A vehicle wiper assembly control system, method, and vehicle

Abstract

The application provides a vehicle wiper assembly control system, method and vehicle, and relates to the technical field of automobiles.The system comprises a communication transmission module of a wiper, a microcontroller and a position detection module.The microcontroller is used to calculate a feedback motion trajectory according to a wiper motor shaft position signal, select a corresponding pre-stored wiper motion trajectory according to a gear control instruction, calculate the displacement deviation between the two trajectories and calculate a target running voltage, and adjust the voltage of the wiper motor to the target running voltage.The microcontroller is also used to determine whether the target running voltage exceeds a pre-set running voltage threshold value.If yes, it is determined whether the change amount of the wiper motion trajectory within a first pre-set time period is less than a pre-set change amount threshold value.If yes, it is determined that the wiper motor is locked-rotor, a locked-rotor fault signal of the wiper motor is sent to a vehicle controller to turn off the wiper.Otherwise, no treatment is performed.The application can realize locked-rotor protection and wiper speed regulation functions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle wiper assembly control system and method and a vehicle. BACKGROUND

[0002] With the rapid development of the automobile industry, the trend of vehicle intelligence and electrification is becoming increasingly evident, and the electronic system in the vehicle is becoming increasingly complex, which puts higher requirements on the compatibility and electromagnetic compatibility between various electronic components. As an indispensable safety auxiliary device during vehicle driving, the stability and intelligence level of the wiper directly affect the driver's visual clarity and driving safety.

[0003] In the current market, the current traditional wiper control system mainly consists of a combination switch, a speed regulating relay and a direct current brush motor. The speed regulation of the wiper is realized by the opening and closing of the relay, and when the relay acts, a sudden voltage is generated, thereby generating serious electromagnetic interference, which can interfere with other electronic components of the vehicle. The wiper system controlled by the relay can only realize the speed regulation of the direct current motor, and cannot realize the electronic commutation of the motor. In addition, due to the lack of position sensors and computer computing power, the traditional wiper system does not have motor stall protection. This is the deficiency of the prior art. SUMMARY

[0004] In order to solve the deficiency of the prior art, the present application provides a vehicle wiper assembly control system, method and vehicle, which can reduce electromagnetic interference while realizing the speed regulation and electronic commutation function of the wiper motor, and can detect in real time whether the wiper motor is stalled and whether the wiper motor exists a stall condition, and display it to the user when detecting that the wiper motor exists a stall condition, realizing the functions of wiper motor stall protection and gear self-adjustment.

[0005] In the first aspect, the present application provides a vehicle wiper assembly control system, which is applied to a vehicle, and the vehicle includes a vehicle controller, a vehicle gear switch, a wiper body and a vehicle instrument panel, and the wiper body includes a wiper motor.

[0006] The vehicle gear switch is connected to the vehicle controller.

[0007] The vehicle gear switch is used for the user to select the wiper gear.

[0008] The vehicle controller is used for receiving the gear signal sent by the vehicle gear switch.

[0009] The vehicle controller is connected to the vehicle instrument panel.

[0010] The system includes a communication transmission module, a microcontroller and a position detection module.

[0011] The whole vehicle controller is connected with the microcontroller through a communication transmission module;

[0012] The whole vehicle controller is further configured to convert the received gear signal into a gear control instruction and send the gear control instruction to the microcontroller through the communication transmission module;

[0013] The position detection module is a magnetic encoder arranged on an output shaft of the wiper motor, and is connected with the microcontroller, and is configured to collect a wiper motor shaft position signal in real time and transmit the collected wiper motor shaft position signal to the microcontroller;

[0014] The microcontroller is connected with the wiper motor;

[0015] The microcontroller is configured to calculate a feedback motion trajectory according to the transmitted wiper motor shaft position signal, select a corresponding wiper motion trajectory stored in advance according to the sent gear control instruction, calculate a displacement deviation between the selected wiper motion trajectory and the feedback motion trajectory, calculate a target running voltage of the wiper motor based on the calculated displacement deviation, and adjust the voltage of the wiper motor to the target running voltage through an H-bridge circuit to control the wiper to adjust to the wiper gear selected by the user;

[0016] The microcontroller is further configured to determine whether the calculated target running voltage of the wiper motor exceeds a preset running voltage threshold value:

[0017] If the target running voltage exceeds the preset running voltage threshold value, it is determined whether a change amount of the motion trajectory of the wiper within a first preset time period from the current time is less than a preset change amount threshold value, if yes, it is determined that the wiper motor is locked-rotor, a wiper motor locked-rotor fault signal is sent to the whole vehicle controller, so that the whole vehicle controller obtains a wiper fault code from a pre-stored fault code correspondence table according to the wiper motor locked-rotor fault signal and displays the wiper fault code to the user through a vehicle instrument panel, so that the user stops the wiper from continuing to work through a whole vehicle gear switch, and if not, no processing is performed;

[0018] If the target running voltage does not exceed the preset running voltage threshold value, no processing is performed;

[0019] The wiper gears include a low-speed gear, an intermittent gear and a high-speed gear;

[0020] The gear control instruction includes a wiper low-speed control instruction, a wiper intermittent control instruction and a wiper high-speed control instruction, and the wiper motion trajectory includes a wiper low-speed motion trajectory, a wiper intermittent motion trajectory and a wiper high-speed motion trajectory.

[0021] Further, the microcontroller includes a communication data processing unit, a wiper trajectory selection unit, a feedback position calculation unit, a running voltage calculation unit and a PWM pulse running unit:

[0022] The communication data processing unit is configured to receive and analyze the gear control instruction sent by the vehicle controller, and send the analyzed gear control instruction to the wiper trajectory selection unit.

[0023] The wiper trajectory selection unit is configured to receive the analyzed gear control instruction sent by the communication data processing unit, select a corresponding wiper movement trajectory stored in advance according to the analyzed gear control instruction, and send the selected wiper movement trajectory to the running voltage calculation unit.

[0024] The feedback position calculation unit is configured to receive the wiper motor shaft position signal transmitted by the position detection module, calculate a feedback movement trajectory based on the received wiper motor shaft position signal, and send the calculated feedback movement trajectory to the running voltage calculation unit.

[0025] The running voltage calculation unit is configured to receive the wiper movement trajectory sent by the wiper trajectory selection unit and the feedback movement trajectory sent by the feedback position calculation unit, calculate a displacement deviation between the selected wiper movement trajectory and the sent feedback movement trajectory, perform multiplication and integration operations on the obtained displacement deviation, obtain a target running voltage of the wiper motor, and send the obtained target running voltage of the wiper motor to the PWM pulse running unit.

[0026] The PWM pulse running unit is configured to receive the target running voltage of the wiper motor sent by the running voltage calculation unit, generate a PWM pulse signal corresponding to a duty ratio according to the target running voltage, send the generated PWM pulse signal to the H-bridge circuit, and adjust the voltage of the wiper motor to the target running voltage through the H-bridge circuit.

[0027] Further, the microcontroller further comprises a motor stall detection unit.

[0028] The feedback position calculation unit is further configured to send the calculated feedback movement trajectory to the running motor stall detection unit.

[0029] The running voltage calculation unit is further configured to send the obtained target running voltage of the wiper motor to the motor stall detection unit.

[0030] The motor stall detection unit receives the target running voltage of the wiper motor sent by the running voltage calculation unit, and judges whether the calculated target running voltage of the wiper motor exceeds a preset running voltage threshold.

