Radar cleaning control method, device and system and vehicle

Abstract

The invention provides a radar cleaning control method, device and system and a vehicle. The radar cleaning control method comprises the steps that a radar cleaning instruction is acquired; acquiring a first current position of the wiper blade, and judging whether the first current position has deviation relative to a pre-calibrated wiper reference position or not; if the first current position deviates from the reference position of the windscreen wiper, preset first opening time is corrected according to the deviation value and the deviation direction of the first current position relative to the reference position of the windscreen wiper, the windscreen wiper blade is controlled to run, and when the running time of the windscreen wiper blade reaches the corrected first opening time, the windscreen wiper blade is started. Controlling the radar cleaning mechanism to start for the first time; and when the first opening duration of the radar cleaning mechanism reaches the preset duration, the radar cleaning mechanism is controlled to be closed. According to the radar cleaning control method provided by the embodiment of the invention, the accuracy of the cleaning range can be ensured, and accurate cleaning of the radar is realized.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a radar cleaning control method, device, system and vehicle. Background Art

[0002] LiDAR is one of the core sensors in the vehicle's intelligent driving system. When the LiDAR is dirty, it needs to be cleaned.

[0003] At present, the laser radar is usually cleaned by the cleaning fluid sprayed from the nozzle in the wiper. During the cleaning process, after the wiper is running, the water channel connected to the nozzle is only opened during a pre-set time period.

[0004] However, the cleaning range covered during the entire process of opening the water channel may not correspond to the position of the laser radar. For example, the cleaning range may be biased to the left or right relative to the laser radar, resulting in incomplete cleaning of the laser radar. Summary of the invention

[0005] In view of this, the present application aims to propose a radar cleaning control method, device, system and vehicle to solve the technical problem in the prior art that the cleaning range covered during the entire opening process of the water channel may not correspond to the position of the laser radar, thereby resulting in incomplete cleaning of the laser radar.

[0006] According to a first aspect of the present application, a radar cleaning control method is provided, comprising:

[0007] Get radar cleaning instructions;

[0008] Acquiring a first current position of the wiper blade, and determining whether the first current position deviates from a pre-calibrated wiper reference position;

[0009] If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, and the wiper blade is controlled to run, and when the running time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to be turned on for the first time, wherein the first opening time is the time required for the wiper blade to run from the wiper reference position to a pre-calibrated radar cleaning area;

[0010] When the first opening duration of the radar cleaning mechanism reaches a preset duration, the radar cleaning mechanism is controlled to be closed.

[0011] Optionally, the deviation value is a deviation angle, and the deviation direction is divided into a direction away from the radar and a direction close to the radar;

[0012] If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, including:

[0013] If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position;

[0014] Get the running angular velocity of the wiper blade;

[0015] Calculating a correction time according to the deviation angle and the running angular velocity;

[0016] If the deviation direction is away from the radar direction, the preset first opening time is corrected by adding according to the correction time;

[0017] If the deviation direction is close to the radar direction, the preset first opening time is subtracted and corrected according to the correction time.

[0018] Optionally, when the deviation direction is away from the radar direction, the calculation formula for the corrected first opening time is:

[0019] T1=T2+ΔT=T2+Δθ / ω

[0020] When the deviation direction is close to the radar direction, the calculation formula of the corrected first opening time is:

[0021] T1=T2-ΔT=T2-Δθ / ω

[0022] Wherein, T1 is the corrected first opening time, T2 is the first opening time, ΔT is the correction time, Δθ is the deviation angle, and ω is the running angular velocity of the wiper blade.

[0023] Optionally, when the initial opening duration of the radar cleaning mechanism reaches a preset duration, after controlling the radar cleaning mechanism to close, the method further includes:

[0024] If the first current position deviates from the wiper reference position, the preset reverse return time is corrected according to the deviation value and the deviation direction, and when the operation time of the wiper blade reaches the corrected reverse return time, the wiper blade is controlled to operate in reverse, wherein the reverse return time is greater than the first opening time, and the reverse return time is the time required for the wiper blade to operate from the wiper reference position to a pre-calibrated return calibration position;

[0025] When the reverse running time of the wiper blade reaches a preset second opening time, the radar cleaning mechanism is controlled to be turned on again, wherein the second opening time is the time required for the wiper blade to run from a pre-calibrated return calibration position to a pre-calibrated radar cleaning area;

[0026] When the reopening duration of the radar cleaning mechanism reaches a preset duration, the radar cleaning mechanism is controlled to be closed.

