Wiper Control Method, Terminal Device and Storage Medium Based on Electronic Horizon

Abstract

The present invention relates to a windshield wiper control method, a terminal device, and a storage medium based on an electronic horizon. The method includes: S1: receiving in real time the electronic horizon data of the road ahead and the rainfall information collected by a rainfall sensor; S2: judging whether the road condition ahead is a high-definition vision requirement road condition according to the received electronic horizon data. If so, controlling the windshield wiper to move at a second control speed corresponding to the current rainfall; otherwise, controlling the windshield wiper to move at a first control speed corresponding to the received rainfall information, where the second control speed is greater than the first control speed. The present invention solves the deficiencies of traditional windshield wiper control technologies, applies the electronic horizon system to windshield wiper control, provides road information outside the field of vision for windshield wiper control, enables the adjustment of the windshield wiper speed according to road condition information, avoids the occlusion of the field of vision under dangerous road conditions, and improves the safety of drivers.

Description

Technical Field

[0001] The present invention relates to the field of wiper control, and in particular to a wiper control method based on an electronic horizon, a terminal device and a storage medium. Background Art

[0002] Car wipers are used to sweep away rainwater in front of the windshield to ensure the driver's field of vision. In recent years, rain sensors have emerged that can sense the amount of rain on the windshield, thereby realizing intelligent wiper systems that can automatically control the opening and closing of wipers, and when turned on, can automatically adjust the speed of the wipers according to the amount of rain.

[0003] However, automatic wipers also have the problem of insensitive rain sensing and the speed may not meet the vision requirements. In particular, when the surrounding environment changes greatly during driving and the driver has high requirements for vision, the wipers need to temporarily speed up to reduce the obstruction of vision by rain. The traditional wiper system that is only controlled by rain sensors cannot achieve the purpose of combining with the vehicle environment to optimize control.

[0004] For example, in the invention patent with publication number CN106515724A, the environmental parameter information (including meteorological data and road condition data) in the target tunnel is obtained through a camera, sensor or network, and corresponding driving control instructions are generated to control at least one of the speed control instructions, lighting control instructions, lane control instructions, air conditioning control instructions, and wiper control instructions, so as to achieve the purpose of safe driving in the target tunnel. However, the camera or sensor can only obtain environmental information within a short distance and within the field of view in front of the vehicle, and cannot obtain road environmental parameter information completely outside the field of view in a timely manner; and the road condition data only includes road condition data, the average traffic speed in the target tunnel, or the driving speed of the vehicle in front of the vehicle, and the driving distance between the two vehicles and other environmental parameter information related to the driving environment.

[0005] Obviously, the above technical solution is only applicable to the safe driving of vehicles in tunnels. However, its safe driving measures are not applicable to vehicles on roads outside tunnels. For example, roads in tunnels usually have a gentle slope and are relatively straight, and there are no complex road environments such as crossroads. At the same time, the cameras or sensors used in this technical solution cannot promptly, quickly and accurately identify dangerous road environments such as sharp turns, sharp uphill and downhill intersections that often exist on roads outside tunnels. Often, when the camera or sensor identifies, most vehicles are already at or have passed the dangerous position, which makes no sense to optimize control in advance. Summary of the invention

[0006] To solve the above problems, the present invention proposes a wiper control method applicable to various road environments to improve driving safety, especially applicable to road environments in relatively complex and dangerous positions. Therefore, the present invention proposes a wiper control method, terminal device and storage medium based on an electronic horizon.

[0007] The specific solution is as follows:

[0008] A wiper control method based on an electronic horizon, comprising the following steps:

[0009] S1: Real-time receive the electronic horizon data of the road ahead and the rainfall information collected by the rainfall sensor;

[0010] S2: Determine whether the road condition ahead is a high-definition vision demand road condition according to the received electronic horizon data. If so, control the wiper to move at a second control speed corresponding to the current rainfall; otherwise, control the wiper to move at a first control speed corresponding to the current rainfall according to the received rainfall information, where the second control speed is greater than the first control speed.

[0011] Further, the high-definition vision demand road condition includes the up-and-down slope junction road condition, which is judged according to the slope value in the electronic horizon data of the road ahead.

