meet the driver's needs, and the original control information needs to be adjusted to compensate for the difference between the current rainfall amount in the actual environment and the rainfall amount perceived by humans.

[0067] In some embodiments, when the rainfall amount in the actual environment is sensed by the rainfall light sensor to be unchanged, when the vehicle speed increases to the high-speed range, it is necessary to increase the sensitivity of the automatic windshield wiper and lower the first wiping threshold to increase the wiping frequency of the automatic windshield wiper; when the vehicle speed decreases to the low-speed range, it is necessary to decrease the sensitivity of the automatic windshield wiper and increase the first wiping threshold.

[0068] Optionally, when the rainfall amount in the actual environment is sensed to change according to the rainfall light sensor and the vehicle speed is also changing, the domain controller adjusts the sensitivity of the automatic windshield wiper, thereby determining the first wiping threshold corresponding to the current rainfall amount through different sensitivities of the automatic windshield wiper, and at the same time making adjustments on the basis of the first wiping threshold corresponding to the current rainfall amount to compensate for the difference between the current rainfall amount in the actual environment and the rainfall amount perceived by humans.

[0069] S104. Control the windshield wiper to work according to the compensation control information.

[0070] The compensation control information is the original control information after compensation. The compensation control information is closer to the automatic windshield wiper control requirements corresponding to the driver's perception of the current rainfall amount than the original control information.

[0071] Specifically, the domain controller controls the windshield wiper motor according to the compensation control information, so that the windshield wiper motor drives the windshield wiper to perform a wiping operation according to the compensation control information.

[0072] In the embodiments of the present disclosure, by obtaining the driving state information of the vehicle, the driving state information at least includes the driving speed of the vehicle and the acceleration of the vehicle; obtaining the original control information of the windshield wiper, the original control information at least includes the original sensitivity of the automatic windshield wiper and the first cyclic wiping threshold corresponding to the current rainfall amount; adjusting the original control information according to the driving state information to obtain compensation control information, the compensation control information at least includes the adjusted sensitivity of the automatic windshield wiper and the adjusted cyclic wiping threshold; controlling the windshield wiper to work according to the compensation control information, by introducing the driving speed and acceleration of the vehicle into the automatic windshield wiper control logic, making corresponding adjustments to the control information of the automatic windshield wiper according to different driving speeds and accelerations of the vehicle to compensate for the difference between the windshield wiper control strategies corresponding to the user-perceived rainfall amount and the actual rainfall amount due to the vehicle driving state, meeting the customer's requirements for the automatic windshield wiper at the current vehicle speed and rainfall amount, improving the user driving experience, and ensuring driving safety.

[0073] In some embodiments, adjusting the original control information according to the driving state information to obtain compensated control information includes: when the driving speed is less than a first speed threshold, lowering the original sensitivity of the automatic windshield wiper and raising the first cyclic wiping threshold to a second cyclic wiping threshold.

[0074] When the driving speed of the vehicle is less than the first speed threshold, it indicates that the current driving speed of the vehicle is relatively low. Therefore, the original sensitivity of the automatic windshield wiper is reduced, and the first cyclic wiping threshold corresponding to the current rainfall amount at low sensitivity is raised to the second cyclic wiping threshold. Since the second cyclic wiping threshold is greater than the first cyclic wiping threshold, the automatic windshield wiper will perform wiping only after accumulating more rainfall, resulting in a lower wiping frequency of the automatic windshield wiper, meeting the requirement of a lower wiping frequency in the state of low-speed driving of the vehicle.

[0075] For example, the sensitivity of the automatic windshield wiper is lowered by one level relative to the original sensitivity issued by the domain controller.

[0076] In some embodiments, adjusting the original control information according to the driving state information to obtain compensated control information includes: when the driving speed is greater than or equal to the first speed threshold and less than a second speed threshold, using the original control information as the compensated control information, where the second speed threshold is greater than the first speed threshold.

[0077] When the driving speed of the vehicle is greater than or equal to the first speed threshold and less than the second speed threshold, it indicates that the current vehicle is in a medium-speed driving state. The original control information can be directly used as the compensated control information to control the automatic windshield wiper to operate.

[0078] In some embodiments, adjusting the original control information according to the driving state information to obtain compensated control information includes: when the driving speed is greater than or equal to the second speed threshold, raising the original sensitivity of the automatic windshield wiper and lowering the first cyclic wiping threshold to a third cyclic wiping threshold.

