A method, apparatus, vehicle, and storage medium for controlling windshield wipers.

Abstract

This application provides a method, apparatus, vehicle, and storage medium for controlling windshield wipers. The method includes: upon receiving a control signal to turn off the vehicle's windshield wipers, determining whether the wipers are currently in a stopped position; if the wipers are determined to be in a stopped position, determining the duration the wipers have remained in the stopped position; based on the duration, determining whether the wipers currently meet a preset condition; wherein the preset condition indicates that the wipers will not leave the stopped position after the power to the wiper motor is disconnected; and if the preset condition is determined to be met, disconnecting the power to the wiper motor. This method ensures that after the wipers are turned off, they remain in the stopped position and do not leave it, guaranteeing the safety and reliability of the wipers, improving the user's driving experience, and avoiding the problems of wipers stopping after leaving the stopped position, which can easily damage the wipers and interfere with the driver's vision.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a method, apparatus, vehicle, and storage medium for controlling windshield wipers in the field of vehicles. Background Technology

[0002] With the development of vehicle intelligence, electronic and automation technologies are being applied more and more widely in vehicle systems, including electronic control and automated management of various vehicle functions. Against this backdrop, the windshield wiper system, as an important component of the vehicle, has also seen significant improvements in its intelligent and automated control. However, despite this, mechanical windshield wipers remain standard equipment on many vehicles due to their cost-effectiveness and ease of maintenance.

[0003] Vehicles equipped with mechanical windshield wipers control the operation of the wipers by switching the power to the wiper motor on and off. However, when the power to the wiper motor is disconnected, it often continues to move a certain distance due to inertia. This can cause the wipers to move to a non-stop position when the wipers are turned off. Wipers that stop in a non-stop position are prone to damage and may also obstruct the driver's view, resulting in a poor user experience. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for controlling windshield wipers. The method ensures that the windshield wipers remain in the stop position after being turned off, thus guaranteeing the safety and reliability of the wipers, improving the user's driving experience, and preventing the wipers from stopping after leaving the stop position, which could easily damage the wipers or interfere with the driver's vision and affect the safety of driving the vehicle.

[0005] In a first aspect, a method for controlling a windshield wiper is provided. The method includes: upon receiving a control signal to turn off the windshield wipers, determining whether the wipers are currently in a stopped position; if the wipers are determined to be in a stopped position, determining the duration the wipers have remained in the stopped position; based on the duration, determining whether the wipers currently meet a preset condition; wherein the preset condition indicates that the wipers will not leave the stopped position after the power to the wiper motor is disconnected; and if the wipers currently meet the preset condition, disconnecting the power to the wiper motor.

[0006] In the above technical solution, when the windshield wipers are in the stopped position and the wipers are to be turned off, the system determines whether the preset condition that the wipers will not leave the stopped position after disconnecting the power to the wiper motor is met by measuring the duration the wipers have been in the stopped position. This ensures that the wipers remain in the stopped position after being turned off, guaranteeing their safety and reliability and improving the user experience. This avoids the problem of the wiper motor continuing to rotate and causing the wipers to move away from the stopped position after the wipers are turned off, which could easily damage the wipers, and the problem of the wipers stopping in a non-stop position interfering with the driver's vision and affecting driving safety.

[0007] In conjunction with the first aspect, in some possible implementations, based on the dwell time, it is determined whether the wiper currently meets the preset conditions, including: determining the target dwell time of the wiper in the stop position during the wiping process; determining the target buffer time required for the wiper motor to stop rotating from the power being disconnected; and determining whether the wiper currently meets the preset conditions based on the dwell time, the target time, and the target buffer time.

[0008] Combining the first aspect and the above implementation methods, in some possible implementation methods, based on the dwell time, target time, and target buffer time, it is determined whether the wiper currently meets the preset conditions, including: subtracting the dwell time from the target time to obtain the current remaining buffer time of the wiper; if the remaining buffer time is less than the target buffer time, it is determined that the wiper currently meets the preset conditions.

[0009] In the above technical solution, by subtracting the existing dwell time from the target duration and comparing it with the remaining buffer time, it is possible to directly, simply, and accurately determine whether the wiper motor can stop rotating within the target duration after the power is disconnected. If the remaining buffer time is greater than the target buffer time, it is determined that the wiper motor can stop rotating within the target duration. In this case, after disconnecting the power to the wiper motor, the wiper motor will not drive the wiper away from the stop position; the wiper will stop at the stop position. If the preset conditions are met at this point, the power to the wiper motor is disconnected. This achieves the control of the wipers to stop at the stop position, ensuring the safety of the wipers and avoiding problems such as wiper damage caused by the wipers stopping at non-stop positions.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining the target buffer time required for the wiper motor to stop rotating from the power being disconnected includes: obtaining the current operating parameters of the wiper; and determining the target buffer time required for the wiper motor to stop rotating from the power being disconnected based on the operating parameters and the basic buffer time required for the wiper motor to stop rotating from the power being disconnected.

[0011] Combining the first aspect and the above implementation methods, in some possible implementation methods, the wiper's moving speed, wear coefficient, and drying coefficient are used to determine the target buffer time based on the operating parameters and the basic buffer time required for the wiper to stop rotating from the power being disconnected. This includes: determining a speed compensation coefficient based on the moving speed; determining a friction compensation value based on the wear coefficient and drying coefficient; multiplying the basic buffer time by the speed compensation coefficient to obtain an intermediate value; and subtracting the friction compensation value from the intermediate value to obtain the target buffer time.