[0027] Optionally, the deviation value is a deviation angle;

[0028] If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, and the wiper blade is controlled to operate, and when the operation time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to be opened for the first time, including:

[0029] If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position;

[0030] Acquiring the running angular velocity of the wiper blade, and determining the return time according to the deviation angle and the running angular velocity;

[0031] controlling the wiper blade to move toward the wiper reference position for the return time according to the deviation direction;

[0032] reacquiring a second current position of the wiper blade, and determining whether the second current position deviates from a pre-calibrated wiper reference position;

[0033] If the second current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation angle and deviation direction of the second current position relative to the wiper reference position, and the wiper blade is controlled to operate. When the operating time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to open for the first time.

[0034] Optionally, obtaining the first current position of the wiper blade includes:

[0035] receiving a detection signal sent by a position sensor, wherein the position sensor is arranged on the front windshield, and the installation position of the position sensor corresponds to the wiper reference position;

[0036] determining whether the position sensor detects a wiper blade according to the detection signal;

[0037] If yes, determining a first current position of the wiper blade according to the detection signal;

[0038] If not, an exception message is output.

[0039] Optionally, after acquiring the first current position of the wiper blade and determining whether the first current position deviates from a pre-calibrated wiper reference position, when the first opening duration of the radar cleaning mechanism reaches a preset duration, before controlling the radar cleaning mechanism to close, the method further includes:

[0040] If there is no deviation between the first current position and the pre-calibrated wiper reference position, the wiper blade is controlled to operate, and when the operating time of the wiper blade reaches the first opening time, the radar cleaning mechanism is controlled to be opened for the first time.

[0041] According to another aspect of the present application, a radar cleaning control device is also provided, comprising:

[0042] An acquisition module is used to obtain radar cleaning instructions;

[0043] A determination module, used for acquiring a first current position of the wiper blade, and determining whether the first current position deviates from a pre-calibrated wiper reference position;

[0044] a first control module, configured to correct a preset first opening time according to a deviation value and a deviation direction of the first current position relative to the wiper reference position if the first current position deviates from the wiper reference position, and control the wiper blade to operate, and control the radar cleaning mechanism to operate for the first time when the operating time of the wiper blade reaches the corrected first opening time, wherein the first opening time is the time required for the wiper blade to operate from the wiper reference position to a pre-calibrated radar cleaning area;

[0045] The second control module is used to control the radar cleaning mechanism to be turned off when the initial opening duration of the radar cleaning mechanism reaches a preset duration.

[0046] According to another aspect of the present application, a radar cleaning control system is also provided, including a controller and a wiper device, the wiper device including a wiper drive component, a wiper blade and a radar cleaning mechanism, the controller is connected to the wiper drive component and the radar cleaning mechanism, and the controller is configured to implement the radar cleaning control method as described above.

[0047] According to yet another aspect of the present application, a vehicle is provided, wherein the vehicle includes the radar cleaning control system as described above.

[0048] In the embodiment of the present application, each time the radar is cleaned, it is first determined whether there is a deviation between the first current position of the wiper blade and the wiper reference position, and if there is a deviation, the first opening time is corrected according to the deviation value and the deviation direction, and then the wiper blade is controlled to operate, and the radar cleaning mechanism is controlled to be turned on for the first time based on the corrected first opening time, and when the first opening duration of the radar cleaning mechanism reaches the preset duration, the radar cleaning mechanism is controlled to be turned off, so as to ensure that the cleaning range covered by the radar cleaning mechanism during the entire opening process corresponds to the position of the radar, thereby ensuring the accuracy of the cleaning range, avoiding the splashing of the cleaning liquid to the non-cleaning area, ensuring the cleaning effect of the radar, and achieving accurate cleaning of the radar, solving the problem of incomplete cleaning of the laser radar caused by the cleaning range covered during the entire opening process of the water channel not corresponding to the position of the laser radar. In addition, the radar cleaning control method provided in the embodiment of the present application can automatically clean the radar without the need for the user to manually clean the radar.

[0049] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0051] Figure 1 It is a schematic diagram of the cleaning range in the prior art being biased to the left relative to the laser radar;

[0052] Figure 2 It is a schematic diagram of the cleaning range in the prior art being biased to the right relative to the laser radar;

[0053] Figure 3 is a flow chart of steps of a radar cleaning control method provided by an embodiment of the present application;

[0054] Figure 4 is a flowchart of another radar cleaning control method provided by an embodiment of the present application;

[0055] Figure 5 This is a schematic diagram of the structure of the radar cleaning control system provided in the embodiment of the present application. Figure 1 ;

[0056] Figure 6This is a schematic diagram of the structure of the radar cleaning control system provided in the embodiment of the present application. Figure 2 ;

[0057] Figure 7 It is a structural schematic diagram of a radar cleaning control device provided in an embodiment of the present application.