[0079] When the driving speed of the vehicle is greater than or equal to the second speed threshold, it indicates that the current vehicle is in a high-speed driving state. The rainfall perceived by the driver is greater than the actual rainfall in the environment, and a higher wiping frequency of the automatic windshield wiper is required. At this time, the sensitivity of the automatic windshield wiper is raised, and the first cyclic wiping threshold corresponding to the current rainfall amount is lowered to the third cyclic wiping threshold.

[0080] For example, the sensitivity of the automatic windshield wiper is raised by one level relative to the original sensitivity issued by the domain controller.

[0081] In the embodiments of the present disclosure, different wiper control information compensation strategies are respectively set under the working conditions of different speed ranges of the vehicle, such as low speed, medium speed, and high speed, so that the wiping effect of the automatic wiper can further approximate the driver's perception of the current rainfall amount on the basis of meeting slow wiping at low speed and fast wiping at high speed, solving the problem that the reaction speed of the automatic wiper does not match the driver's perceived rainfall amount, and improving the user's driving experience.

[0082] In some embodiments, the compensation control information further includes single wiping control information. Adjusting the original control information according to the driving state information to obtain the compensation control information further includes: when the driving speed is less than a third speed threshold and the acceleration is greater than an acceleration threshold, if the rainfall accumulation value within a preset time is greater than a fourth cyclic wiping threshold, single wiping control information is generated. The third speed threshold is less than the first speed threshold, the fourth cyclic wiping threshold is less than the second cyclic wiping threshold, and the single wiping control information is used to control the wiper to perform one wiping.

[0083] When the rainfall amount is conserved per unit time, the rainfall amount Q received by the windshield is calculated as follows:

[0084] Q = St[(V0 + atsinθ) + V wind

[0085]

[0086] where V0 is the initial speed of the vehicle, a is the acceleration of the vehicle, S is the area of the windshield, t is the time, θ is the inclination angle of the windshield, and V wind is the wind speed. It can be concluded that when the rainfall amount is conserved per unit time, an increase in acceleration will lead to an increase in the rainfall amount. Therefore, when the vehicle suddenly accelerates after being stationary for a period of time, the amount of rainwater adhering to the vehicle glass will suddenly increase, and the automatic wiper fails to act in time, obstructing the driver's line of sight. Therefore, the third speed threshold is set to be less than the first speed threshold. When the vehicle is in a low-speed driving state and the driving speed is less than the third speed threshold, it is further determined whether the acceleration of the vehicle is greater than the acceleration threshold. If the acceleration of the vehicle is greater than the acceleration threshold, it indicates that the current vehicle may be in a just-started or rapid-acceleration state. At this time, if the compensation strategy for low-speed driving is followed, the original sensitivity of the automatic wiper is lowered, and the first cyclic wiping threshold is raised to the second cyclic wiping threshold, the situation of the driver's line of sight being obstructed cannot be improved. To solve this problem, when the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, when the rainfall accumulation value within a preset time is greater than the fourth cyclic wiping threshold, single wiping control information is generated to directly control the automatic wiper to perform one wiping, that is, when the rainfall accumulation value within a preset time is too large, the automatic wiper is directly controlled to perform one wiping. Among them, the fourth cyclic wiping threshold is less than the second cyclic wiping threshold.​

[0087] Optionally, when the driving speed is less than the third speed threshold, further determine whether the acceleration of the vehicle is greater than the acceleration threshold. If the acceleration of the vehicle is less than or equal to the acceleration threshold, it indicates that the current vehicle is in a normal low-speed driving state, and according to the compensation strategy during low-speed driving, the original sensitivity of the automatic windshield wiper is lowered, and the first cyclic wiping threshold is increased to the second cyclic wiping threshold.

[0088] Based on the above embodiments, when the automatic windshield wiper is in the intermittent wiping mode, start timing since the last wiping; if the driving speed is less than the third speed threshold after a preset time, and the acceleration is greater than the acceleration threshold, generate single-wiping control information.

[0089] When the automatic windshield wiper is in the intermittent wiping mode, take the start of the last wiping as the timing point. If there is no further wiping within the preset time, and at this time if the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, generate single-wiping control information to directly control the automatic windshield wiper to perform one wiping. It should be noted that this strategy is used for the control of the automatic windshield wiper in the intermittent mode, and this strategy does not need to judge whether the accumulated rainfall reaches the rainfall threshold.