[0031] If the target operating voltage exceeds the preset operating voltage threshold, the change amount of the operating movement track of the wiper motor within the first preset time period from the current time is continuously judged according to the feedback movement track sent by the feedback position calculation unit, and if the change amount is less than the preset change amount threshold, it is determined that the wiper motor is locked, a wiper motor lock fault signal is sent to the vehicle controller, the vehicle controller queries the pre-stored fault code corresponding table to obtain the wiper fault code according to the wiper motor lock fault signal, and displays the wiper fault code to the user through the vehicle instrument panel, so that the user stops the wiper from continuing to work through the vehicle gear switch, and if not, no processing is performed.

[0032] If the target operating voltage does not exceed the preset operating voltage threshold, no processing is performed.

[0033] Further, the microcontroller further comprises a wiper gear self-adjusting unit;

[0034] The wiper gear self-adjusting unit is configured to collect the voltage amplitude of the wiper motor in each water wiping cycle when the wiper is in the high gear, and accumulate the collected voltage amplitude of the wiper motor as an accumulated voltage value after each water wiping cycle ends, and send a wiper low-speed adjustment control instruction to the wiper track selection unit when the accumulated voltage value is greater than a first accumulated voltage threshold.

[0035] The wiper track selection unit is further configured to receive the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit, and select a pre-stored corresponding wiper low-speed movement track according to the wiper low-speed adjustment control instruction, and send the selected wiper low-speed movement track to the operating voltage calculation unit.

[0036] The operating voltage calculation unit is further configured to receive the wiper low-speed movement track sent by the wiper track selection unit and the feedback movement track sent by the feedback position calculation unit, and calculate the displacement deviation between the selected wiper low-speed movement track and the sent feedback movement track, and perform multiplication and integration operations on the obtained position deviation to obtain the target operating voltage of the wiper motor, and send the obtained target operating voltage of the wiper motor to the PWM pulse operation unit.

[0037] The PWM pulse operation unit is configured to receive the target operating voltage of the wiper motor sent by the operating voltage calculation unit, generate a PWM pulse signal corresponding to the duty ratio according to the target operating voltage, and send the generated PWM pulse signal to the H-bridge circuit to adjust the voltage of the wiper motor to the target operating voltage through the H-bridge circuit.

[0038] Further, the wiper gear self-adjusting unit is further configured to, when the wiper is in the low gear, collect the voltage amplitude of the wiper motor in each wiping cycle, and accumulate the collected voltage amplitude of the wiper motor as an accumulated voltage value after each wiping cycle ends, and send a wiper high-speed adjustment control instruction to the wiper trajectory selection unit when the accumulated voltage value is less than a second accumulated voltage threshold value.

[0039] The wiper trajectory selection unit is further configured to receive the wiper high-speed adjustment control instruction sent by the wiper gear self-adjusting unit, and select a pre-stored corresponding wiper high-speed motion trajectory according to the wiper high-speed adjustment control instruction, and send the selected wiper high-speed motion trajectory to the running voltage calculation unit.

[0040] The running voltage calculation unit is further configured to receive the wiper high-speed motion trajectory sent by the wiper trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, and calculate the displacement deviation between the selected wiper high-speed motion trajectory and the sent feedback motion trajectory, and multiply and integrate the obtained position deviation to obtain a target running voltage of the wiper motor, and send the obtained target running voltage of the wiper motor to the PWM pulse running unit.

[0041] The PWM pulse running unit is configured to receive the target running voltage of the wiper motor sent by the running voltage calculation unit, generate a PWM pulse signal corresponding to the duty cycle according to the target running voltage, and send the generated PWM pulse signal to the H-bridge circuit to adjust the voltage of the wiper motor to the target running voltage through the H-bridge circuit.

[0042] Further, the wiper gear self-adjusting unit is further configured to, when the wiper is in the low gear, collect the voltage amplitude of the wiper motor in each wiping cycle, and accumulate the collected voltage amplitude of the wiper motor as an accumulated voltage value after each wiping cycle ends, and send a wiper high-speed adjustment control instruction to the wiper trajectory selection unit when the accumulated voltage value is less than a second accumulated voltage threshold value.

[0043] The wiper trajectory selection unit is configured to receive the wiper intermittent adjustment control instruction sent by the wiper gear self-adjusting unit, and select a pre-stored corresponding wiper intermittent motion trajectory according to the wiper intermittent adjustment control instruction, and send the selected wiper intermittent motion trajectory to the running voltage calculation unit.

[0044] The running voltage calculation unit is further configured to receive the intermittent wiping adjustment control instruction sent by the wiping trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, and calculate the displacement deviation between the selected intermittent wiping motion trajectory and the sent feedback motion trajectory, multiply and integrate the obtained position deviation, obtain the target running voltage of the wiper motor, and send the obtained target running voltage of the wiper motor to the PWM pulse running unit;

[0045] The PWM pulse running unit is configured to receive the target running voltage of the wiper motor sent by the running voltage calculation unit, generate a PWM pulse signal corresponding to a duty ratio according to the target running voltage, send the generated PWM pulse signal to the H-bridge circuit, and adjust the voltage of the wiper motor to the target running voltage through the H-bridge circuit.

[0046] Further, the wiping gear self-adjusting unit is further configured to, when the wiper is in the intermittent gear, collect the voltage amplitude of the wiper motor in each wiping cycle, accumulate the collected voltage amplitude of the wiper motor as an accumulated voltage value after each wiping cycle ends, and send a wiper low-speed adjustment control instruction to the wiping trajectory selection unit when the accumulated voltage value is less than a fourth accumulated voltage threshold.

[0047] The wiping trajectory selection unit is further configured to receive the wiper low-speed adjustment control instruction sent by the wiping gear self-adjusting unit, select a corresponding pre-stored wiper motion trajectory according to the wiper low-speed adjustment control instruction, and send the selected wiper low-speed motion trajectory to the running voltage calculation unit.

[0048] The running voltage calculation unit is further configured to receive the wiper low-speed motion trajectory sent by the wiping trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, calculate the displacement deviation between the selected wiper low-speed motion trajectory and the sent feedback motion trajectory, multiply and integrate the obtained position deviation, obtain the target running voltage of the wiper motor, and send the obtained target running voltage of the wiper motor to the PWM pulse running unit.

[0049] The PWM pulse running unit is configured to receive the target running voltage of the wiper motor sent by the running voltage calculation unit, generate a PWM pulse signal corresponding to a duty ratio according to the target running voltage, send the generated PWM pulse signal to the H-bridge circuit, and adjust the voltage of the wiper motor to the target running voltage through the H-bridge circuit.

[0050] In a second aspect, the present application provides a vehicle wiper assembly control method, the method comprising:

[0051] S1, the vehicle controller converts the received gear signal into a gear control instruction after receiving the gear signal sent by the vehicle gear switch, and sends the gear control instruction to the microcontroller through the communication transmission module;

[0052] S2, the movement trajectory of the wiper is collected in real time;

[0053] S3, the microcontroller calculates the feedback movement trajectory according to the transmitted wiper motor shaft position signal, selects the corresponding pre-stored wiper movement trajectory according to the transmitted gear control instruction, and calculates the displacement deviation between the selected wiper movement trajectory and the feedback movement trajectory, and calculates the target running voltage of the wiper motor based on the calculated displacement deviation;

[0054] S4, the microcontroller adjusts the voltage of the wiper motor to the target running voltage through the H-bridge circuit according to the calculated target running voltage of the wiper motor, so as to control the wiper to adjust to the user-selected wiper gear.