[0058] Reference numerals:

[0059] 1-LiDAR, 10-wiper blade, 20-position sensor, 30-radar, 40-front windshield, 50-wiper controller, 60-wiper rotation motor. DETAILED DESCRIPTION

[0060] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not constitute any limitation, and the various embodiments can be combined with each other and referenced to each other without contradiction.

[0061] At present, the laser radar is usually cleaned by the cleaning fluid sprayed from the nozzle of the wiper. During the cleaning process, after the wiper is running, the water channel connected to the nozzle is only opened during a pre-set time period. However, the cleaning range covered by the water channel during the entire opening process may not correspond to the position of the laser radar. For example, Figure 1 and Figure 2 , Figure 1 When the middle wiper is running within the GH range, the water channel is turned on. The cleaning range covered by the water channel during the entire opening process is biased to the left relative to the laser radar 1, which will result in incomplete cleaning of the laser radar 1 and cause the cleaning fluid to splash to the non-cleaning area. Figure 2 When the middle wiper is running within the IJ range, the water channel is opened, and the cleaning range covered by the water channel during the entire opening process is biased to the right relative to the laser radar 1, which will result in incomplete cleaning of the laser radar 1 and cause the cleaning liquid to splash to the non-cleaning area. In order to solve the above problems, the embodiments of the present application provide a radar cleaning control method, device, system and vehicle. The above-mentioned radar cleaning control method, device, system and vehicle are described in detail below.

[0062] Reference Figure 3 , the radar cleaning control method provided in the embodiment of the present application includes:

[0063] Step 101, obtaining radar cleaning instructions.

[0064] Among them, the radar cleaning control method can be applied to Figure 5 and Figure 6 The controller in the radar cleaning control system shown in FIG. The radar cleaning instruction is also an instruction to clean the radar 30, and the radar 30 is specifically a laser radar in the vehicle intelligent driving system. Obtaining the radar cleaning instruction may include: receiving the radar cleaning instruction based on the user's touch operation on the physical button or the virtual button on the central control screen. Obtaining the radar cleaning instruction may also include: receiving the radar cleaning instruction based on the user's voice control information.

[0065] Step 102, obtaining a first current position of the wiper blade, and determining whether the first current position deviates from a pre-calibrated wiper reference position.

[0066] The wiper reference position is the reference position of the wiper blade 10 when the vehicle leaves the factory and is pre-calibrated. Figure 6 Before obtaining the radar cleaning instruction, the wiper blade 10 is initially located near the wiper reference position. The first current position of the wiper blade 10 can be obtained by the position sensor 20, or by a visual camera.

[0067] Determining whether there is a deviation between the first current position and the pre-calibrated wiper reference position may include: determining whether the deviation value of the first current position relative to the pre-calibrated wiper reference position is less than or equal to a preset value, if so, there is no deviation between the first current position and the pre-calibrated wiper reference position, if not, there is a deviation between the first current position and the pre-calibrated wiper reference position. The deviation value between the first current position of the wiper blade 10 and the wiper reference position may be a deviation angle or a deviation distance. When the deviation value is a deviation distance, the preset value may be set according to actual needs, for example, it may be set to be less than or equal to 0.1 mm. When the deviation value is a deviation angle, the preset value may be set according to actual needs, for example, it may be set to be less than or equal to 0.1 degrees.

[0068] Step 103, if there is a deviation between the first current position and the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, and the wiper blade is controlled to operate. When the operating time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to open for the first time.

[0069] The first opening time is the time required for the wiper blade 10 to move from the wiper reference position to the pre-calibrated radar cleaning area. The pre-calibrated radar cleaning area is the operating area of ​​the wiper blade 10 corresponding to the position of the radar 30. The radar cleaning area can refer to Figure 6The radar cleaning area has a first boundary close to the wiper reference position and a second boundary far from the wiper reference position. The first boundary can refer to Figure 6 The boundary shown in B, the second boundary can refer to Figure 6 The first opening time is specifically the time required for the wiper blade to move from the wiper reference position to the first boundary of the radar cleaning area.