[0090] The embodiments of the present disclosure determine whether the vehicle has a rapid acceleration behavior by comprehensively considering the driving speed and acceleration of the vehicle. If so, control the automatic windshield wiper to perform single wiping according to the accumulated rainfall value within the preset time, so as to avoid the problem that the automatic windshield wiper reacts slowly due to the difference between the actual rainfall and the perceived rainfall caused by the speed change within a short time, and meet the customer's requirements for the automatic windshield wiper to the greatest extent.

[0091] Figure 3 It is a flowchart of a windshield wiper control method provided by another embodiment of the present disclosure. As Figure 3 shown, the method includes the following steps:

[0092] S301. The vehicle is started.

[0093] S302. Determine whether the vehicle is powered on. If so, execute S304; if not, execute S303.

[0094] S303. The vehicle is turned off.

[0095] S304. Determine whether the automatic windshield wiper switch is turned on. If so, execute S306 - S307; if not, execute S305.

[0096] S305. The automatic windshield wiper does not work.

[0097] S306. Determine whether the vehicle speed is less than the third speed threshold. If so, execute S307; if not, execute S302.

[0098] S307. Determine whether the vehicle acceleration is greater than the acceleration threshold. If so, execute S308; if not, execute S302.

[0099] S308. Determine whether the cumulative rainfall value within the preset time is greater than the fourth preset threshold. If so, execute S309; if not, execute S302.

[0100] S309. Control the automatic windshield wiper to wipe once.

[0101] S310. Determine whether the vehicle speed is less than the first speed threshold. If so, execute S311; if not, execute S312.

[0102] S311. Execute the low-speed compensation strategy.

[0103] Specifically, the low-speed compensation strategy includes lowering the original sensitivity of the automatic windshield wiper and raising the first cycle wiping threshold to the second cycle wiping threshold.

[0104] S312. Determine whether the vehicle speed is less than the second speed threshold. If so, execute S313; if not, execute S314.

[0105] S313. Execute the medium-speed compensation strategy.

[0106] Specifically, the medium-speed compensation strategy includes using the original control information as the compensation control information, and the second speed threshold is greater than the first speed threshold.

[0107] S314. Execute the high-speed compensation strategy.

[0108] Specifically, the high-speed compensation strategy includes raising the original sensitivity of the automatic windshield wiper and lowering the first cycle wiping threshold to the third cycle wiping threshold.

[0109] Specifically, the implementation processes and principles of the above steps are the same as those of the method in the above embodiment, and will not be elaborated here.

[0110] In the embodiment of the present disclosure, by introducing the vehicle speed and acceleration into the automatic windshield wiper control logic, different adjustments are made to the control information of the automatic windshield wiper according to different vehicle speeds to compensate for the difference between the control strategies of the windshield wiper corresponding to the user-perceived rainfall and the actual rainfall. At the same time, the vehicle's driving speed and acceleration are comprehensively judged to determine whether the vehicle has a sudden acceleration behavior. If so, the automatic windshield wiper is controlled to perform a single wipe according to the cumulative rainfall value within the preset time, so as to avoid the problem that the automatic windshield wiper reacts slowly due to the difference between the actual rainfall and the perceived rainfall caused by the speed change in a short time, maximally meet the customer's requirements for the automatic windshield wiper, improve the user's driving experience, and ensure driving safety.

[0111] Based on the above embodiments, the user's perception of rainfall is related to the adhesion state of raindrops on the glass. Below, in combination with specific embodiments, the process of verifying the influence of vehicle speed on the adhesion state of raindrops on the glass through simulation is introduced.

[0112] Figure 4 This is a schematic diagram of the force analysis of raindrops on an inclined surface provided by an embodiment of the present disclosure. As Figure 4 shown, during the movement of the vehicle, the wind resistance is mainly caused by the vehicle speed. Therefore, the corresponding vehicle speed is calculated based on the magnitude of the wind resistance. Without considering the droplet gravity and shear force, the net adhesion force F adh is balanced with the wind resistance F w . The relationship between the wind resistance F w and the vehicle speed U cr is expressed as:

[0113]

[0114] where C D is the drag coefficient, which is related to the characteristic area of the object, the smoothness of the object, and the overall shape; ρ a is the air density, taken as 1.29 Kg / m 3 ; U CR is the wind speed or vehicle speed, and during the movement of the vehicle, the wind speed is approximately equal to the vehicle speed; h0 is the height of the raindrop on the plane; l0 is the width of the raindrop on the plane; C is the geometric factor used to integrate the contact angle curve; σ is the surface tension coefficient of water, for example, taking a value of 72.8 mN / m on a 20° inclined plane; cosθ r is the minimum contact angle between the raindrop and the inclined plane; cosθ a is the maximum contact angle between the raindrop and the inclined plane. According to the above formula, it can be obtained that an increase in the volume of the raindrop will lead to a decrease in the critical wind speed for the raindrop to remain stationary on the inclined plane.