[0012] Further, the judgment method corresponding to the up-and-down slope junction road condition includes the following steps:

[0013] S211: Set the safe observation distance of the vehicle;

[0014] S212: According to the slope values of each acquisition point in the electronic horizon data, calculate the visual inclination angle between each acquisition point within the safe observation distance of the vehicle and the current position of the vehicle;

[0015] S213: Judge whether there is an acquisition point near the current position of the vehicle whose slope value is less than that of the acquisition point far from the current position of the vehicle. If so, determine that the road condition ahead is a high-definition vision demand road condition; otherwise, determine that it is not a high-definition vision demand road condition.

[0016] Further, in step S212, the visual inclination angle is the difference between the horizontal inclination angle at the position of the acquisition point and the slope inclination angle at the current position of the vehicle.

[0017] Further, the calculation method of the horizontal inclination angle at the position of each acquisition point is as follows:

[0018] According to the slope value of the acquisition point, calculate the vertical distance and horizontal distance between every two adjacent acquisition points among all the acquisition points between the acquisition point to be calculated and the vehicle including the acquisition point to be calculated;

[0019] Accumulate all the calculated vertical distances and horizontal distances respectively to obtain the vertical distance and horizontal distance between the acquisition point to be calculated and the vehicle.

[0020] Perform an arctangent operation on the ratio of the vertical distance and the horizontal distance between the acquisition point to be calculated and the vehicle to obtain the horizontal tilt angle of the acquisition point to be calculated.

[0021] Further, the slope tilt angle of the current position of the vehicle is calculated according to the slope value of the current position of the vehicle.

[0022] Further, the calculation method of the safe observation distance of the vehicle is: calculate the safe observation distance of the vehicle according to the product of the current vehicle speed and the driver's reaction time.

[0023] Further, the road conditions with high-definition vision requirements include sharp-turn road conditions, which are judged according to the curvature value and offset value in the electronic horizon data of the front road.

[0024] Further, the judgment method corresponding to the sharp-turn road conditions includes the following steps:

[0025] S221: Set the safe observation distance of the vehicle;

[0026] S222: According to the curvature value and offset value of each acquisition point in the electronic horizon data, judge whether there are more than two consecutive acquisition points with curvature values greater than the curvature threshold within the safe observation distance of the vehicle. If so, enter S223; otherwise, it is determined that it is not a road condition with high-definition vision requirements;

[0027] S223: Judge whether the difference between the offset value of the point farthest from the vehicle and the offset value of the point closest to the vehicle among all the acquisition points with curvature values greater than the curvature threshold is greater than the distance threshold. If so, it is determined that the road condition ahead is a road condition with high-definition vision requirements; otherwise, it is determined that it is not a road condition with high-definition vision requirements.

[0028] Further, the road conditions with high-definition vision requirements include the road conditions corresponding to dangerous environment signs, which are judged according to the environment signs in the electronic horizon data of the front road.

[0029] Further, the judgment method for the road conditions corresponding to dangerous environment signs is: according to the environment signs of each acquisition point in the electronic horizon data, judge whether there are dangerous environment signs within the safe observation distance of the vehicle. If so, it is determined that the road condition ahead is a road condition with high-definition vision requirements; otherwise, it is determined that it is not a road condition with high-definition vision requirements.

[0030] A windshield wiper control terminal device based on an electronic horizon includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method in the above embodiments of the present invention.

[0031] A computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method in the above embodiments of the present invention.

[0032] The present invention adopts the above technical solution, solves the deficiencies of the traditional windshield wiper control technology, applies the electronic horizon system to the windshield wiper control, provides road information outside the field of vision for the windshield wiper control, enables the adjustment of the windshield wiper speed according to the road condition information, avoids the occlusion of the field of vision under dangerous road conditions, and improves the safety of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The flowchart of Embodiment 1 of the present invention is shown.

[0034] Figure 2 The schematic diagram of the road condition at the intersection of uphill and downhill in this embodiment is shown.

[0035] Figure 3 Another schematic diagram of the road condition at the intersection of uphill and downhill in this embodiment is shown.

[0036] Figure 4 The schematic diagram of the sharp turn road condition in this embodiment is shown.

[0037] Figure 5 The schematic diagram of the T-junction in this embodiment is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To further illustrate the embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, mainly used to illustrate the embodiments, and can be used to explain the operation principle of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present invention.