[0012] In the above technical solution, the base buffer time is scaled by the wiper's moving speed, wear coefficient, and dryness coefficient to obtain the target buffer time. This takes into account the impact of operating conditions such as the wiper's moving speed, wear coefficient, and dryness coefficient on the buffer time required for the wiper motor to stop moving after the power is disconnected during actual operation. This achieves dynamic adjustment of the target buffer time according to the actual operating conditions of the wiper, and calculates an accurate target buffer time that conforms to the current actual operating conditions. This ensures that the wiper can safely and accurately stop at the stop position after the power to the wiper motor is disconnected under various operating conditions, improving the overall performance of the wiper system and reducing the risk of the driver's vision being affected by the wiper stopping in an improper position.

[0013] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the method further includes: controlling the wiper to remain running when it is determined that the wiper does not currently meet the preset conditions; and disconnecting the power supply to the wiper motor when it is determined that the wiper has moved to the stop position again.

[0014] In the above technical solution, when it is determined that the preset conditions are not met, the wipers are controlled to continue running. After the wipers run for one cycle, they will return to the stop position. At this time, the wiper motor is controlled to disconnect the power and shut down the wipers. This achieves the goal of controlling the wipers to stop at the stop position when the preset conditions are not met.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, disconnecting the power supply to the wiper motor when it is determined that the wiper has moved to the stop position again includes: determining whether the control signal is valid when it is determined that the wiper has moved to the stop position again; disconnecting the power supply to the wiper motor when the control signal is valid; and controlling the wiper to continue running when the control signal is invalid.

[0016] In summary, this application accurately obtains the remaining buffer time for the wiper motor when the wiper is currently in the stopped position and the wiper needs to be turned off by subtracting the already stopped time from the target duration the wiper can remain in the stopped position. Taking into account the influence of operating conditions such as the wiper's movement speed, wear coefficient, and dryness coefficient on the buffer time required for the wiper motor to stop moving after power is disconnected, a precise target buffer time that conforms to the current actual operating conditions is calculated. Comparing the remaining buffer time with the target buffer time determines whether the wiper motor can stop rotating within the target time, thus directly and simply determining whether the wiper motor power can be disconnected. When the remaining buffer time is greater than or equal to the target buffer time, it is determined that the wiper motor can stop rotating within the target time. At this point, the wiper will stop in the stopped position, and the wiper motor power can be disconnected. This achieves control of the wiper to stop in the stopped position, ensuring the safety of the wiper and avoiding problems such as wiper damage caused by the wiper stopping in a non-stop position. When the remaining buffer time is less than the target buffer time, it is determined that the wiper motor cannot stop rotating within the target time. At this time, the wiper will not stop at the stop position, and the wiper will continue to run. When the wiper returns to the stop position after running one cycle, the wiper motor is powered off and the wiper is turned off. This achieves the goal of controlling the wiper to stop at the stop position when the preset conditions are not met.

[0017] Secondly, a device for controlling windshield wipers is provided, comprising: a first judgment module, configured to determine whether the windshield wipers are currently in a stopped position upon receiving a control signal to turn off the vehicle's windshield wipers; a determination module, configured to determine the duration the windshield wipers have remained in the stopped position if the windshield wipers are currently in the stopped position; a second judgment module, configured to determine whether the windshield wipers currently meet a preset condition based on the duration of the stop; wherein the preset condition indicates that the windshield wipers will not leave the stopped position after the power to the windshield wiper motor is disconnected; and a control module, configured to disconnect the power to the windshield wiper motor if the windshield wipers are currently meeting the preset condition.

[0018] In conjunction with the second aspect, in some possible implementations, the second judgment module is specifically used to: determine the target duration for the wiper to remain at the stop position during the wiping process; determine the target buffer duration required for the wiper motor to stop rotating from the power being disconnected; and, based on the already observed duration, the target duration, and the target buffer duration, determine whether the wiper currently meets the preset conditions.

[0019] Combining the second aspect and the above implementation methods, in some possible implementation methods, the second judgment module is specifically used to subtract the already stopped time from the target time to obtain the current remaining buffer time of the wiper; if the remaining buffer time is less than the target buffer time, it is determined that the wiper currently meets the preset conditions.

[0020] Combining the second aspect and the above implementation methods, in some possible implementation methods, the second judgment module is specifically used to: obtain the current operating parameters of the wiper; and based on the operating parameters and the basic buffer time required for the wiper motor to stop rotating from the power being disconnected, determine the target buffer time required for the wiper motor to stop rotating from the power being disconnected.

[0021] Combining the second aspect and the above implementation methods, in some possible implementation methods, the operating parameters include: the moving speed of the wiper, the wear coefficient, and the drying coefficient. The second judgment module is specifically used to: determine the speed compensation coefficient based on the moving speed; determine the friction compensation value based on the wear coefficient and the drying coefficient; multiply the basic buffer time by the speed compensation coefficient to obtain the intermediate value; and subtract the friction compensation value from the intermediate value to obtain the target buffer time.

[0022] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the control module is also used to: control the wipers to keep running when it is determined that the wipers do not currently meet the preset conditions; and disconnect the power supply to the wiper motor when it is determined that the wipers have moved to the stop position again.

[0023] Combining the second aspect and the above implementation methods, in some possible implementation methods, the control module is specifically used to: determine whether the control signal is valid when it is determined that the wiper has moved to the stop position again; disconnect the power supply to the wiper motor when the control signal is determined to be valid; and control the wiper to continue running when the control signal is determined to be invalid.

[0024] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods of the first aspect or any possible implementation thereof.

[0025] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0026] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0027] Figure 1 This is a schematic flowchart of a method for controlling a windshield wiper provided in an embodiment of this application.

[0028] Figure 2 This is a schematic flowchart illustrating another method for controlling windshield wipers provided in the embodiments of this application.

[0029] Figure 3 This is a schematic diagram of a device for controlling windshield wipers provided in an embodiment of this application.