[0115] The states of raindrops falling on the surface of the vehicle windshield are mainly divided into stationary, sliding downward, and sliding upward. By considering the state of the raindrop remaining stationary on the inclined surface of the windshield, the force balance calculation of the internal differential control volume of the raindrop in the glass inclined direction is:

[0116] ρgsinα - p′(x) = 0

[0117] p′(x) = P′(x) - σh″′(x) + ρgh′(x)cosα

[0118]

[0119] Among them, ρ represents the liquid density of the raindrop, g is the acceleration due to gravity, α is the windshield inclination angle, p′(x) is the internal pressure gradient of the raindrop affected by the external pressure gradient, including the capillary force and hydrostatic pressure in the lubrication approximation; P′(x) is the external pressure gradient, which is calculated by the Bernoulli equation, etc.; σ is the surface tension coefficient of water, and H is the characteristic length of the substrate where the disturbed flow transitions to the uniform flow. x is a variable, and its value range is from 0 to the width of the droplet corresponding to the retreat side on the plane, as Figure 4 shown, with the value range being [0, s].

[0120] Based on the above force balance calculation process of the internal differential control volume of the raindrop in the glass tilt direction, the raindrop is divided into the retreat side ( Figure 4 the r part in Figure 4 ) and the advancing side (

[0121] the a part in

[0122]

[0123] The height h of the retreat - side raindrop r (x) where x = [0, s], and the corresponding boundary conditions are as follows:

[0124] h r (x = 0) = 0

[0125] h r ′(x = 0) = tanθ r

[0126] h r ′(x = s) = 0

[0127] For the advancing - side raindrop, according to the force relationship, there is the following formula:

[0128] σh a ″′(x) - ρgcosαha′(x) + ρgsinα = 0

[0129] The height h of the advancing - side raindrop a (x) where x = [0, l - s], and the corresponding boundary conditions are as follows:

[0130] h a (x a = l - s) = 0

[0131] h a ′(xa = l - s) = - - tanθ a

[0132] h a ′(x a = 0) = 0

[0133] The raindrop area A is expressed as:

[0134]

[0135] In summary, by considering the gravity, air resistance, capillary force under lubrication approximation, hydrostatic pressure, etc. that the raindrop is subjected to, and following the fact that the forces acting on the raindrop in the static state are balanced forces, the relationship between the area of the raindrop on the windshield and the vehicle speed is obtained. At the same time, when the windshield inclination angle α is 30 degrees, the critical wind speed range is 70 km / h - 80 km / h (20 m / s - 22 m / s). Similarly, through theoretical calculations, the critical wind speeds of raindrops under different glass inclination angles, different raindrop volumes, and different vehicle speeds are obtained.

[0136] Furthermore, the attachment state of the raindrop from the moment it contacts the glass is simulated by means of CAE simulation. In some embodiments, before obtaining the driving state information of the vehicle, the method further includes: performing simulation according to the real vehicle glass model and the Eulerian raindrop model to obtain raindrop attachment state information, where the raindrop attachment state information includes the influence of rainfall and vehicle speed on the attachment state of the raindrop on the glass.

[0137] Specifically, the raindrop attachment state information includes first attachment state information and second attachment state information. Performing simulation according to the real vehicle glass model and the Eulerian raindrop model to obtain raindrop attachment state information includes: importing the real vehicle glass model and establishing Eulerian raindrops of multiple preset volumes, controlling the Eulerian raindrop model to drip onto the surface of the real vehicle glass model at a preset falling speed to obtain the first attachment state information. The multiple preset volumes of Eulerian raindrops respectively correspond to multiple rainfall amounts, and the first attachment state information includes the attachment state of the raindrop on the glass under different rainfall amounts; controlling the real vehicle glass model to move at multiple preset vehicle speeds, controlling the Eulerian raindrop to drip onto the surface of the real vehicle glass model at a preset falling speed to obtain the second attachment state information, and the second attachment state information includes the attachment state of the raindrop on the glass under different vehicle speeds.