[0055] Further, the method further comprises:

[0056] In the process of adjusting the voltage of the wiper motor to the target running voltage by the microcontroller, it is judged whether the calculated target running voltage of the wiper motor exceeds the preset running voltage threshold:

[0057] If the target running voltage exceeds the preset running voltage threshold, it is further judged whether the change amount of the movement trajectory of the wiper within the first preset time from the current time is less than the preset change amount threshold, if yes, it is determined that the wiper motor is locked, a wiper motor lock fault signal is sent to the vehicle controller, so that the vehicle controller obtains the wiper fault code from the pre-stored fault code corresponding table according to the wiper motor lock fault signal, and displays it to the user through the vehicle instrument panel, so that the user stops the wiper from continuing to work through the vehicle gear switch, if not, no processing is performed;

[0058] If the target running voltage does not exceed the preset running voltage threshold, no processing is performed.

[0059] In a third aspect, the present application provides a vehicle comprising a vehicle wiper assembly control system as described in the first aspect above.

[0060] From the above technical solution, the present application has the following advantages:

[0061] The application significantly reduces electromagnetic interference by introducing a microcontroller to replace a traditional speed regulating relay. Meanwhile, the microcontroller calculates the displacement deviation between the selected wiper movement trajectory and the transmitted wiper movement trajectory, calculates the target running voltage through the microcontroller, adjusts the voltage of the wiper motor to the target running voltage to realize speed control and commutation of the wiper, instead of directly controlling the on-off, reduces voltage mutation, thereby reducing the interference on other electronic components in the vehicle (such as the vehicle entertainment system, navigation system, engine control unit, etc.), improving the stability and reliability of the overall electronic system of the vehicle. In addition, the application judges whether the wiper motor is locked by monitoring the change amount of the wiper movement trajectory in real time and calculating the target running voltage, and timely reminds the user when detecting that the wiper motor is locked, avoiding overheating damage to the motor, and enhancing the safety of the system.

[0062] Secondly, the application automatically adjusts the wiper speed according to the change of the voltage amplitude when the wiper motor is running, improves the adaptability and efficiency of the wiper system, also prolongs the service life of the wiper, and through precise control of the movement trajectory and speed of the wiper, unnecessary energy consumption is avoided, which is helpful for energy saving and emission reduction, and conforms to the development trend of the modern automobile industry.

[0063] In addition, the application has reliable design principle, simple structure, and very wide application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions of the application, the drawings needed to be used in the description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0065] Figure 1 a schematic block diagram of an embodiment of the vehicle wiper assembly control system of the application;

[0066] Figure 2 a schematic block diagram of an embodiment of the microcontroller of the vehicle wiper assembly control system of the application;

[0067] Figure 3 a schematic block diagram of another embodiment of the microcontroller of the vehicle wiper assembly control system of the application;

[0068] Figure 4 a schematic block diagram of another embodiment of the microcontroller of the vehicle wiper assembly control system of the application;

[0069] Figure 5A schematic flow chart of one embodiment of the vehicle wiper assembly control method of the present application. DETAILED DESCRIPTION

[0070] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing specific embodiments and is not intended to limit the present application.

[0072] As shown in Figure 1 A vehicle wiper assembly control system, the system is applied to a vehicle, the vehicle includes a vehicle controller 110, a vehicle gear switch 120, a wiper body 130 and a vehicle instrument panel 140, the wiper body 130 includes a wiper motor 131;

[0073] The vehicle gear switch 120 is connected with the vehicle controller 110;

[0074] The vehicle gear switch 120 is used for the user to select the wiper gear;

[0075] The vehicle controller 110 is used for receiving the gear signal sent by the vehicle gear switch 120;

[0076] The vehicle controller 110 is connected with the vehicle instrument panel 140;

[0077] The system 100 includes a communication transmission module 150 of the wiper, a microcontroller 160 and a position detection module 170;

[0078] The vehicle controller 110 is connected with the microcontroller 160 through the communication transmission module 150;

[0079] The vehicle controller 110 is also used for converting the received gear signal into a gear control instruction, and sending the gear control instruction to the microcontroller 160 through the communication transmission module 150;

[0080] The position detection module 170 is a magnetic encoder, which is arranged on the output shaft of the wiper motor 131, and is connected with the microcontroller 160, and is used for collecting the wiper motor shaft position signal in real time and transmitting the collected wiper motor shaft position signal to the microcontroller 160;

[0081] The microcontroller 160 is connected with the wiper motor 131.

[0082] The microcontroller 160 is configured to calculate a feedback motion trajectory according to the transmitted wiper motor shaft position signal, select a corresponding pre-stored wiper motion trajectory according to the transmitted gear control instruction, calculate a displacement deviation between the selected wiper motion trajectory and the feedback motion trajectory, calculate a target operating voltage of the wiper motor 131 based on the calculated displacement deviation, and adjust the voltage of the wiper motor 131 to the target operating voltage through the H-bridge circuit to control the wiper to adjust to the user-selected wiper gear;

[0083] The microcontroller 160 is further configured to determine whether the calculated target operating voltage of the wiper motor 131 exceeds a pre-set operating voltage threshold value.

[0084] If the target operating voltage exceeds the pre-set operating voltage threshold value, the microcontroller 160 is further configured to determine whether a change amount of the motion trajectory of the wiper within a first pre-set time period before the current time is less than a pre-set change amount threshold value, and if yes, it is determined that the wiper motor 131 is locked-rotor, a wiper motor locked-rotor fault signal is sent to the vehicle controller 110, the vehicle controller 110 obtains a wiper fault code from a pre-stored fault code corresponding table according to the wiper motor locked-rotor fault signal, and displays the wiper fault code to the user through the vehicle instrument panel 140, so that the user can stop the wiper from continuing to work through the vehicle gear switch 120, and if no, no processing is performed.

[0085] If the target operating voltage does not exceed the pre-set operating voltage threshold value, no processing is performed.

[0086] It should be noted that the microcontroller 160 is connected with the wiper motor 131 through the H-bridge circuit.

[0087] Specifically, the calculation formula for calculating the target operating voltage of the wiper motor 131 based on the calculated displacement deviation is:

[0088]

[0089] wherein, the target operating voltage of the wiper motor 131 is represented by V, the proportional coefficient is represented by Kp, the calculated position deviation between the selected wiper motion trajectory and the feedback motion trajectory is represented by e, , the selected wiper motion trajectory is represented by y, the feedback motion trajectory calculated according to the transmitted wiper motor shaft position signal is represented by yf, the integral coefficient is represented by Ki, and t represents the current time and T represents the first pre-set time period before the current time.

[0090] ​Specifically, when the user adjusts the gear to the high gear through the whole vehicle gear switch 120, the whole vehicle controller 110 receives the high gear signal sent by the whole vehicle gear switch 120, converts the received high gear signal into a wiper high-speed control instruction, and sends it to the microcontroller 160 through the communication transmission module 150. The microcontroller 160 selects the pre-stored corresponding wiper high-speed motion trajectory according to the received wiper high-speed control instruction, calculates the feedback motion trajectory according to the real-time collected wiper motor shaft position signal, and calculates the displacement deviation between the selected wiper high-speed motion trajectory and the feedback motion trajectory. Based on the calculated displacement deviation, according to the formula The target running voltage of the wiper motor 131 is calculated, and according to the calculated target running voltage of the wiper motor 131, the voltage of the wiper motor 131 is adjusted to the target running voltage through the H-bridge circuit to control the wiper to adjust to the high gear.