[0030] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0031] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0032] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0033] In existing technology, after a vehicle receives a control signal to turn off the windshield wipers, it disconnects the power supply to the wiper motor to shut off the wipers. However, the wiper motor continues to rotate for a period of time after the power is disconnected due to inertia and other reasons before stopping. Therefore, in existing technology, when the wipers need to be turned off, after disconnecting the power to the wiper motor, there is a problem that the wiper motor, due to inertia and other reasons, moves a certain distance, causing the wiper to stop in a non-stop position. When the wiper stops in a non-stop position, the wiper is easily damaged, and the wiper may also obstruct the driver's view, resulting in a poor user experience.

[0034] Based on this, this application proposes a method for controlling windshield wipers, which can ensure that the wipers stop at the stop position, improve the user's driving experience, and avoid problems such as windshield wipers being easily damaged or windshield wipers affecting the driver's driving vision caused by the wipers running to a non-stop position.

[0035] Figure 1 This is a schematic flowchart illustrating a method for controlling windshield wipers according to an embodiment of this application. The method is applied to a vehicle.

[0036] For example, such as Figure 1 As shown, the method 100 includes:

[0037] Step 101: Upon receiving a control signal to turn off the vehicle's windshield wipers, determine whether the windshield wipers are currently in the stopped position;

[0038] Step 102: If it is determined that the wiper is currently in the stopped position, determine the duration that the wiper has been in the stopped position.

[0039] Step 103: Based on the duration of dwell time, determine whether the windshield wipers currently meet the preset conditions;

[0040] The preset condition indicates that the wipers will not move away from the stop position after the power to the wiper motor is disconnected.

[0041] Step 104: If it is determined that the wipers currently meet the preset conditions, disconnect the power supply to the wiper motor.

[0042] exist Figure 1 In the illustrated embodiment, when the windshield wipers are in the stopped position and the wipers are to be turned off, the system determines whether the preset condition that the wipers will not leave the stopped position after disconnecting the power to the wiper motor is met by measuring the duration the wipers have been in the stopped position. This ensures that the wipers remain in the stopped position after being turned off, guaranteeing their safety and reliability and improving the user experience. This avoids the problem of the wiper motor continuing to rotate and causing the wipers to move away from the stopped position after the wipers are turned off, which could easily damage the wipers, and the problem of the wipers stopping in a non-stop position interfering with the driver's vision and affecting driving safety.

[0043] In step 101, the windshield wiper can specifically be a mechanical windshield wiper, which includes a wiper motor. The windshield wiper can be controlled by controlling the wiper motor. The control signal to turn off the windshield wipers can be sent by the driver to the vehicle while the wipers are running.

[0044] Vehicles may have mechanical levers, typically integrated next to or below the steering wheel. The driver can control the windshield wipers by moving the lever up and down or left and right. For example, moving the lever up or down sends a signal to turn the wipers on. Specifically, moving the lever up sends a signal to turn the wipers on, and the vehicle receives and activates them. Moving the lever down turns the wipers off, and the vehicle receives and deactivates them.

[0045] Vehicles may also have mechanical buttons for turning the windshield wipers on and off, typically integrated near the steering wheel. The driver can press the "on" button to send a control signal to the vehicle to activate the wipers. The vehicle then receives the signal and activates the wipers. Conversely, the driver can press the "off" button to send a control signal to the vehicle to deactivate the wipers. The vehicle then receives the signal and deactivates the wipers.

[0046] In some embodiments, the mechanical button for turning the windshield wipers on and off can be a single button. If the driver presses this button when the wipers are off, a control signal is sent to the vehicle to turn the wipers on. The vehicle receives this control signal and begins to turn the wipers on. If the driver presses this button when the wipers are on, a control signal is sent to the vehicle to turn the wipers off. The vehicle receives this control signal and begins to turn the wipers off.

[0047] In some embodiments, the vehicle may also include a voice recognition module, allowing the driver to control the windshield wipers by issuing voice commands. Specifically, the driver can control the wipers to turn on using voice commands including keywords such as "turn on wipers" or "start wiping," and to turn them off using voice commands including keywords such as "turn off wipers" or "stop wiping." When the vehicle detects a voice command from the driver including keywords such as "turn off wipers" or "stop wiping," it determines that it has received a control signal from the driver to turn off the wipers.

[0048] Upon receiving a control signal to turn off the windshield wipers, the vehicle begins to determine whether the wipers are currently in the stop position. The stop position is a predetermined position for the wipers when they are not in operation. This position ensures that the wipers do not obstruct the driver's view and also protects the wipers from accidental damage; it is usually the lowest point where the wipers are operating.

[0049] A position sensor can be installed at the stop position to detect whether the windshield wipers are currently in the stop position. Specifically, when the wipers are in the stop position, the position sensor detects them and outputs a digital signal, such as "1", indicating that the wipers are currently in the stop position. When the wipers move out of the stop position, the position sensor cannot detect them and outputs a digital signal, such as "0", indicating that the wipers are not currently in the stop position. The vehicle can acquire the digital signal currently output by the position sensor and determine whether the wipers are currently in the stop position based on this signal.

[0050] In step 102, when the vehicle determines that the digital signal output by the position sensor is "1", it determines that the windshield wiper is currently in the stop position, and at this time, it begins to acquire the duration that the windshield wiper has been in the stop position.

[0051] Specifically, when the position sensor detects that the wiper is in the stop position, it continuously outputs a digital signal "1". The duration of the digital signal "1" output by the position sensor can be obtained to determine the duration of the stop.

[0052] In step 103, based on the duration the wiper has been stationary at the stop position, it can be determined whether the wiper will move away from the stop position after the wiper motor power is turned off, thus determining whether the wiper currently meets the preset conditions.

[0053] If it is determined that the wipers will not move away from the stop position after the wiper motor power is disconnected, then the wipers are currently meeting the preset conditions. If it is determined that the wipers will move away from the stop position after the wiper motor power is disconnected, then the wipers are currently not meeting the preset conditions.