[0138] Figure 5 This is a schematic diagram of a simulation model provided by an embodiment of the present disclosure. By importing the real vehicle glass model and establishing Eulerian raindrops of different preset volumes to simulate different rainfall amounts respectively, and defining a preset falling speed (8 - 9 m / s) for the Eulerian raindrop model of the raindrop model. For example, controlling the raindrop volumes to be V1, V2, V3, corresponding to light rain, moderate rain, and heavy rain respectively; controlling the movement speed of the real vehicle glass model so that the real vehicle glass model moves at different preset vehicle speeds to simulate different preset vehicle speeds respectively. For example, controlling the vehicle speeds ν1 (stationary), ν2 (low speed), ν3 (medium speed), ν4 (high speed), and performing simulation.

[0139] Specifically, during the simulation process, the morphology of the raindrops before, during, and after contacting the glass is simulated from a macroscopic perspective and a local perspective, such as Figure 6 the schematic diagram of the raindrop morphology from the macroscopic perspective shown in Figure 7 and the schematic diagram of the raindrop morphology from the local perspective shown in

[0140] The first attachment state information represents the attachment state of raindrops on the glass under different rainfall amounts; the second attachment state information represents the attachment state of raindrops on the glass under different vehicle speeds. By combining the first attachment state information and the second attachment state information, the raindrop attachment state information can be obtained, which represents the comprehensive information of rainfall amount and vehicle speed on the attachment state of raindrops on the glass.

[0141] In some embodiments, when the vehicle is in a stationary state, during light rain, the raindrops have a downward sliding trend and no obvious displacement, and the shape is semi-circular; during moderate rain, the raindrops have a downward sliding trend and no obvious displacement, and the shape is semi-elliptical; during heavy rain, the raindrops flow down along the glass, and the shape is like a liquid surface.

[0142] When the vehicle is in a low-speed driving state, during light rain, the raindrops adhere to the glass surface and move upward, and the shape is semi-circular; during moderate rain, the raindrops adhere to the glass surface and move upward, and the shape is semi-circular; during heavy rain, the raindrops adhere to the glass surface and spread upward, and the shape is like a liquid surface. When the vehicle is in a medium-speed driving state, during light rain, the raindrops adhere to the glass surface and move upward, and the shape is semi-circular; during moderate rain, the raindrops adhere to the glass surface and move upward, and the shape gradually shows a liquid surface trend; during heavy rain, the raindrops adhere to the glass surface and move upward, and the shape is like a liquid surface.

[0143] When the vehicle is in a high-speed driving state, during light rain, the raindrops adhere to the glass surface and move upward, and the shape is semi-circular; during moderate rain, the raindrops adhere to the glass surface and move upward, and the shape is like a liquid surface; during heavy rain, the raindrops adhere to the glass surface and move upward, and the shape is like a liquid surface.

[0144] In summary, when the vehicle is in a stationary state, when the raindrops are small, they adhere to the glass surface in a semi-circular shape with almost no displacement; as the volume of the raindrops increases, the shape of the raindrops adhering to the glass surface gradually becomes flat and has a tendency to flow down along the glass. When the vehicle is in a medium-low speed driving state, when the vehicle speed reaches a certain speed, each droplet has an upward movement tendency. When the vehicle is driving at a high speed, the raindrops move upward and the morphology changes with the vehicle speed. At the same time, under the light rain condition, as the vehicle speed increases, the movement state of the raindrops falling on the glass surface will change from adhering to the glass to moving upward; under the moderate rain condition, as the vehicle speed increases, the movement state of the raindrops falling on the glass surface will change from adhering to the glass to moving upward, and the raindrop morphology tends to be like a liquid surface.

[0145] Optionally, the information obtained from the model simulation is curve-fitted to obtain a schematic diagram of the fitting curve of the critical value of the water droplet adhesion state as shown in Figure 8 In the range above Curve 1, the water droplet adheres to the glass and moves upward; in the range below Curve 2, the water droplet adheres to the glass and moves downward; in the range between Curve 1 and Curve 2, the water droplet adheres to the glass and remains stationary.