[0091] When the user adjusts the gear to the low gear through the whole vehicle gear switch 120, the whole vehicle controller 110 receives the low gear signal sent by the whole vehicle gear switch 120, converts the received low gear signal into a wiper low-speed control instruction, and sends it to the microcontroller 160 through the communication transmission module 150. The microcontroller 160 selects the pre-stored corresponding wiper low-speed motion trajectory according to the received wiper low-speed control instruction, calculates the feedback motion trajectory according to the real-time collected wiper motor shaft position signal, and calculates the displacement deviation between the selected wiper low-speed motion trajectory and the feedback motion trajectory. Based on the calculated displacement deviation, according to the formula The target running voltage of the wiper motor 131 is calculated, and according to the calculated target running voltage of the wiper motor 131, the voltage of the wiper motor 131 is adjusted to the target running voltage through the H-bridge circuit to control the wiper to adjust to the low gear.

[0092] Specifically, the wiper gear includes a low gear, an intermittent gear and a high gear; the gear control instruction includes a wiper low-speed control instruction, a wiper intermittent control instruction and a wiper high-speed control instruction, and the wiper motion trajectory includes a wiper low-speed motion trajectory, a wiper intermittent motion trajectory and a wiper high-speed motion trajectory. The wiper low-speed motion trajectory is the motion trajectory when the wiper is in the low gear, the wiper intermittent motion trajectory is the motion trajectory when the wiper is in the intermittent gear, and the wiper high-speed motion trajectory is the motion trajectory when the wiper is in the high gear; the wiper low-speed control instruction corresponds to the wiper low-speed motion trajectory, the wiper intermittent control instruction corresponds to the wiper intermittent motion trajectory, and the wiper high-speed control instruction corresponds to the wiper high-speed motion trajectory.

[0093] It should be noted that in the present embodiment, the position detection module 170 collects the wiper motor shaft position signal in a non-contact manner through the magnetic encoder pre-set on the wiper motor shaft.

[0094] As an embodiment of the present application, as shown in Figure 2 The microcontroller 160 includes a communication data processing unit 161, a wiper trajectory selection unit 162, a feedback position calculation unit 163, a running voltage calculation unit 164, and a PWM pulse running unit 165:

[0095] The communication data processing unit 161 is configured to receive and parse the gear control instruction sent by the vehicle controller 110, and send the parsed gear control instruction to the wiper trajectory selection unit 162;

[0096] The wiper trajectory selection unit 162 is configured to receive the parsed gear control instruction sent by the communication data processing unit 161, select a corresponding pre-stored wiper movement trajectory according to the parsed gear control instruction, and send the selected wiper movement trajectory to the running voltage calculation unit 164;

[0097] The feedback position calculation unit 163 is configured to receive the wiper motor shaft position signal transmitted by the position detection module 170, calculate a feedback movement trajectory based on the received wiper motor shaft position signal, and send the calculated feedback movement trajectory to the running voltage calculation unit 164;

[0098] The running voltage calculation unit 164 is configured to receive the wiper movement trajectory sent by the wiper trajectory selection unit 162 and the feedback movement trajectory sent by the feedback position calculation unit 163, calculate the displacement deviation between the selected wiper movement trajectory and the sent feedback movement trajectory, perform multiplication and integration operations on the obtained position deviation, obtain the target running voltage of the wiper motor 131, and send the obtained target running voltage of the wiper motor 131 to the PWM pulse running unit 165;

[0099] The calculation formula for performing multiplication and integration operations on the obtained position deviation is:

[0100] ;

[0101] Among them, The target running voltage of the wiper motor 131, The proportional coefficient, The calculated position deviation between the selected wiper movement trajectory and the feedback movement trajectory, , The selected wiper movement trajectory, The feedback movement trajectory calculated according to the transmitted wiper motor shaft position signal, The integral coefficient, t represents the current time, and T represents the first preset time length from the current time;

[0102] The PWM pulse running unit 165 is configured to receive the target running voltage of the wiper motor 131 sent by the running voltage calculation unit 164, generate a PWM pulse signal corresponding to a duty ratio according to the target running voltage, and send the generated PWM pulse signal to the H-bridge circuit to adjust the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit.

[0103] It should be noted that the length of the first preset time period can be set by the person skilled in the art according to actual needs.

[0104] As shown in FIG. 6, the microcontroller 160 further comprises a motor stall detection unit 166. Figure 3

[0105] The feedback position calculation unit 163 is further configured to send the calculated feedback motion trajectory to the running motor stall detection unit 166.

[0106] The running voltage calculation unit 164 is further configured to send the obtained target running voltage of the wiper motor 131 to the motor stall detection unit 166.

[0107] The motor stall detection unit 166 is configured to receive the target running voltage of the wiper motor 131 sent by the running voltage calculation unit 164, and determine whether the calculated target running voltage of the wiper motor 131 exceeds a preset running voltage threshold.

[0108] If the target running voltage exceeds the preset running voltage threshold, the motor stall detection unit 166 continues to determine whether the change amount of the running motion trajectory of the wiper motor within the first preset time period from the current time is less than a preset change amount threshold according to the feedback motion trajectory sent by the feedback position calculation unit 163, and if yes, it is determined that the wiper motor 131 is stalled, and a wiper motor stall fault signal is sent to the vehicle controller 110, so that the vehicle controller 110 obtains a wiper fault code from a pre-stored fault code corresponding table according to the wiper motor stall fault signal, and displays the wiper fault code to the user through the vehicle instrument panel 140, so that the user stops the wiper from continuing to work through the vehicle gear switch 120, and if not, no processing is performed.

[0109] If the target running voltage does not exceed the preset running voltage threshold, no processing is performed.

[0110] As shown in FIG. 6, the microcontroller 160 further comprises a wiper gear self-adjusting unit 167. Figure 4

[0111] ​​The wiper gear self-adjusting unit 167 is configured to collect the voltage amplitude of the wiper motor 131 in each wiper cycle when the wiper is in the high gear, and accumulate the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiper cycle, and send a wiper low-speed adjustment control instruction to the wiper trajectory selection unit 162 when the accumulated voltage value is greater than a first accumulated voltage threshold value;

[0112] The wiper trajectory selection unit 162 is further configured to receive the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, and select a pre-stored corresponding wiper low-speed motion trajectory according to the wiper low-speed adjustment control instruction, and send the selected wiper low-speed motion trajectory to the running voltage calculation unit 164;

[0113] The running voltage calculation unit 164 is configured to receive the wiper low-speed motion trajectory sent by the wiper trajectory selection unit 162 and the feedback motion trajectory sent by the feedback position calculation unit 163, and calculate the displacement deviation between the selected wiper low-speed motion trajectory and the sent feedback motion trajectory, and perform multiplication and integration operations on the obtained position deviation to obtain a target running voltage of the wiper motor 131, and send the obtained target running voltage of the wiper motor 131 to the PWM pulse running unit 165;

[0114] The PWM pulse running unit 165 is configured to receive the target running voltage of the wiper motor 131 sent by the running voltage calculation unit 164, generate a PWM pulse signal corresponding to the duty ratio according to the target running voltage, and send the generated PWM pulse signal to the H-bridge circuit to adjust the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit.