[0039] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0040] Embodiment 1:

[0041] The embodiment of the present invention provides a windshield wiper control method based on an electronic horizon, as Figure 1 shown, including the following steps:

[0042] S1: Real-time receive the electronic horizon data of the road ahead and the rainfall information collected by the rainfall sensor.

[0043] Electronic horizon data refers to the electronic data obtained by processing map data and satellite positioning signals. Therefore, electronic horizon data can provide accurate information about the road ahead for the vehicle. After being processed by certain technical means (detailed below), it enables the vehicle to have the ability to predict road conditions within a considerable distance ahead.

[0044] There are two types of electronic horizons: static and dynamic. The static electronic horizon provides static information such as the slope, curvature, and tunnels of the road ahead of the vehicle, which remains unchanged over a long period. The dynamic electronic horizon can also provide dynamic information such as traffic congestion, traffic light conditions, and accident points ahead of the vehicle on the basis of the static information.

[0045] The electronic horizon consists of map data, a communication network, a positioning system, and a forward search engine for map information. Its characteristic is to parse the positioning longitude and latitude position of the vehicle and the vehicle's forward direction information according to the GPS / Beidou satellite positioning system, search for the geographical information ahead of the vehicle on the electronic horizon map, and transmit the geographical information ahead to the vehicle's controller through the CAN bus or Ethernet bus.

[0046] In this embodiment, the electronic horizon data should at least include basic information such as the slope value, curvature value, environmental signs, and offset value of each acquisition point on the road.

[0047] The rain sensor is a commonly used sensor for detecting the amount of rain, which belongs to the well-known technology in this field.

[0048] S2: Judge whether the road condition ahead is a high-definition vision required road condition according to the received electronic horizon data. If so, control the windshield wiper to move at the second control speed corresponding to the current rainfall; otherwise, control the windshield wiper to move at the first control speed corresponding to the current rainfall according to the received rainfall information.

[0049] When the road condition ahead is not a high-definition vision required road condition, only the amount of rainfall is needed to control the speed of the windshield wiper to the first control speed corresponding to the current rainfall.

[0050] At each same rainfall level, there are respectively a first control speed and a second control speed according to different vision road conditions. Among them, the second control speed is greater than the first control speed, so as to achieve that in the road condition with high vision requirements, the rain on the vehicle's front windshield can be wiped off faster at the second control speed to ensure the driver's clear vision.

[0051] The first control speeds for different rainfall levels are generally not equal. The greater the rainfall, the greater the first control speed corresponding to the rainfall.

[0052] Each rainfall level corresponds to the magnitudes of the first control speed and the second control speed, which can be set by those skilled in the art according to empirical values and experimental data, and are not limited here.

[0053] In this embodiment, the determination of the road conditions for the high-definition vision requirement based on the electronic horizon data includes the following three cases. The determination methods for each case are specifically introduced below.

[0054] (1) Road conditions at the junction of uphill and downhill

[0055] The determination method includes the following steps:

[0056] S211: Calculate the safe observation distance of the vehicle according to the current vehicle speed and the preset reaction time.

[0057] If the vehicle speed is v and the driver's reaction time is t, then the safe observation distance of the vehicle is D = v * t.

[0058] Those skilled in the art can set the reaction time according to empirical values or experimental values, which is not limited herein. In this embodiment, t is set to 5 seconds.

[0059] S212: Calculate the visual field inclination angle between each acquisition point within the safe observation distance of the vehicle and the current position of the vehicle according to the slope values of each acquisition point in the electronic horizon data.

[0060] The visual field inclination angle of each acquisition point is the difference between the horizontal inclination angle at the position of the acquisition point and the slope inclination angle at the current position of the vehicle.

[0061] The horizontal inclination angle is the angle between the connection line between the position of the acquisition point and the current position of the vehicle and the horizontal plane. The calculation method for the horizontal inclination angle of each acquisition point is as follows: According to the slope value of the acquisition point, calculate the vertical distance and horizontal distance between every two adjacent acquisition points among all the acquisition points between the acquisition point to be calculated and the vehicle including the acquisition point to be calculated; Accumulate all the calculated vertical distances and horizontal distances respectively to obtain the vertical distance and horizontal distance between the acquisition point to be calculated and the vehicle; Perform an arctangent operation on the ratio of the vertical distance to the horizontal distance between the acquisition point to be calculated and the vehicle to obtain the horizontal inclination angle of the acquisition point to be calculated.