[0146] Through model simulation, the embodiments of the present disclosure can prove that the adhesion state of raindrops on the glass is affected by the vehicle speed and the rainfall, thus affecting visual judgment, providing strong data support for setting the speed thresholds of various compensation strategies in the wiper control method, and further improving the flexibility of the wiper control method.

[0147] Figure 9 The following is a schematic structural diagram of the wiper control device provided by the embodiments of the present disclosure. The wiper control device may be the domain controller described in the above embodiments, or the wiper control device may be a component or assembly in the domain controller. The wiper control device provided by the embodiments of the present disclosure can execute the processing flow provided by the embodiments of the wiper control method. As shown in Figure 9 The wiper control device 90 includes: a first acquisition module 91, a second acquisition module 92, a compensation module 93, and a control module 94; the first acquisition module 91 is used to acquire the driving state information of the vehicle, and the driving state information at least includes the driving speed and the acceleration of the vehicle; the second acquisition module 92 is used to acquire the original control information of the wiper, and the original control information at least includes the original sensitivity of the automatic wiper and the first cycle wiping threshold corresponding to the current rainfall; the compensation module 93 is used to adjust the original control information according to the driving state information to obtain compensation control information, and the compensation control information at least includes the adjusted sensitivity of the automatic wiper and the adjusted cycle wiping threshold; the control module 94 is used to control the wiper to work according to the compensation control information.

[0148] Optionally, when the driving speed is less than the first speed threshold, the compensation module 93 is used to lower the original sensitivity of the automatic wiper and raise the first cycle wiping threshold to the second cycle wiping threshold.

[0149] Optionally, when the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, the compensation module 93 is used to use the original control information as the compensation control information, and the second speed threshold is greater than the first speed threshold.

[0150] Optionally, when the driving speed is greater than or equal to the second speed threshold, the compensation module 93 is used to increase the original sensitivity of the automatic wiper and lower the first cycle wiping threshold to the third cycle wiping threshold.

[0151] Optionally, the compensation module 93 is configured to generate single - wipe control information when the driving speed is less than a third speed threshold and the acceleration is greater than an acceleration threshold, and if the accumulated rainfall value within a preset time is greater than a fourth cyclic - wipe threshold. The third speed threshold is less than the first speed threshold, and the fourth cyclic - wipe threshold is less than the second cyclic - wipe threshold. The single - wipe control information is used to control the wiper to perform one wipe.

[0152] Optionally, the compensation module 93 is further configured to start timing since the last wipe when the automatic wiper is in the intermittent - wipe mode; if the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold after a preset time, generate single - wipe control information.

[0153] Optionally, the wiper control device 90 further includes a simulation module 95, configured to perform simulation according to a real - vehicle glass model and an Eulerian - body raindrop model to obtain raindrop attachment state information, where the raindrop attachment state information includes the influence of rainfall and vehicle speed on the attachment state of raindrops on the glass.

[0154] Optionally, the simulation module 95 is specifically configured to import the real - vehicle glass model and establish Eulerian - body raindrops of multiple preset volumes, control the Eulerian - body raindrop model to drip onto the surface of the real - vehicle glass model at a preset falling speed to obtain first attachment state information. The multiple preset - volume Eulerian - body raindrops respectively correspond to multiple rainfall amounts, and the first attachment state information includes the attachment state of raindrops on the glass under different rainfall amounts; control the real - vehicle glass model to move at multiple preset vehicle speeds, control the Eulerian - body raindrop model to drip onto the surface of the real - vehicle glass model at a preset falling speed to obtain second attachment state information, where the second attachment state information includes the attachment state of raindrops on the glass under different vehicle speeds.

[0155] Figure 9 The wiper control device in the illustrated embodiment can be used to execute the technical solutions of the above - mentioned method embodiment. Its implementation principle and technical effects are similar and will not be elaborated here.

[0156] In addition, an embodiment of the present disclosure further provides a vehicle, which includes the wiper control device as described in the above - mentioned embodiment.

[0157] Figure 10 It is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. The electronic device can be a key for controlling a vehicle or an in - vehicle device as described in the above - mentioned embodiment. The electronic device provided by an embodiment of the present disclosure can execute the processing flow provided by the wiper control method embodiment, as Figure 10 shown. The electronic device 100 includes: a memory 101, a processor 102, a computer program, and a communication interface 103; wherein, the computer program is stored in the memory 101 and is configured to be executed by the processor 102 to perform the wiper control method as described above.

[0158] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the wiper control method described in the above embodiment.