[0115] Specifically, when the wiper is in the high gear, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiper cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiper cycle, and sends a wiper low-speed adjustment control instruction to the wiper trajectory selection unit 162 when the accumulated voltage value is greater than a first accumulated voltage threshold value, and after the wiper trajectory selection unit 162 receives the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, selects a pre-stored corresponding wiper motion trajectory according to the wiper low-speed adjustment control instruction, that is, a wiper low-speed motion trajectory, and sends the selected wiper low-speed motion trajectory to the running voltage calculation unit 164, and the running voltage calculation unit 164 calculates the displacement deviation between the selected wiper low-speed motion trajectory and the feedback motion trajectory, and performs multiplication and integration operations on the obtained position deviation according to the formula The target running voltage of the wiper motor 131 is calculated, and the obtained target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165; the PWM pulse running unit 165 generates a PWM pulse signal corresponding to a duty ratio according to the received target running voltage, sends the generated PWM pulse signal to an H-bridge circuit, adjusts the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit, and achieves the purpose of reducing the speed of the wiper.

[0116] As an embodiment of the present application, the wiper gear self-adjusting unit 167 is further configured to, when the wiper is in the low-speed gear, collect the voltage amplitude of the wiper motor 130 in each wiping cycle, and accumulate the collected voltage amplitude of the wiper motor 130 as an accumulated voltage value after each wiping cycle ends; when the accumulated voltage value is less than a second accumulated voltage threshold, the wiper gear self-adjusting unit 167 sends a wiper high-speed adjustment control instruction to the wiper trajectory selection unit 162.

[0117] The wiper trajectory selection unit 162 is further configured to receive the wiper high-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, and select a corresponding pre-stored wiper high-speed motion trajectory according to the wiper high-speed adjustment control instruction; and send the selected wiper high-speed motion trajectory to the running voltage calculation unit 164.

[0118] The running voltage calculation unit 164 is configured to receive the wiper high-speed motion trajectory sent by the wiper trajectory selection unit 162 and the feedback motion trajectory sent by the feedback position calculation unit 163, and calculate the displacement deviation between the selected wiper high-speed motion trajectory and the sent feedback motion trajectory; and perform multiplication and integration operations on the obtained position deviation to obtain the target running voltage of the wiper motor 131; and send the obtained target running voltage of the wiper motor 131 to the PWM pulse running unit 165.

[0119] The PWM pulse running unit 165 is configured to receive the target running voltage of the wiper motor 130 sent by the running voltage calculation unit 164, generate a PWM pulse signal corresponding to a duty ratio according to the target running voltage, send the generated PWM pulse signal to an H-bridge circuit, and adjust the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit.

[0120] As an embodiment of the present application, the wiper gear self-adjusting unit 167 is further configured to, when the wiper is in the low-speed gear, collect the voltage amplitude of the wiper motor 130 in each wiping cycle, and accumulate the collected voltage amplitude of the wiper motor 130 as an accumulated voltage value after each wiping cycle ends; when the accumulated voltage value is greater than a third accumulated voltage threshold, the wiper gear self-adjusting unit 167 sends a wiper intermittent adjustment control instruction to the wiper trajectory selection unit 162.

[0121] The wiper track selection unit 162 is configured to receive the wiper intermittent adjustment control instruction sent by the wiper gear self-adjusting unit 167, and select a corresponding wiper intermittent motion track stored in advance according to the wiper intermittent adjustment control instruction, and send the selected wiper intermittent motion track to the running voltage calculation unit 164.

[0122] The running voltage calculation unit 164 is configured to receive the wiper intermittent motion track sent by the wiper track selection unit 162 and the feedback motion track sent by the feedback position calculation unit 163, calculate the displacement deviation between the selected wiper intermittent motion track and the sent feedback motion track, perform multiplication and integration operations on the obtained position deviation, obtain the target running voltage of the wiper motor 131, and send the obtained target running voltage of the wiper motor 131 to the PWM pulse running unit 165.

[0123] The PWM pulse running unit 165 is configured to, when receiving the target running voltage of the wiper motor 131 sent by the running voltage calculation unit 164, generate a PWM pulse signal with a corresponding duty ratio according to the target running voltage, send the generated PWM pulse signal to an H-bridge circuit, and adjust the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit.

[0124] Specifically, when the wiper is in a low gear, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is less than a second accumulated voltage threshold, the wiper gear self-adjusting unit 167 sends a wiper high-speed adjustment control instruction to the wiper track selection unit 162. After the wiper track selection unit 162 receives the wiper high-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, the wiper track selection unit 162 selects a corresponding wiper motion track stored in advance according to the wiper high-speed adjustment control instruction, that is, a wiper high-speed motion track, and sends the selected wiper high-speed motion track to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper high-speed motion track and the feedback motion track, and obtains the target running voltage of the wiper motor 131 according to the formula . The running voltage calculation unit 164 sends the obtained target running voltage of the wiper motor 131 to the PWM pulse running unit 165. The PWM pulse running unit 165 generates a PWM pulse signal with a corresponding duty ratio according to the received target running voltage, sends the generated PWM pulse signal to an H-bridge circuit, and adjusts the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit, thereby achieving the purpose of increasing the speed of the wiper.

[0125] As an embodiment of the present application, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle when the wiper is in the intermittent gear, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is less than a fourth accumulated voltage threshold, the wiper gear self-adjusting unit 167 sends a wiper low-speed adjustment control instruction to the wiper trajectory selection unit 162.

[0126] The wiper trajectory selection unit 162 is also configured to receive the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, and select a pre-stored corresponding wiper low-speed motion trajectory according to the wiper low-speed adjustment control instruction. The selected wiper low-speed motion trajectory is sent to the running voltage calculation unit 164.

[0127] The running voltage calculation unit 164 is configured to receive the wiper low-speed motion trajectory sent by the wiper trajectory selection unit 162 and the feedback motion trajectory sent by the feedback position calculation unit 163, and calculate the displacement deviation between the selected wiper low-speed motion trajectory and the sent feedback motion trajectory. The obtained position deviation is subjected to multiplication and integration operation to obtain the target running voltage of the wiper motor 131. The obtained target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165.

[0128] The PWM pulse running unit 165 is configured to receive the target running voltage of the wiper motor 131 sent by the running voltage calculation unit 164, generate a PWM pulse signal with a corresponding duty ratio according to the target running voltage, and send the generated PWM pulse signal to the H-bridge circuit to adjust the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit.

[0129] Specifically, when the wiper is in the low-speed gear, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is greater than a third accumulated voltage threshold, the wiper gear self-adjusting unit 167 sends a wiper intermittent adjustment control instruction to the wiper trajectory selection unit 162. After receiving the wiper intermittent adjustment control instruction sent by the wiper gear self-adjusting unit 167, the wiper trajectory selection unit 162 selects a pre-stored corresponding wiper motion trajectory, i.e., a wiper intermittent motion trajectory, according to the wiper intermittent control instruction, and sends the selected wiper intermittent motion trajectory to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper intermittent motion trajectory and the feedback motion trajectory according to the formula The target running voltage of the wiper motor 131 is calculated, and the obtained target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165; the PWM pulse running unit 165 generates a PWM pulse signal corresponding to a duty ratio according to the received target running voltage, sends the generated PWM pulse signal to an H-bridge circuit, adjusts the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit, and achieves the purpose of intermittent speed regulation of the wiper.