[0062] The following introduces the specific calculation formula.

[0063] As Figure 2 and Figure 3 shown, sort the acquisition points in ascending order from bottom to top in the direction away from the vehicle. Assume that the vehicle moves from the acquisition point with a slope value of S1 to the acquisition point with a slope value of S2, then the road slope value of this section of the road is S1. Then there is:

[0064]

[0065]

[0066] Among them, θ represents the angle between the line connecting the collection point with slope value S1 and the collection point with slope value S2 and the horizontal plane, h represents the vertical distance, i.e., the vertical distance, between the collection point with slope value S2 and the collection point with slope value S1, w represents the horizontal distance, i.e., the horizontal distance, between the collection point with slope value S2 and the collection point with slope value S1, and T represents the distance between the collection point with slope value S2 and the collection point with slope value S1.

[0067] According to equations (1) and (2), we can obtain:

[0068]

[0069] According to equation (3), we can obtain:

[0070]

[0071] According to equation (4), we can obtain:

[0072]

[0073] Among them, sign(S1) represents: when S1≥0, sign(S1) = 1, indicating an uphill; conversely, sign(S1) = -1, indicating a downhill.

[0074] According to equation (2), the relationship between w and T is:

[0075]

[0076] Substituting equation (5) into equation (6), we can obtain:

[0077]

[0078] So far, the calculation formulas for h and w have been obtained.

[0079] According to the above principle, continue to solve the h and w values from S0 to S1, S2 to S3, S3 to S4, ……, S i-1 to S i of

[0080] Therefore, the calculation formula for the horizontal tilt angle θ i of the i-th collection point is:

[0081]

[0082] Among them, k ∈ [0, i] represents the serial number of the collection point, and S k represents the slope value of the k-th collection point.

[0083] Calculate the slope tilt angle of the current position of the vehicle according to the slope value of the current position of the vehicle.

[0084] Assume that the slope value at the current position of the vehicle is S c , then the calculation formula for the slope inclination angle at the current position of the vehicle is θ c :

[0085] θ c = arcsin S c (9)

[0086] According to the slope inclination angle θ at the current position of the vehicle c and the horizontal inclination angle θ at the i-th acquisition point i , calculate the field of view inclination angle θ' of the i-th acquisition point relative to the vehicle i .

[0087] θ' i = θ i - θ c (10)

[0088] S213: Determine whether there is a slope value of the acquisition point close to the current position of the vehicle that is less than the slope value of the acquisition point far from the current position of the vehicle. If so, determine that the road condition ahead is a high-definition field of view requirement road condition; otherwise, determine that it is not a high-definition field of view requirement road condition.

[0089] The specific situation where the slope value of the acquisition point close to the current position of the vehicle is less than the slope value of the acquisition point far from the current position of the vehicle is: θ' i < θ' j , and the case where i > j, where i and j respectively represent the serial numbers of the acquisition points, and the serial numbers increase gradually from the acquisition point close to the vehicle to the acquisition point far from the vehicle.

[0090] (2) Sharp turn road condition

[0091] The determination method includes the following steps:

[0092] S221: Calculate the safe observation distance of the vehicle according to the current vehicle speed and the preset reaction time.

[0093] S222: According to the curvature values and offset values of each acquisition point in the electronic horizon data, determine whether there are more than two consecutive acquisition points with curvature values greater than the curvature threshold within the safe observation distance of the vehicle. If so, enter S223; otherwise, determine that it is not a high-definition field of view requirement road condition.

[0094] S223: Determine whether the difference between the offset value of the point farthest from the vehicle and the offset value of the point closest to the vehicle among all the acquisition points with curvature values greater than the curvature threshold is greater than the distance threshold. If so, determine that the road condition ahead is a high-definition field of view requirement road condition; otherwise, determine that it is not a high-definition field of view requirement road condition.

[0095] Such as Figure 3As shown, the offset value of the point farthest from the vehicle is P f and the offset value of the point closest to the vehicle is P n and the difference between the two offset values is L.

[0096] (3) Road conditions corresponding to the dangerous environment signs

[0097] According to the environmental signs of each collection point in the electronic horizon data, it is judged whether there are dangerous environment signs within the safe observation sight distance. If so, it is determined that the road condition ahead is a road condition requiring high-definition vision; otherwise, it is determined that it is not a road condition requiring high-definition vision.