[0054] In one possible implementation, step 103, based on the duration of dwell, determines whether the windshield wiper currently meets preset conditions, including the following S11 to S13:

[0055] S11, determine the target duration for the wiper to remain at the stop position during the wiping process.

[0056] The target duration can be the maximum time the wiper blades can remain in the stop position during wiping. The target duration for which the wiper blades remain in the stop position during operation is usually a fixed value, typically determined through multiple tests based on factors such as the wiper blades' material and properties, to achieve optimal wiper performance.

[0057] During windshield wiper operation, the position sensor continuously outputs a digital signal "1" when the wiper is in the stop position. Therefore, by obtaining the duration of the last time the position sensor outputs a digital signal "1", the target duration for the wiper to remain in the stop position during operation can be determined.

[0058] In some embodiments, the vehicle has a pre-stored target duration for the windshield wipers to remain in the stop position, and the target duration stored in the vehicle can be directly obtained.

[0059] S12, determine the target buffer time required for the wiper motor to stop rotating from the point of power disconnection.

[0060] It is understandable that after the power to the wiper motor is disconnected, the wiper motor will continue to rotate for a period of time due to inertia and other reasons before stopping. The time between the power being disconnected and the wiper motor stopping can be called the buffer time.

[0061] Different vehicles may be equipped with different windshield wipers, and different wiper motors may have different wiper motors. Therefore, a mapping table can be pre-set, including the buffer duration for different wiper motors corresponding to different vehicles. The vehicle can obtain its own vehicle identification number (VIN), and based on the VIN, the buffer duration of the vehicle's wiper motor can be determined from the mapping table to obtain the target buffer duration.

[0062] In some embodiments, the operating parameters of the windshield wipers may also affect the buffer duration. The following embodiments will describe this situation in detail:

[0063] In one possible implementation, S12, determining the target buffer time required for the wiper motor to stop rotating from the power being disconnected includes: obtaining the current operating parameters of the wiper; and determining the target buffer time required for the wiper motor to stop rotating from the power being disconnected based on the operating parameters and the basic buffer time required for the wiper to stop rotating from the power being disconnected.

[0064] The operating parameters refer to the current working status of the windshield wipers, including the wiper speed, wiper position, and environmental conditions (such as rainfall and temperature). Vehicles can be equipped with corresponding sensors to collect these operating parameters.

[0065] The basic buffer time refers to the maximum time required for the wiper motor to come to a complete stop from power disconnection under standard or ideal conditions. This basic buffer time can be stored in the vehicle and can be directly accessed.

[0066] It is understandable that, considering the actual operating parameters of windshield wipers may differ from standard or ideal conditions, the actual operating parameters of the wipers will have a certain impact on the basic buffer time of the wiper motor. The vehicle can obtain the operating parameters of the wipers and determine the target buffer time that best suits the current operating state of the wipers based on these parameters and the basic buffer time.

[0067] In one possible implementation, the operating parameters include: the wiper's moving speed, wear coefficient, and dryness coefficient. Based on the operating parameters and the basic buffer time required for the wiper to stop rotating from power-off, the buffer time is determined, including: determining a speed compensation coefficient based on the moving speed; determining a friction compensation value based on the wear coefficient and dryness coefficient; multiplying the basic buffer time by the speed compensation coefficient to obtain an intermediate value; and subtracting the friction compensation value from the intermediate value to obtain the target buffer time.

[0068] Windshield wipers typically have multiple speed settings, each with a different wiper movement speed. The vehicle can detect the current wiper speed setting, determine the wiper movement speed based on the current setting, and then determine a speed compensation factor based on the wiper movement speed.

[0069] For example, the windshield wipers have three speed settings: low, medium, and high. The wiper speed is 20 cm / s in low speed, 40 cm / s in medium speed, and 60 cm / s in high speed. Assuming the current wiper speed is medium, the wiper speed is 40 cm / s.

[0070] In some embodiments, a speed sensor is provided in the wiper motor, which can directly acquire the moving speed of the wiper collected by the speed sensor.

[0071] It is understandable that different wiper speeds correspond to different wiper motor speeds. Specifically, the higher the wiper setting, the faster the wiper moves, and the faster the wiper moves, the faster the wiper motor rotates. In some embodiments, the wiper motor speed can be determined, and a speed compensation coefficient can be determined based on the wiper motor speed.

[0072] For example, a windshield wiper includes three speed settings: low, medium, and high. In the low speed setting, the wiper motor moves at a speed of 40 rpm; in the medium speed setting, it moves at 80 rpm; and in the high speed setting, it moves at 100 rpm. Assuming the current wiper setting is medium, the wiper motor speed is 80 rpm.

[0073] In some embodiments, a speed sensor is provided in the wiper motor, which can directly obtain the speed of the wiper motor collected by the speed sensor.

[0074] The wear coefficient of a windshield wiper is used to indicate the degree of wear on the wipers. It is usually determined based on the total usage time of the wipers. The longer the total usage time, the greater the wear on the wipers, and the higher the wear coefficient.

[0075] For example, assuming the maximum wear coefficient is 1, and the total usage time of the wiper is determined to be two years, the total usage time is relatively long, the estimated wear degree is relatively large, and the wear coefficient can be determined to be 0.8.

[0076] In some embodiments, a timer can be set in the vehicle to record the total usage time of the windshield wipers. After the windshield wipers are replaced, the total usage time of the windshield wipers recorded in the timer needs to be cleared and the recording of the total usage time of the windshield wipers needs to start again.

[0077] The dryness factor of a windshield wiper indicates the dryness of the wipers and the windshield. A humidity sensor can be installed on the wipers, and the dryness factor is determined based on the humidity readings collected by the sensor; the lower the humidity, the higher the dryness factor. For example, the maximum dryness factor is 1. If the humidity sensor collects a reading of 20%, the humidity is relatively low, and a larger dryness factor, such as 0.8, can be determined based on this humidity value.