[0130] When the wiper is in the intermittent gear, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is less than a fourth accumulated voltage threshold, a wiper low-speed adjustment control instruction is sent to the wiper trajectory selection unit 162. After receiving the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, the wiper trajectory selection unit 162 selects a pre-stored corresponding wiper motion trajectory, i.e., a wiper low-speed motion trajectory, according to the wiper low-speed control instruction, and sends the selected wiper low-speed motion trajectory to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper low-speed motion trajectory and the feedback motion trajectory according to the formula The target running voltage of the wiper motor 131 is calculated, and the obtained target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165; the PWM pulse running unit 165 generates a PWM pulse signal corresponding to a duty ratio according to the received target running voltage, sends the generated PWM pulse signal to an H-bridge circuit, adjusts the voltage of the wiper motor 131 to the target running voltage through the H-bridge circuit, and achieves the purpose of intermittent speed regulation of the wiper.

[0131] As an embodiment of the present application, as shown in Figure 5 The present application provides a vehicle wiper assembly control method, which comprises the following steps:

[0132] S1, the vehicle controller 110 converts the gear signal received from the vehicle gear switch 120 into a gear control instruction and sends it to the microcontroller 160 through the communication transmission module 150;

[0133] S2, the motion trajectory of the wiper is collected in real time;

[0134] S3, the microcontroller calculates a feedback motion trajectory according to the transmitted wiper motor shaft position signal, selects a pre-stored corresponding wiper motion trajectory according to the transmitted gear control instruction, and calculates a displacement deviation between the selected wiper motion trajectory and the feedback motion trajectory, and calculates a target operating voltage of the wiper motor 131 based on the calculated displacement deviation;

[0135] S4, the microcontroller 160 calculates the target operating voltage of the wiper motor 131, and adjusts the voltage of the wiper motor 131 to the target operating voltage through the H-bridge circuit to control the wiper to adjust to the user-selected wiper gear.

[0136] As an embodiment of the present application, the method further comprises:

[0137] In the process of adjusting the voltage of the wiper motor 131 to the target operating voltage by the microcontroller 160, it is judged whether the calculated target operating voltage of the wiper motor 131 exceeds a pre-set operating voltage threshold:

[0138] If the target operating voltage exceeds the pre-set operating voltage threshold, it is further judged whether the change amount of the motion trajectory of the wiper within the first pre-set time length from the current time is less than a pre-set change amount threshold, if yes, it is determined that the wiper motor 131 is locked, a wiper motor lock fault signal is sent to the vehicle controller 110, so that the vehicle controller 110 obtains the wiper fault code from the pre-stored fault code corresponding table according to the wiper motor lock fault signal and displays it to the user through the vehicle instrument panel 140, so that the user stops the wiper from continuing to work through the vehicle gear switch 120, if not, no processing is performed;

[0139] If the target operating voltage does not exceed the pre-set operating voltage threshold, no processing is performed.

[0140] As an embodiment of the present application, the calculation formula for calculating the target operating voltage of the wiper motor 131 based on the calculated displacement deviation is:

[0141] ;

[0142] Wherein, represents the target operating voltage of the wiper motor 131, represents a proportional coefficient, represents the calculated position deviation between the selected wiper motion trajectory and the feedback motion trajectory, , represents the selected wiper motion trajectory, represents the feedback motion trajectory calculated according to the transmitted wiper motor shaft position signal, represents an integral coefficient, t represents the current time, and T represents the first pre-set time length from the current time.

[0143] As an embodiment of the present application, the method further comprises:

[0144] When the wiper is in the high-speed gear, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is greater than a first accumulated voltage threshold, a wiper low-speed adjustment control instruction is sent to the wiper trajectory selection unit 162. After the wiper trajectory selection unit 162 receives the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, a corresponding wiper motion trajectory, i.e., a wiper low-speed motion trajectory, is selected according to the wiper low-speed adjustment control instruction. The selected wiper low-speed motion trajectory is sent to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper low-speed motion trajectory and the feedback motion trajectory, and calculates the target running voltage of the wiper motor 131 according to the formula After that, the target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165. The PWM pulse running unit 165 generates a PWM pulse signal corresponding to the duty ratio according to the received target running voltage, and sends the generated PWM pulse signal to the H-bridge circuit. The voltage of the wiper motor is adjusted to the target running voltage through the H-bridge circuit, achieving the purpose of reducing the speed of the wiper

[0145] When the wiper is in the low-speed gear, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is less than a second accumulated voltage threshold, a wiper high-speed adjustment control instruction is sent to the wiper trajectory selection unit 162. After the wiper trajectory selection unit 162 receives the wiper high-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, a corresponding wiper motion trajectory, i.e., a wiper high-speed motion trajectory, is selected according to the wiper high-speed adjustment control instruction. The selected wiper high-speed motion trajectory is sent to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper high-speed motion trajectory and the feedback motion trajectory, and calculates the target running voltage of the wiper motor 131 according to the formula After that, the target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165. The PWM pulse running unit 165 generates a PWM pulse signal corresponding to the duty ratio according to the received target running voltage, and sends the generated PWM pulse signal to the H-bridge circuit. The voltage of the wiper motor 131 is adjusted to the target running voltage through the H-bridge circuit, achieving the purpose of increasing the speed of the wiper

[0146] When the wiper is in the low gear position, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is greater than a third accumulated voltage threshold, a wiper intermittent adjustment control instruction is sent to the wiper trajectory selection unit 162. After receiving the wiper intermittent adjustment control instruction sent by the wiper gear self-adjusting unit 167, the wiper trajectory selection unit 162 selects a pre-stored corresponding wiper motion trajectory, i.e., a wiper intermittent motion trajectory, according to the wiper intermittent control instruction, and sends the selected wiper intermittent motion trajectory to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper intermittent motion trajectory and the feedback motion trajectory, and calculates the target running voltage of the wiper motor 131 according to the obtained position deviation according to the formula . The obtained target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165. The PWM pulse running unit 165 generates a PWM pulse signal corresponding to the duty ratio according to the received target running voltage, and sends the generated PWM pulse signal to the H-bridge circuit. The voltage of the wiper motor 131 is adjusted to the target running voltage through the H-bridge circuit to achieve the purpose of wiper intermittent speed regulation.

[0147] When the wiper is in the intermittent gear position, the wiper gear self-adjusting unit 167 collects the voltage amplitude of the wiper motor 131 in each wiping cycle, and accumulates the collected voltage amplitude of the wiper motor 131 as an accumulated voltage value after each wiping cycle ends. When the accumulated voltage value is less than a fourth accumulated voltage threshold, a wiper low-speed adjustment control instruction is sent to the wiper trajectory selection unit 162. After receiving the wiper low-speed adjustment control instruction sent by the wiper gear self-adjusting unit 167, the wiper trajectory selection unit 162 selects a pre-stored corresponding wiper motion trajectory, i.e., a wiper low-speed motion trajectory, according to the wiper low-speed control instruction, and sends the selected wiper low-speed motion trajectory to the running voltage calculation unit 164. The running voltage calculation unit 164 calculates the displacement deviation between the selected wiper low-speed motion trajectory and the feedback motion trajectory, and calculates the target running voltage of the wiper motor 131 according to the obtained position deviation according to the formula . The obtained target running voltage of the wiper motor 131 is sent to the PWM pulse running unit 165. The PWM pulse running unit 165 generates a PWM pulse signal corresponding to the duty ratio according to the received target running voltage, and sends the generated PWM pulse signal to the H-bridge circuit. The voltage of the wiper motor 131 is adjusted to the target running voltage through the H-bridge circuit to achieve the purpose of wiper low-speed adjustment.

[0148] As an embodiment of the present application, the present application also provides a vehicle comprising the vehicle wiper assembly control system.