[0098] As Figure 4 shown, the T-junction in the figure is a dangerous environment sign. In addition, it can also include accident-prone points, sidewalks, etc. Specific dangerous environment signs can be set by those skilled in the art according to needs. By setting a dangerous environment sign table, by comparing the received environmental signs with each dangerous environment sign in the table one by one, if there is a consistent sign, it means that the sign is a dangerous environment sign.

[0099] The above three situations are three road conditions requiring high-definition vision proposed in this embodiment. In other embodiments, those skilled in the art can also add other methods for determining road conditions requiring high-definition vision, which are not limited here.

[0100] Embodiment 1 of the present invention solves the deficiencies of traditional windshield wiper control technology. Breakthroughly, the processed electronic horizon is used for determining road conditions requiring high-definition vision. According to the determination result, it is applied to windshield wiper control, so that the vehicle can adjust the windshield wiper speed according to road condition information, avoiding the occlusion of vision under dangerous road conditions, and can be widely applied to various road environments such as urban roads, rural roads, tunnels, mountain roads, etc., greatly improving the safety of drivers.

[0101] Embodiment 2:

[0102] The present invention also provides a windshield wiper control terminal device based on an electronic horizon, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above method embodiment of Embodiment 1 of the present invention are implemented.

[0103] Further, as an executable solution, the electronic horizon-based wiper control terminal device may be a computing device such as an in-vehicle computer or a cloud server. The electronic horizon-based wiper control terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above-described composition structure of the electronic horizon-based wiper control terminal device is only an example of the electronic horizon-based wiper control terminal device, and does not constitute a limitation on the electronic horizon-based wiper control terminal device. It may include more or fewer components than the above, or combine certain components, or different components. For example, the electronic horizon-based wiper control terminal device may further include input / output devices, network access devices, buses, etc. The embodiments of the present invention do not make any limitations in this regard.

[0104] Further, as an executable solution, the so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the electronic horizon-based wiper control terminal device, and uses various interfaces and lines to connect all parts of the entire electronic horizon-based wiper control terminal device.

[0105] The memory may be used to store the computer program and / or module. The processor realizes various functions of the electronic horizon-based wiper control terminal device by running or executing the computer program and / or module stored in the memory, and by calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0106] In a preferred embodiment of the present invention, the wiper control terminal device based on the electronic horizon is the vehicle's on-board computer.

[0107] The present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of the method in the above embodiments of the present invention.

[0108] If the module / unit integrated in the wiper control terminal device based on the electronic horizon is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, all or part of the processes in the above embodiments of the method of the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution medium, etc.

[0109] In a preferred embodiment of the present invention, the computer-readable storage medium is the memory in the vehicle's on-board computer.

[0110] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes can be made to the present invention in form and detail without departing from the spirit and scope of the present invention defined by the appended claims, and all of them fall within the protection scope of the present invention.

Claims

1. A windshield wiper control method based on an electronic horizon, characterized in that It includes the following steps: S1: Receive the electronic horizon data of the road ahead and the rainfall information collected by the rainfall sensor in real time; S2: Judge whether the road condition ahead is a high-definition vision required road condition according to the received electronic horizon data. If so, control the windshield wiper to move at the second control speed corresponding to the current rainfall; otherwise, control the windshield wiper to move at the first control speed corresponding to the current rainfall according to the received rainfall information, where the second control speed is greater than the first control speed; The high-definition vision required road conditions include sharp turn road conditions, and the judgment method corresponding to the sharp turn road conditions includes the following steps: S221: Set the safe observation distance of the vehicle; S222: According to the curvature values and offset values of each collection point in the electronic horizon data, judge whether there are more than two consecutive collection points with curvature values greater than the curvature threshold within the safe observation distance of the vehicle. If so, enter S223; otherwise, it is determined that it is not a high-definition vision required road condition; S223: Judge whether the difference between the offset value of the point farthest from the vehicle and the offset value of the point closest to the vehicle among all the collection points with curvature values greater than the curvature threshold is greater than the distance threshold. If so, it is determined that the road condition ahead is a high-definition vision required road condition; otherwise, it is determined that it is not a high-definition vision required road condition.

2. A wiper control terminal device based on an electronic horizon, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of the method described in claim 1.

3. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method described in claim 1.

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