[0159] Furthermore, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instruction, and when the computer program or instruction is executed by a processor, the wiper control method described above is implemented.

[0160] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The above programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0161] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0162] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0163] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A windshield wiper control method, characterized in that, The method includes: Obtaining the driving state information of the vehicle, where the driving state information at least includes the driving speed of the vehicle and the acceleration of the vehicle; Obtaining the original control information of the windshield wiper, where the original control information at least includes the original sensitivity of the automatic windshield wiper and the first cycle wiping threshold corresponding to the current rainfall; Adjusting the original control information according to the driving state information to obtain compensation control information, where the compensation control information at least includes the adjusted sensitivity of the automatic windshield wiper and the adjusted cycle wiping threshold; Controlling the windshield wiper to work according to the compensation control information.

2. The method according to claim 1, characterized in that, The adjusting the original control information according to the driving state information to obtain compensation control information includes: When the driving speed is less than the first speed threshold, reducing the original sensitivity of the automatic windshield wiper and increasing the first cycle wiping threshold to a second cycle wiping threshold.

3. The method according to claim 1, characterized in that, The adjusting the original control information according to the driving state information to obtain compensation control information includes: When the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, using the original control information as the compensation control information, where the second speed threshold is greater than the first speed threshold.

4. The method according to claim 1, characterized in that, The adjusting the original control information according to the driving state information to obtain compensation control information includes: When the driving speed is greater than or equal to the second speed threshold, increasing the original sensitivity of the automatic windshield wiper and reducing the first cycle wiping threshold to a third cycle wiping threshold.

5. The method according to claim 2, characterized in that, The compensation control information further includes single wipe control information, and the adjusting the original control information according to the driving state information to obtain compensation control information includes: When the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, if the cumulative rainfall value within a preset time is greater than the fourth cycle wiping threshold, generating single wipe control information, where the third speed threshold is less than the first speed threshold, the fourth cycle wiping threshold is less than the second cycle wiping threshold, and the single wipe control information is used to control the wiper to perform a single wipe.

6. The method according to claim 5, characterized in that, The adjusting the original control information according to the driving state information to obtain compensation control information further includes: When the automatic windshield wiper is in the intermittent wiping mode, starting timing from the last wipe; If the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold after a preset time, generating single wipe control information.

7. The method according to claim 1, characterized in that, Before obtaining the driving state information of the vehicle, the method further includes: Performing simulation according to the real vehicle glass model and the Eulerian body raindrop model to obtain raindrop attachment state information, where the raindrop attachment state information includes the influence of rainfall and vehicle speed on the attachment state of raindrops on the glass.

8. The method according to claim 7, characterized in that, The raindrop attachment state information includes first attachment state information and second attachment state information, and the performing simulation according to the real vehicle glass model and the Eulerian body raindrop model to obtain raindrop attachment state information includes: Import a real vehicle glass model and create Eulerian body raindrops of multiple preset volumes. Control the Eulerian body raindrop model to drip onto the surface of the real vehicle glass model at a preset falling speed to obtain first attachment state information. The Eulerian body raindrops of the multiple preset volumes respectively correspond to multiple rainfall amounts. The first attachment state information includes the attachment states of raindrops on the glass under different rainfall amounts. Control the real vehicle glass model to move at multiple preset vehicle speeds, and control the Eulerian body raindrop model to drip onto the surface of the real vehicle glass model at a preset falling speed to obtain second attachment state information. The second attachment state information includes the attachment states of raindrops on the glass under different vehicle speeds.

9. A windshield wiper control device, characterized in that, The device includes: A first acquisition module for acquiring the driving state information of the vehicle. The driving state information at least includes the driving speed of the vehicle and the acceleration of the vehicle. A second acquisition module for acquiring the original control information of the windshield wiper. The original control information at least includes the original sensitivity of the automatic windshield wiper and the first cyclic wiping threshold corresponding to the current rainfall amount. A compensation module for adjusting the original control information according to the driving state information to obtain compensation control information. The compensation control information at least includes the adjusted sensitivity of the automatic windshield wiper and the adjusted cyclic wiping threshold. A control module for controlling the windshield wiper to work according to the compensation control information.

10. An electronic device, characterized in that, Includes: A memory; A processor; And A computer program; Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1-8.

12. A vehicle, characterized in that, Includes: The windshield wiper control device according to claim 9; or the electronic device according to claim 10; Or, the computer-readable storage medium according to claim 11.

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