[0078] Understandably, the higher the moving speed of the wiper motor, the greater its rotational speed. Higher rotational speed results in greater inertia, and consequently, a longer buffer time is required for the wiper motor to stop rotating after the power is disconnected. Assuming the basic buffer time is determined based on the wiper motor's minimum rotational speed (i.e., 40 r / s at low speed), after obtaining the wiper motor's rotational speed, it's necessary to determine if the speed is greater than the minimum speed. If the speed equals the minimum speed, a speed coefficient of 1 is set; if the speed is greater than the minimum speed, a speed compensation coefficient greater than 1 is set to extend the basic buffer time to obtain an intermediate value.

[0079] For example, if the wiper motor speed is 80 r / s, which is greater than the minimum speed of 40 r / s, then a speed compensation coefficient greater than 1 can be determined based on 80 r / s. Assuming the determined speed compensation coefficient v = 1.2 and the basic buffer time is 36 ms, then the median value = 36 * 1.2 ms = 43.2 ms.

[0080] Both the wear coefficient and the dryness coefficient affect the friction of the windshield wipers during operation. A higher wear coefficient and a higher dryness coefficient both result in greater friction. At the same rotational speed, greater friction means a shorter buffer time required for the wiper motor to stop rotating after power is disconnected. Based on the wear coefficient and dryness coefficient, a compensation value can be determined: a first compensation value and a second compensation value. Assume the base buffer time is determined based on the minimum wear coefficient and the minimum dryness coefficient. The first compensation value can be expressed as the reduction in buffer time required by the wiper motor compared to the base buffer time due to the wear coefficient. The second compensation value can be expressed as the reduction in buffer time required by the wiper motor compared to the base buffer time due to the dryness coefficient. Adding the first compensation value to the second compensation value yields the friction compensation value.

[0081] For example, the determined wear coefficient is 0.8, and the determined dryness coefficient is 0.8. Assuming the first compensation value determined based on the wear coefficient is 2.4ms, and the second compensation value determined based on the dryness coefficient is 1.6ms, then the friction compensation value can be determined as 2.4ms + 1.6ms = 4ms. The target buffer duration = median value - friction compensation value = 43.2ms - 4ms = 39.2ms.

[0082] In the above method, the base buffer time is scaled by the wiper's moving speed, wear coefficient, and dryness coefficient to obtain the target buffer time. This takes into account the impact of operating conditions such as the wiper's moving speed, wear coefficient, and dryness coefficient on the buffer time required for the wiper motor to stop moving after the power is disconnected during actual operation. This allows for dynamic adjustment of the target buffer time based on the actual operating conditions of the wiper, calculating an accurate target buffer time that conforms to the current actual operating conditions. This ensures that the wiper can safely and accurately stop at the stop position after the wiper motor is disconnected under various operating conditions, improving the overall performance of the wiper system and reducing the risk of the driver's vision being affected by the wiper stopping in an improper position.

[0083] S13, based on the dwell time, target time and target buffer time, determine whether the wiper currently meets the preset conditions.

[0084] After obtaining the dwell time, target time, and target buffer time, the relationship between these three can be used to determine whether the wipers will move away from the stop position after the wiper motor power is disconnected, thus determining whether the wipers currently meet the preset conditions.

[0085] In one possible implementation, the determination of whether the wiper currently meets the preset conditions is based on the dwell time, the target time, and the target buffer time, including: subtracting the dwell time from the target time to obtain the current remaining buffer time of the wiper; and determining that the wiper currently meets the preset conditions if the remaining buffer time is less than the target buffer time.

[0086] After obtaining the dwell time, target time, and target buffer time, the dwell time can be subtracted from the target time to determine the remaining buffer time for the wiper motor at the stop position, i.e., the aforementioned remaining buffer time. It is then determined whether the remaining buffer time is greater than the target buffer time to ascertain whether the wiper currently meets the preset conditions.

[0087] When the remaining buffer time is greater than or equal to the target buffer time, it is determined that the remaining dwell time at the stop position is sufficient to allow the wiper motor power to be disconnected and the wiper to gradually stop due to inertia and other factors. In other words, after the wiper motor power is disconnected, it can stop rotating within the target dwell time of the wiper, and once the wiper motor stops rotating, it will not drag the wiper away from the stop position. Therefore, when the remaining buffer time is greater than or equal to the target buffer time, it is determined that after disconnecting the wiper motor power, the wiper will not leave the stop position, thus confirming that the wiper currently meets the preset conditions.

[0088] When the remaining buffer time is less than the target buffer time, it is determined that the remaining dwell time at the stop position is insufficient for the wiper motor to gradually stop due to inertia and other factors after the power is disconnected. In other words, after the wiper motor power is disconnected, the target dwell time at the stop position has been reached, but the wiper motor has not yet stopped rotating. At this point, the still-rotating wiper motor will drive the wiper away from the stop position until the wiper motor stops rotating and the wipers are turned off. At this point, the wipers are in a non-stop position. Therefore, when the remaining buffer time is less than the target buffer time, it is determined that after disconnecting the wiper motor power, the wipers will move away from the stop position, meaning the wipers currently do not meet the preset conditions.

[0089] For example, the target duration for the wiper to remain in the stop position is 100ms, and the target buffer time for the wiper motor to stop rotating from power disconnection is determined to be 40ms. Assuming the wiper has already been in the stop position for 80ms, the remaining buffer time is equal to the target duration of 100ms - the already stopped duration of 80ms = 20ms. Since the remaining buffer time of 20ms is less than the target buffer time of 40ms, it is determined that after disconnecting the power to the wiper motor, the wiper will move away from the stop position, meaning the wiper currently does not meet the preset condition. Assuming the wiper has already been in the stop position for 50ms, the remaining buffer time is equal to the target duration of 100ms - the already stopped duration of 50ms = 50ms. Since the remaining buffer time of 50ms is greater than the target buffer time of 40ms, it is determined that after disconnecting the power to the wiper motor, the wiper will not move away from the stop position, meaning the wiper currently meets the preset condition.