[0149] The present application significantly reduces electromagnetic interference by introducing a microcontroller to replace the conventional speed regulating relay. Meanwhile, the microcontroller calculates the displacement deviation between the selected wiper movement trajectory and the transmitted wiper movement trajectory, calculates the target running voltage through the microcontroller, and adjusts the voltage of the wiper motor to the target running voltage to achieve speed control and commutation of the wiper, rather than directly controlling the on-off, reduces voltage mutation, thereby reducing the interference to other electronic components in the vehicle (such as the car entertainment system, navigation system, engine control unit, etc.), improving the stability and reliability of the overall electronic system of the vehicle. In addition, the present application judges whether the wiper motor has stalled by monitoring the change amount of the wiper movement trajectory in real time and calculating the target running voltage, and timely reminds the user when the wiper motor is detected to have stalled, avoiding overheating damage to the motor, enhancing the safety of the system.

[0150] Secondly, the present application automatically adjusts the wiper speed according to the change of the voltage amplitude when the wiper motor is running, improves the adaptability and efficiency of the wiper system, also prolongs the service life of the wiper, and by precisely controlling the movement trajectory and speed of the wiper, unnecessary energy consumption is avoided, which is helpful for energy saving and emission reduction, and conforms to the development trend of the modern automobile industry.

[0151] In addition, the present application has reliable design principle, simple structure, and very wide application prospect.

[0152] The technical effects that can be achieved by the present embodiment can be referred to the description in the above, which will not be repeated here.

[0153] Although the present application has been described in detail with reference to the preferred embodiments, the present application is not limited thereto. Various equivalent modifications or replacements can be made to the embodiments of the present application by those skilled in the art without departing from the spirit and essence of the present application, and these modifications or replacements shall be within the scope of the present application. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle windshield wiper assembly control system, the system being applied to a vehicle, the vehicle including a vehicle controller, a vehicle gear switch, a windshield wiper body and a vehicle dashboard, the windshield wiper body including a windshield wiper motor; The vehicle gear position switch is connected to the vehicle controller. The vehicle gear selector switch is used to allow users to select the windshield wiper settings. The vehicle controller is used to receive the gear position signal sent by the vehicle's gear position switch; The vehicle controller is connected to the vehicle's dashboard; Its features are, The system includes a communication transmission module, a microcontroller, and a position detection module; The vehicle controller is connected to the microcontroller via a communication transmission module; The vehicle controller is also used to convert the received gear position signal into gear position control command, which is then sent to the microcontroller via the communication transmission module. The position detection module is a magnetic encoder, which is installed on the output shaft of the wiper motor. The position detection module is connected to the microcontroller and is used to collect the position signal of the wiper motor shaft in real time and transmit the collected position signal of the wiper motor shaft to the microcontroller. The microcontroller is connected to the wiper motor; The microcontroller is used to calculate the feedback motion trajectory based on the transmitted wiper motor shaft position signal, select the corresponding pre-stored wiper motion trajectory according to the sent gear control command, calculate the displacement deviation between the selected wiper motion trajectory and the feedback motion trajectory, calculate the target operating voltage of the wiper motor based on the calculated displacement deviation, and adjust the voltage of the wiper motor to the target operating voltage through the H-bridge circuit to control the wiper to adjust to the wiper gear selected by the user. The microcontroller is also used to determine whether the calculated target operating voltage of the wiper motor exceeds a preset operating voltage threshold. If the target operating voltage exceeds the preset operating voltage threshold, then it continues to determine whether the change in the wiper's trajectory within the first preset time period from the current moment is less than the preset change threshold. If so, it determines that the wiper motor is stalled and sends a wiper motor stall fault signal to the vehicle controller. The vehicle controller then queries the pre-stored fault code table based on the wiper motor stall fault signal to obtain the wiper fault code and displays it to the user on the vehicle's instrument panel, so that the user can stop the wipers from continuing to work through the vehicle's gear switch. If not, no action is taken. If the target operating voltage does not exceed the preset operating voltage threshold, no action will be taken; The wiper settings include low speed, intermittent speed, and high speed. The gear control commands include low-speed wiper control commands, intermittent wiper control commands, and high-speed wiper control commands, and the wiper movement trajectories include low-speed wiper movement trajectories, intermittent wiper movement trajectories, and high-speed wiper movement trajectories. The microcontroller includes a communication data processing unit, a wiper trajectory selection unit, a feedback position calculation unit, an operating voltage calculation unit, and a PWM pulse operation unit. The communication data processing unit is used to receive and parse the gear control command sent by the vehicle controller, and send the parsed gear control command to the wiper trajectory selection unit. The wiper trajectory selection unit is used to receive the parsed gear control command sent by the communication data processing unit, select the corresponding pre-stored wiper motion trajectory according to the parsed gear control command, and send the selected wiper motion trajectory to the operating voltage calculation unit. The feedback position calculation unit is used to receive the wiper motor shaft position signal transmitted by the position detection module, calculate the feedback motion trajectory based on the received wiper motor shaft position signal, and send the calculated feedback motion trajectory to the operating voltage calculation unit. The operating voltage calculation unit is used to receive the wiper motion trajectory sent by the wiper trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, calculate the displacement deviation between the selected wiper motion trajectory and the sent feedback motion trajectory, perform multiplication and integration on the obtained position deviation to obtain the target operating voltage of the wiper motor, and send the obtained target operating voltage of the wiper motor to the PWM pulse operation unit. The PWM pulse operation unit is used to receive the target operating voltage of the wiper motor sent by the operating voltage calculation unit, generate a PWM pulse signal with a corresponding duty cycle according to the target operating voltage, and send the generated PWM pulse signal to the H-bridge circuit. The H-bridge circuit adjusts the voltage of the wiper motor to achieve the target operating voltage. The microcontroller also includes a wiper speed self-adjustment unit; The wiper speed self-adjustment unit is used to collect the voltage amplitude of the wiper motor in each wiping cycle when the wiper is in high speed mode. After each wiping cycle, the collected voltage amplitude of the wiper motor is accumulated as the accumulated voltage value. When the accumulated voltage value is greater than the first accumulated voltage threshold, a wiper low speed adjustment control command is sent to the wiper trajectory selection unit. The wiper trajectory selection unit is also used to receive the wiper low speed adjustment control command sent by the wiper gear self-adjustment unit, and select the corresponding pre-stored wiper low speed movement trajectory according to the wiper low speed adjustment control command, and send the selected wiper low speed movement trajectory to the operating voltage calculation unit. The operating voltage calculation unit is also used to receive the low-speed motion trajectory of the wiper sent by the wiper trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, and calculate the displacement deviation between the selected low-speed motion trajectory of the wiper and the sent feedback motion trajectory. The obtained position deviation is multiplied and integrated to obtain the target operating voltage of the wiper motor, and the obtained target operating voltage of the wiper motor is sent to the PWM pulse operation unit. The PWM pulse operation unit is used to receive the target operating voltage of the wiper motor sent by the operating voltage calculation unit, generate a PWM pulse signal with a corresponding duty cycle according to the target operating voltage, and send the generated PWM pulse signal to the H-bridge circuit. The H-bridge circuit adjusts the voltage of the wiper motor to achieve the target operating voltage.