[0070] The operation time of the wiper blade 10 is the time that lasts after the wiper blade 10 starts to operate. The operation time of the wiper blade 10 is counted from the operation of the wiper blade 10. The unit of the operation time of the wiper blade 10 can be seconds. The first opening time is corrected in order to open the radar cleaning mechanism only when the wiper blade 10 just runs to the first boundary of the radar cleaning area, so as to avoid opening the radar cleaning mechanism too early or too late.

[0071] The radar cleaning mechanism may include a radar cleaning waterway, a radar cleaning waterway valve and a radar cleaning nozzle. The radar cleaning nozzle is connected to the radar cleaning waterway. The radar cleaning nozzle is arranged at the top of the wiper blade 10, that is, the wiper blade 10 is integrated with a nozzle, and the radar cleaning nozzle is used to spray cleaning liquid. The radar cleaning waterway valve is arranged on the radar cleaning waterway, and is used to control the opening and closing of the radar cleaning waterway. The controller is specifically electrically connected to the radar cleaning waterway valve in the radar cleaning mechanism. The controller can control the radar cleaning mechanism to open by controlling the radar cleaning waterway valve to open. When the wiper blade 10 runs to the radar cleaning area, the radar cleaning mechanism is turned on. At this time, the cleaning liquid sprayed by the radar cleaning nozzle can clean the radar 30. During the operation of the wiper blade 10, the radar 30 can be cleaned by the radar cleaning nozzle integrated on the wiper blade 10. Compared with the traditional solution of installing a hidden nozzle on the cover plate, there is no need to open a hole on the cover plate, so that the wind noise generated during driving can be reduced, and the cost is lower and maintenance is more convenient.

[0072] Step 104 : When the initial opening duration of the radar cleaning mechanism reaches a preset duration, the radar cleaning mechanism is controlled to be closed.

[0073] The first opening duration of the radar cleaning mechanism is the duration after the radar cleaning mechanism is first opened. The first opening duration of the radar cleaning mechanism is counted from the time when the radar cleaning mechanism is first opened. The unit of the first opening duration of the radar cleaning mechanism can be seconds. The preset duration can be set according to actual needs, and this embodiment does not make specific restrictions. The controller can control the radar cleaning mechanism to close by controlling the radar cleaning waterway valve to close.

[0074] Due to external force or long-term operation, the first current position of the wiper blade 10 may deviate from the wiper reference position. When the first current position of the wiper blade 10 deviates from the wiper reference position, if the first opening time is not corrected and the radar cleaning mechanism is still opened according to the preset first opening time, the cleaning range covered by the radar cleaning mechanism during the entire opening process will deviate. For example, when the first current position of the wiper blade 10 deviates to the left relative to the wiper reference position, the radar cleaning mechanism is still opened according to the preset first opening time, which will cause the cleaning range covered by the radar cleaning mechanism during the entire opening process to deviate to the left. When the first current position of the wiper blade 10 deviates to the right relative to the wiper reference position, the radar cleaning mechanism is still opened according to the preset first opening time, which will cause the cleaning range covered by the radar cleaning mechanism during the entire opening process to deviate to the right.

[0075] In the embodiment of the present application, each time the radar 30 is cleaned, it is first determined whether there is a deviation between the first current position of the wiper blade 10 and the wiper reference position, and if there is a deviation, the first opening time is corrected according to the deviation value and the deviation direction, and then the wiper blade 10 is controlled to operate, and the radar cleaning mechanism is controlled to be turned on for the first time based on the corrected first opening time, and when the first opening duration of the radar cleaning mechanism reaches the preset duration, the radar cleaning mechanism is controlled to be turned off, so as to ensure that the cleaning range covered by the radar cleaning mechanism during the entire opening process corresponds to the position of the radar 30, thereby ensuring the accuracy of the cleaning range, avoiding the splashing of the cleaning liquid to the non-cleaning area, ensuring the cleaning effect of the radar 30, and achieving accurate cleaning of the radar 30, solving the problem of incomplete cleaning of the laser radar caused by the cleaning range covered during the entire opening process of the water channel not corresponding to the position of the laser radar. In addition, the radar cleaning control method provided in the embodiment of the present application can automatically clean the radar without the need for the user to manually clean the radar.