[0090] In some embodiments, the duration of the wiper's dwell time in the stop position is denoted as t0, the target duration of the wiper's dwell time in the stop position during wiping is denoted as t1, and the target buffer time required for the wiper motor to stop rotating from the power supply is denoted as t2. After obtaining the duration of the wiper's dwell time in the stop position t0, the target duration of the wiper's dwell time in the stop position t1 during wiping, and the target buffer time required for the wiper motor to stop rotating from the power supply t2, the target duration t1 can be subtracted from the target buffer time t2 to obtain the dwell time threshold t = t1 - t2. Then, it is determined whether the dwell time t0 is greater than the dwell time threshold t. If it is determined that the dwell time t0 is greater than the dwell time threshold t, it is determined that the wiper will move away from the stop position after the power supply to the wiper motor is disconnected, i.e., it is determined that the wiper currently does not meet the preset conditions. If the dwell time t0 is less than or equal to the dwell time threshold t, and the wiper motor is disconnected from the power supply, the wiper will not leave the stop position, thus the wiper currently meets the preset conditions.

[0091] In the above method, by subtracting the existing dwell time from the target duration, the remaining buffer time is compared with the target buffer time. This allows for a direct, simple, and accurate determination of whether the wiper motor can stop rotating within the target duration after the power is disconnected. If the remaining buffer time is greater than the target buffer time, the wiper motor can stop rotating within the target duration. In this case, after disconnecting the power to the wiper motor, the wiper motor will not drive the wiper away from the stop position; the wiper will remain at the stop position. If the preset conditions are met at this point, the power to the wiper motor is disconnected. This achieves control over the wipers to stop at the stop position, ensuring the safety of the wipers and avoiding problems such as wiper damage caused by the wipers stopping outside the stop position.

[0092] Step 104: If the remaining buffer time is greater than the target buffer time, and the wiper motor power is disconnected, the wiper will not leave the stop position, i.e., the preset condition is met. At this time, the wiper motor power is disconnected to turn off the wiper while keeping it at the stop position.

[0093] In one possible implementation, the method further includes: controlling the wipers to remain running when it is determined that the wipers do not currently meet the preset conditions; and disconnecting the power supply to the wiper motor when it is determined that the wipers have moved to the stop position again.

[0094] If the remaining buffer time is determined to be less than the target buffer time, and the wiper motor power is disconnected, the wipers will move away from the stop position, indicating that the preset conditions are not met. In this case, the power to the wiper motor is not disconnected, and the wipers remain running and continue moving.

[0095] While the wipers continue to move, it can be detected whether the wipers have returned to the stop position. Once it is confirmed that the wipers have returned to the stop position, the power to the wiper motor is disconnected, and the wipers are turned off.

[0096] It's understandable that windshield wipers have a certain operating cycle. The process of moving the wiper from the stop position to the highest point and then back to the stop position is called one operating cycle. If the wiper is currently in the stop position and the preset condition for disconnecting the wiper motor power is not met, then the wiper motor power is not disconnected, thus keeping the wipers running. After the wiper stays in the stop position for a duration equal to the target duration, it moves away from the stop position and begins to move upwards, reaching the highest point before moving downwards and returning to the stop position. Therefore, after one operating cycle, when the wiper is detected returning to the stop position, the wiper motor power can be disconnected, and the wipers can be turned off.

[0097] As described in the above embodiment, a position sensor can be used to detect whether the windshield wipers have returned to the stop position. Specifically, when the windshield wipers are running and have moved upwards from the stop position, the position sensor cannot detect them and outputs a digital signal "0". After one operating cycle, when the windshield wipers return to the stop position, the position sensor detects them again and outputs a digital signal "1". Therefore, when controlling the windshield wipers to continue running, the windshield wipers have moved to the stop position when the position sensor outputs a digital signal "1" again after one operating cycle.

[0098] Understandably, the position sensor outputs a digital signal "1" as soon as the wiper returns to the stop position. This indicates that the wiper has been in the stop position for a period of time that is close to zero, and the remaining buffer time is approximately equal to the target time. Since the target time is greater than the target buffer time, it can be determined that the preset conditions are met when the wiper returns to the stop position again. Therefore, the power to the wiper motor can be disconnected, and the wipers can be turned off.

[0099] In the above method, when it is determined that the preset conditions are not met, the wipers are controlled to continue running. After the wipers run for one cycle, they will return to the stop position. At this time, the wiper motor is powered off and the wipers are shut off. This achieves the goal of controlling the wipers to stop at the stop position when the preset conditions are not met.

[0100] In one possible implementation, disconnecting the power supply to the wiper motor when it is determined that the wiper has moved to the stop position again includes: determining whether a control signal is valid when it is determined that the wiper has moved to the stop position again; disconnecting the power supply to the wiper motor when the control signal is valid; and controlling the wiper to continue operating when the control signal is invalid.

[0101] While the windshield wipers are running, the control signal to turn them off may become invalid due to system overload, signal interference, or the receipt of a new control signal. For example, if a driver sends a new control signal to the vehicle to control the wipers while they are running, and then sends another new control signal to turn them on, the previously received control signal to turn off the wipers conflicts with the new control signal to turn them on, confirming that the control signal to turn off the wipers is invalid.

[0102] If the wipers have moved back to the stop position, it's necessary to first check if the wiper-off control signal is still valid. If the signal is valid, then disconnect the power to the wiper motor and turn off the wipers to avoid redundant control. If the wiper-off control signal is invalid, it can be ignored, and the wipers can continue running.