2. The vehicle windshield wiper assembly control system according to claim 1, characterized in that, The microcontroller also includes a motor stall detection unit; The feedback position calculation unit is also used to send the calculated feedback motion trajectory to the running motor stall detection unit; The operating voltage calculation unit is also used to send the obtained target operating voltage of the wiper motor to the motor stall detection unit; The motor stall detection unit receives the target operating voltage of the wiper motor from the operating voltage calculation unit and determines whether the calculated target operating voltage of the wiper motor exceeds a preset operating voltage threshold. If the target operating voltage exceeds the preset operating voltage threshold, the system continues to determine whether the change in the operating trajectory of the wiper motor within the first preset time period from the current moment is less than the preset change threshold, based on the feedback motion trajectory sent by the feedback position calculation unit. If so, the wiper motor is determined to be stalled, and a wiper motor stall fault signal is sent to the vehicle controller. The vehicle controller then queries the pre-stored fault code correspondence table based on the wiper motor stall fault signal to obtain the wiper fault code and displays it to the user on the vehicle instrument panel, allowing the user to stop the wipers from continuing to work via the vehicle gear switch. If not, no action is taken. If the target operating voltage does not exceed the preset operating voltage threshold, no action will be taken.

3. The vehicle windshield wiper assembly control system according to claim 2, characterized in that, The wiper speed self-adjustment unit is also used to collect the voltage amplitude of the wiper motor in each wiping cycle when the wiper is in a low speed setting. After each wiping cycle, the collected voltage amplitude of the wiper motor is accumulated as the accumulated voltage value. When the accumulated voltage value is less than the second accumulated voltage threshold, a high-speed wiper adjustment control command is sent to the wiper trajectory selection unit. The wiper trajectory selection unit is also used to receive the wiper high-speed adjustment control command sent by the wiper gear self-adjustment unit, and select the corresponding pre-stored wiper high-speed motion trajectory according to the wiper high-speed adjustment control command, and send the selected wiper high-speed motion trajectory to the operating voltage calculation unit. The operating voltage calculation unit is also used to receive the high-speed motion trajectory of the wiper sent by the wiper trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, and calculate the displacement deviation between the selected high-speed motion trajectory of the wiper and the sent feedback motion trajectory. The obtained position deviation is multiplied and integrated to obtain the target operating voltage of the wiper motor, and the obtained target operating voltage of the wiper motor is sent to the PWM pulse operation unit. The PWM pulse operation unit is used to receive the target operating voltage of the wiper motor sent by the operating voltage calculation unit, generate a PWM pulse signal with a corresponding duty cycle according to the target operating voltage, and send the generated PWM pulse signal to the H-bridge circuit. The H-bridge circuit adjusts the voltage of the wiper motor to achieve the target operating voltage.

4. The vehicle windshield wiper assembly control system according to claim 2, characterized in that, The wiper speed self-adjustment unit is also used to collect the voltage amplitude of the wiper motor in each wiping cycle when the wiper is in a low speed setting. After each wiping cycle, the collected voltage amplitude of the wiper motor is accumulated as the accumulated voltage value. When the accumulated voltage value is greater than the third accumulated voltage threshold, a wiper intermittent adjustment control command is sent to the wiper trajectory selection unit. The wiper trajectory selection unit is used to receive the wiper intermittent adjustment control command sent by the wiper gear self-adjustment unit, and select the corresponding pre-stored wiper intermittent motion trajectory according to the wiper intermittent adjustment control command, and send the selected wiper intermittent motion trajectory to the operating voltage calculation unit. The operating voltage calculation unit is also used to receive the wiper intermittent adjustment control command sent by the wiper trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, and calculate the displacement deviation between the selected wiper intermittent motion trajectory and the sent feedback motion trajectory. The obtained position deviation is multiplied and integrated to obtain the target operating voltage of the wiper motor, and the obtained target operating voltage of the wiper motor is sent to the PWM pulse operation unit. The PWM pulse operation unit is used to receive the target operating voltage of the wiper motor sent by the operating voltage calculation unit, generate a PWM pulse signal with a corresponding duty cycle according to the target operating voltage, and send the generated PWM pulse signal to the H-bridge circuit. The H-bridge circuit adjusts the voltage of the wiper motor to achieve the target operating voltage.

5. The vehicle wiper assembly control system according to claim 4, characterized in that, The wiper speed self-adjustment unit is also used to collect the voltage amplitude of the wiper motor in each wiping cycle when the wiper is in the intermittent mode. After each wiping cycle, the collected voltage amplitude of the wiper motor is accumulated as the accumulated voltage value. When the accumulated voltage value is less than the fourth accumulated voltage threshold, a wiper low speed adjustment control command is sent to the wiper trajectory selection unit. The wiper trajectory selection unit is also used to receive the wiper low speed adjustment control command sent by the wiper gear self-adjustment unit, and select the corresponding wiper motion trajectory that is stored in advance according to the wiper low speed adjustment control command, and send the selected wiper low speed motion trajectory to the operating voltage calculation unit. The operating voltage calculation unit is also used to receive the low-speed motion trajectory of the wiper sent by the wiper trajectory selection unit and the feedback motion trajectory sent by the feedback position calculation unit, and calculate the displacement deviation between the selected low-speed motion trajectory of the wiper and the sent feedback motion trajectory. The obtained position deviation is multiplied and integrated to obtain the target operating voltage of the wiper motor, and the obtained target operating voltage of the wiper motor is sent to the PWM pulse operation unit. The PWM pulse operation unit is used to receive the target operating voltage of the wiper motor sent by the operating voltage calculation unit, generate a PWM pulse signal with a corresponding duty cycle according to the target operating voltage, and send the generated PWM pulse signal to the H-bridge circuit. The H-bridge circuit adjusts the voltage of the wiper motor to achieve the target operating voltage.

6. A vehicle wiper assembly control method applied to a vehicle wiper assembly control system as described in any one of claims 1-5, characterized in that, The method includes: S1. After receiving the gear position signal sent by the vehicle gear position switch, the vehicle controller converts the received gear position signal into a gear position control command and sends it to the microcontroller through the communication transmission module. S2. Real-time acquisition of the windshield wiper movement trajectory; S3. The microcontroller calculates the feedback motion trajectory based on the transmitted wiper motor shaft position signal, selects the corresponding pre-stored wiper motion trajectory according to the sent gear control command, calculates the displacement deviation between the selected wiper motion trajectory and the feedback motion trajectory, and calculates the target operating voltage of the wiper motor based on the calculated displacement deviation. S4. The microcontroller calculates the target operating voltage of the wiper motor and adjusts the voltage of the wiper motor to the target operating voltage through the H-bridge circuit, so as to control the wiper to adjust to the wiper speed selected by the user.

7. The vehicle windshield wiper assembly control method according to claim 6, characterized in that, The method also includes: During the process of the microcontroller adjusting the voltage of the wiper motor to the target operating voltage, it is determined whether the calculated target operating voltage of the wiper motor exceeds the preset operating voltage threshold. If the target operating voltage exceeds the preset operating voltage threshold, then it continues to determine whether the change in the wiper's trajectory within the first preset time period from the current moment is less than the preset change threshold. If so, it determines that the wiper motor is stalled and sends a wiper motor stall fault signal to the vehicle controller. The vehicle controller then queries the pre-stored fault code table based on the wiper motor stall fault signal to obtain the wiper fault code and displays it to the user on the vehicle's instrument panel, so that the user can stop the wipers from continuing to work through the vehicle's gear switch. If not, no action is taken. If the target operating voltage does not exceed the preset operating voltage threshold, no action will be taken.

8. A vehicle, characterized in that... Includes: the vehicle is integrated with a vehicle wiper assembly control system as described in any one of claims 1-5.

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