[0076] In an optional embodiment of the present application, the deviation value is a deviation angle, and the deviation direction is divided into a direction away from the radar and a direction close to the radar;

[0077] If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, including:

[0078] If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position;

[0079] Get the running angular velocity of the wiper blade;

[0080] Calculate the correction time according to the deviation angle and the running angular velocity;

[0081] If the deviation direction is away from the radar direction, the preset first opening time is corrected by adding the correction time;

[0082] If the deviation direction is close to the radar direction, the preset first opening time is subtracted and corrected according to the correction time.

[0083] The deviation angle is the angle between the current position and the wiper reference position. If the first current position is located on the side of the wiper reference position close to the radar 30, that is, the first current position is located on the right side of the wiper reference position, the deviation direction is close to the radar. If the first current position is located on the side of the wiper reference position far from the radar 30, that is, the first current position is located on the left side of the wiper reference position, the deviation direction is away from the radar.

[0084] The operating angular velocity of the wiper blade 10 is preset. The correction time is the deviation angle divided by the operating angular velocity. The preset first opening time is corrected by addition according to the correction time, that is, the first opening time is added to the correction time. The preset first opening time is corrected by subtraction according to the correction time, that is, the first opening time is subtracted from the correction time. In this embodiment, the correction of the first opening time can be achieved based on only one detected parameter, the deviation angle, and other preset values, without detecting too many parameters, and the correction method of the first opening time is simple.

[0085] It should be noted that the left side or right side mentioned above refers to Figure 5 and Figure 6 The left side and the left side when facing the front windshield 40.

[0086] It should be noted that, in other embodiments, when the deviation value is a deviation distance, the deviation angle can be determined based on the deviation distance and the distance between the detection point of the deviation distance and the rotation center of the wiper blade 10, and then the correction time can be calculated based on the deviation angle and the running angular velocity. Among them, the deviation distance is the chord length of the arc that the wiper blade 10 travels when rotating from the current position to the wiper reference position, and the distance between the detection point of the deviation distance and the rotation center of the wiper blade 10 is also the radius of the arc. Based on the relationship between the chord length and the angle, the deviation distance can be converted into a deviation angle.

[0087] In an optional embodiment of the present application, when the deviation direction is away from the radar direction, the calculation formula of the corrected first opening time is:

[0088] T1=T2+ΔT=T2+Δθ / ω

[0089] When the deviation direction is close to the radar direction, the calculation formula for the corrected first opening time is:

[0090] T1=T2-ΔT=T2-Δθ / ω

[0091] Wherein, T1 is the corrected first opening time, T2 is the first opening time, ΔT is the correction time, Δθ is the deviation angle, and ω is the running angular velocity of the wiper blade 10 .

[0092] In this embodiment, when the deviation direction is away from the radar direction, the opening time of the radar cleaning mechanism can be extended, so that the radar cleaning mechanism is only turned on when the wiper blade 10 just runs to the first boundary of the radar cleaning area. When the deviation direction is close to the radar direction, the opening time of the radar cleaning mechanism can be shortened, so that the radar cleaning mechanism is only turned on when the wiper blade 10 just runs to the first boundary of the radar cleaning area. In addition, the calculation formula of the first opening time after the above correction is simple, which can reduce the calculation burden.

[0093] Reference Figure 4 In an optional embodiment of the present application, step 104, when the initial opening duration of the radar cleaning mechanism reaches a preset duration, after controlling the radar cleaning mechanism to close, further includes:

[0094] Step 106, if there is a deviation between the first current position and the wiper reference position, the preset reverse return time is corrected according to the deviation value and the deviation direction, and when the operation time of the wiper blade reaches the corrected reverse return time, the wiper blade is controlled to run in the reverse direction;

[0095] Step 107, when the operation time of the wiper blade reaches a preset second opening time, controlling the radar cleaning mechanism to open again;

[0096] Step 108 : When the reopening duration of the radar cleaning mechanism reaches a preset duration, the radar cleaning mechanism is controlled to be closed.

[0097] The reverse return time is greater than the first opening time, and the reverse return time is the time required for the wiper blade 10 to move from the wiper reference position to the pre-calibrated return calibration position. When the first current position of the wiper blade 10 has no deviation from the wiper reference position, one movement cycle of the wiper blade 10 is the movement of the wiper blade 10 from the wiper reference position to the pre-calibrated return calibration position, and then from the return calibration position back to the wiper reference position. The return calibration position can be referred to Figure 6 The second opening time is the time required for the wiper blade 10 to move from the pre-calibrated return calibration position to the pre-calibrated radar cleaning area. The second opening time is specifically the time required for the wiper blade 10 to move from the pre-calibrated return calibration position to the second boundary of the pre-calibrated radar cleaning area.