[0103] In some embodiments, upon receiving a control signal to turn off the windshield wipers, if it is determined that the windshield wipers are not currently in the stop position, the system continuously monitors whether the windshield wipers have moved to the stop position. After determining that the windshield wipers have moved to the stop position, the power supply to the windshield wiper motor is then disconnected.

[0104] In some embodiments, when it is determined that the wiper is not currently in the stop position, the target distance that the wiper can move after the wiper motor is powered off can also be determined. During the wiper's downward movement, the actual distance between the wiper and the stop position is obtained. When the actual distance is less than the target distance, the power supply to the wiper motor is disconnected, so that the wiper motor moves the wiper to the stop position based on the remaining inertia.

[0105] Understandably, even after the wiper motor is disconnected from the power supply, it will continue to run for a period of time due to inertia. During this time, the wiper motor can propel the wiper blades a certain distance, which is the target distance mentioned above. The target distance can be calculated based on the current moving speed of the wiper blades and the friction force.

[0106] Figure 2 This is a schematic flowchart illustrating another method for controlling windshield wipers provided in the embodiments of this application.

[0107] For example, such as Figure 2 As shown, the method 200 includes:

[0108] Step 201: Receive the shutdown signal;

[0109] The shut-off signal, which is the control signal to turn off the windshield wipers in the above embodiments, can be sent by the driver to the vehicle. The specific process of the driver sending the shut-off signal to the vehicle is as described in the above embodiments, and will not be repeated here.

[0110] Step 202: Determine if the windshield wipers are currently in the stopped position; if yes, proceed to step 204; otherwise, proceed to step 203.

[0111] Specifically, the position sensor can be used to determine whether the wipers are currently in the stop position by outputting a digital signal. When the digital signal is "1", the wipers are currently in the stop position; when the digital signal is "0", the wipers are currently not in the stop position.

[0112] Step 203: Control the windshield wipers to continue running;

[0113] Step 204: Determine the target duration t1 and the actual duration t0 for the wiper to remain in the stop position;

[0114] Step 205: Determine the basic buffer time t2 from power failure to stop rotation of the wiper motor;

[0115] The target duration t1 is a fixed value, the basic buffer duration t2 can also be a fixed value set in advance, and the dwell time can be determined based on the duration of the digital signal "1" output by the position sensor.

[0116] Step 206: Determine the speed compensation coefficient v based on the current moving speed of the windshield wipers;

[0117] Step 207: Determine the physical environment compensation value k based on the wear and dryness of the windshield wipers;

[0118] The physical environment compensation value is the friction compensation value mentioned above. The current moving speed of the windshield wipers can be obtained based on the speed sensor. The wear level is determined based on the total usage time of the wipers, and the determined wear level can be a coefficient less than 1, i.e., the wear coefficient in the above embodiment. The longer the total usage time, the greater the wear level and the larger the wear coefficient. The dryness level can be determined based on the current humidity collected by the humidity sensor. The dryness level can be a coefficient less than 1, i.e., the dryness coefficient in the above embodiment. The lower the current humidity, the greater the dryness level and the larger the dryness coefficient.

[0119] The vehicle can store a one-dimensional mapping table between moving speed and speed compensation coefficient, and a two-dimensional mapping table between wear coefficient, dryness coefficient and physical environment compensation value. The speed compensation coefficient, v, is obtained by looking up the one-dimensional mapping table based on the current moving speed of the windshield wipers. The physical environment compensation value, k, is obtained by looking up the two-dimensional mapping table based on the wiper wear coefficient and dryness coefficient.

[0120] Step 208, calculate the duration threshold t: t = t1 - t2 * v + k;

[0121] Step 209: Determine if t0 is less than or equal to t. If yes, proceed to step 210; otherwise, proceed to step 203.

[0122] Step 210: Disconnect the power supply to the wiper motor.

[0123] Specifically, if the dwell time t0 is less than or equal to the duration threshold t, and it is determined that the wipers will not move away from the stop position after the wiper motor power is disconnected, then the wiper motor power can be disconnected to turn off the wipers, and step 210 is executed to disconnect the wiper motor power. If the dwell time t0 is greater than the duration threshold t, and it is determined that the wipers will move away from the stop position after the wiper motor power is disconnected, then the wiper motor power cannot be disconnected to turn off the wipers, and step 203 is executed to control the wipers to continue running.

[0124] In summary, this application accurately obtains the remaining buffer time for the wiper motor when the wiper is currently in the stopped position and the wiper needs to be turned off by subtracting the already stopped time from the target duration the wiper can remain in the stopped position. Taking into account the influence of operating conditions such as the wiper's movement speed, wear coefficient, and dryness coefficient on the buffer time required for the wiper motor to stop moving after power is disconnected, a precise target buffer time that conforms to the current actual operating conditions is calculated. Comparing the remaining buffer time with the target buffer time determines whether the wiper motor can stop rotating within the target time, thus directly and simply determining whether the wiper motor power can be disconnected. When the remaining buffer time is greater than or equal to the target buffer time, it is determined that the wiper motor can stop rotating within the target time. At this point, the wiper will stop in the stopped position, and the wiper motor power can be disconnected. This achieves control of the wiper to stop in the stopped position, ensuring the safety of the wiper and avoiding problems such as wiper damage caused by the wiper stopping in a non-stop position. When the remaining buffer time is less than the target buffer time, it is determined that the wiper motor cannot stop rotating within the target time. At this time, the wiper will not stop at the stop position, and the wiper will continue to run. When the wiper returns to the stop position after running one cycle, the wiper motor is powered off and the wiper is turned off. This achieves the goal of controlling the wiper to stop at the stop position when the preset conditions are not met.

[0125] Figure 3 This is a schematic diagram of a device for controlling windshield wipers provided in an embodiment of this application.

[0126] For example, such as Figure 3 As shown, the device 300 includes:

[0127] The first judgment module 301 is used to determine whether the windshield wipers are currently in the stop position when a control signal to turn off the vehicle windshield wipers is received.

[0128] The determination module 302 is used to determine the duration that the wiper has been in the stop position when it is determined that the wiper is currently in the stop position.

[0129] The second judgment module 303 is used to determine whether the wiper currently meets the preset conditions based on the dwell time; wherein, the preset conditions are used to indicate that the wiper will not leave the stop position after the power to the wiper motor is disconnected.

[0130] The control module 304 is used to disconnect the power supply to the wiper motor when it is determined that the wiper currently meets the preset conditions.

[0131] In one possible implementation, the second judgment module 303 is specifically used to: determine the target duration for the wiper to stay at the stop position during the wiping process; determine the target buffer duration required for the wiper motor to stop rotating from the power being disconnected; and determine whether the wiper currently meets the preset conditions based on the already stayed duration, the target duration, and the target buffer duration.

[0132] In one possible implementation, the second judgment module 303 is specifically used to subtract the duration already spent from the target duration to obtain the current remaining buffer duration of the wiper; if the remaining buffer duration is less than the target buffer duration, it is determined that the wiper currently meets the preset conditions.

[0133] In one possible implementation, the second judgment module 303 is specifically used to: obtain the current operating parameters of the wiper; and determine the target buffer time required for the wiper motor to stop rotating from the power being disconnected based on the operating parameters and the basic buffer time required for the wiper motor to stop rotating from the power being disconnected.

[0134] In one possible implementation, the operating parameters include: the wiper's moving speed, wear coefficient, and drying coefficient. The second judgment module 303 is specifically used to: determine the speed compensation coefficient based on the moving speed; determine the friction compensation value based on the wear coefficient and the drying coefficient; multiply the basic buffer time by the speed compensation coefficient to obtain an intermediate value; and subtract the friction compensation value from the intermediate value to obtain the target buffer time.

[0135] In one possible implementation, the control module 304 is further configured to: control the wipers to remain running when it is determined that the wipers do not currently meet the preset conditions; and disconnect the power supply to the wiper motor when it is determined that the wipers have moved to the stop position again.

[0136] In one possible implementation, the control module 304 is specifically used to: determine whether the control signal is valid when it is determined that the wiper has moved to the stop position again; disconnect the power supply to the wiper motor when the control signal is determined to be valid; and control the wiper to continue running when the control signal is determined to be invalid.

[0137] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0138] For example, such as Figure 4 As shown, the vehicle 400 includes a memory 401 and a processor 402, wherein the memory 401 stores executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a method for controlling windshield wipers.

[0139] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling a windshield wiper provided in embodiments of this application.

[0140] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0141] When each functional module is divided according to its corresponding function, the device may further include a first judgment module, a determination module, a second judgment module, and a control module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0142] It should be understood that the device provided in this embodiment is used to perform the above-described method for controlling a windshield wiper, and therefore can achieve the same effect as the above-described implementation method.

[0143] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

[0144] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0145] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a method for controlling a windshield wiper provided in the above embodiments.

[0146] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a method for controlling a windshield wiper provided in the above embodiment.

[0147] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a method for controlling windshield wipers provided in the above embodiment.

[0148] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0149] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0150] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0151] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of controlling a rain sensor, characterized by, The method comprises: In the case of receiving a control signal for turning off a vehicle wiper, it is determined whether the wiper is currently in a stop position; In the case of determining that the wiper is currently in the stop position, it is determined how long the wiper has stayed in the stop position; Based on the length of stay, it is determined whether the wiper currently meets a preset condition; wherein the preset condition is used to indicate that after the power of the wiper motor is currently turned off, the wiper will not move away from the stop position; In the case of determining that the wiper currently meets the preset condition, the power of the wiper motor is turned off; The method further comprises: In the case of determining that the wiper does not currently meet the preset condition, the wiper is controlled to remain in a running state; In the case of determining that the wiper moves to the stop position again, the power of the wiper motor is turned off. The device comprises: A first determination module for determining whether the wiper is currently in a stop position in the case of receiving a control signal for turning off a vehicle wiper; ​ ​ 2. The method of claim 1, wherein, ​ ​ ​ 3. The method of claim 2, wherein, ​ ​ ​ ​ ​ 4. The method of claim 1, wherein, ​ ​ ​ 5. The method of claim 4, wherein, ​ ​ ​ ​ 6. An apparatus for controlling a rain sensor, characterized by ​ ​ The determining module is configured to determine, in a case where it is determined that the wiper is currently in the stop position, a stay duration in which the wiper currently stays in the stop position. The second determining module is configured to determine, based on the stay duration, whether the wiper currently satisfies a preset condition, wherein the preset condition is used to indicate that, after a power supply of a wiper motor of the wiper is currently turned off, the wiper will not drive away from the stop position. The control module is configured to turn off the power supply of the wiper motor in a case where it is determined that the wiper currently satisfies the preset condition. The second determining module is specifically configured to determine a target duration in which the wiper stays in the stop position during a wiping process, determine a target buffer duration required for the wiper motor to stop rotating after the power supply is turned off, and determine, based on the stay duration, the target duration, and the target buffer duration, whether the wiper currently satisfies the preset condition. The second determining module is specifically configured to subtract the stay duration from the target duration to obtain a remaining buffer duration of the wiper, and determine that the wiper currently satisfies the preset condition in a case where the remaining buffer duration is less than the target buffer duration.

7. A vehicle characterized by comprising: The vehicle comprises: a memory configured to store executable program code; a processor configured to call and run the executable program code from the memory, so that the vehicle performs the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which, when executed, implements the method according to any one of claims 1 to 5.

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