[0098] When the first current position of the wiper blade 10 deviates from the wiper reference position, if the wiper blade 10 still returns according to the preset reverse return time, its return position will deviate from the return calibration position, for example, the return position will deviate to the left or right relative to the return calibration position. In this embodiment, the preset reverse return time is corrected according to the deviation value and the deviation direction, and the wiper blade 10 is controlled to run in the reverse direction based on the corrected reverse return time, so that the wiper blade 10 returns only when it reaches the return calibration position, and then the radar cleaning mechanism is controlled to be turned on again based on the second opening time, and the radar cleaning mechanism is controlled to be turned off based on the preset duration, so that the radar 30 can be accurately cleaned again when returning, thereby improving the cleaning effect of the radar.

[0099] The deviation value is the deviation angle, and the deviation direction is divided into the direction away from the radar and the direction close to the radar;

[0100] If there is a deviation between the first front position and the wiper reference position, the preset reverse return time is corrected according to the deviation value and the deviation direction, including:

[0101] If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position;

[0102] Get the running angular velocity of the wiper blade;

[0103] Calculate the correction time according to the deviation angle and the running angular velocity;

[0104] If the deviation direction is away from the radar direction, the preset reverse return time is added and corrected according to the correction time;

[0105] If the deviation direction is close to the radar direction, the preset reverse return time is subtracted and corrected according to the correction time.

[0106] When the deviation direction is away from the radar, the calculation formula for the corrected reverse return time is:

[0107] T3=T4+ΔT=T4+Δθ / ω

[0108] When the deviation direction is close to the radar direction, the calculation formula for the corrected reverse return time is:

[0109] T3=T4-ΔT=T4-Δθ / ω

[0110] Wherein, T3 is the corrected reverse return time, T4 is the reverse return time, ΔT is the correction time, Δθ is the deviation angle, and ω is the running angular velocity of the wiper blade 10 .

[0111] In an optional embodiment of the present application, the deviation value is a deviation angle; step 103, if the first current position is deviated from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, and the wiper blade is controlled to run, and when the running time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to be turned on for the first time, including:

[0112] If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position;

[0113] Obtain the running angular velocity of the wiper blade, and determine the return time according to the deviation angle and the running angular velocity;

[0114] Control the return time of the wiper blade toward the wiper reference position according to the deviation direction;

[0115] Re-acquiring a second current position of the wiper blade, and determining a deviation value and a deviation direction of the second current position relative to a pre-calibrated wiper reference position;

[0116] If the second current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the second current position relative to the wiper reference position, and the wiper blade is controlled to operate. When the operating time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to open for the first time.

[0117] The return time is the deviation angle divided by the running angular velocity. When the deviation direction is away from the radar direction, the wiper blade 10 is controlled to run rightward for the return time so that the wiper blade 10 returns to the wiper reference position. When the deviation direction is close to the radar direction, the wiper blade 10 is controlled to run leftward for the return time so that the wiper blade 10 returns to the wiper reference position.

[0118] After controlling the return time of the wiper blade 10, an abnormal situation may occur. For example, there is a foreign object during the operation, which causes the wiper blade 10 to be unable to return to the wiper reference position. At this time, the second current position of the wiper blade 10 still deviates from the wiper reference position. Therefore, it is necessary to re-acquire the second current position of the wiper blade, and determine the deviation value and deviation direction of the second current position relative to the pre-calibrated wiper reference position; and when there is a deviation in the second current position relative to the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the second current position relative to the wiper reference position, and the wiper blade is controlled to operate. When the operating time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to open for the first time.

[0119] In this embodiment, when the first current position deviates from the wiper reference position, the wiper blade 10 will be returned to its original position first, thereby ensuring the normal operation of the wiper blade 10 and the subsequent normal cleaning of the radar 30. In addition, when the wiper blade 10 cannot be returned to the wiper reference position, the radar cleaning mechanism is continuously controlled to be turned on for the first time based on the corrected first opening time, so as to ensure that the cleaning range covered by the radar cleaning mechanism during the entire opening process corresponds to the position of the radar.

[0120] In an optional embodiment of the present application, obtaining a first current position of the wiper blade includes:

[0121] receiving a detection signal sent by a position sensor;

[0122] determining whether the position sensor detects the wiper blade according to the detection signal;

[0123] If yes, determining a first current position of the wiper blade according to the detection signal;

[0124] If not, an exception message is output.

[0125] Among them, the position sensor 20 is arranged on the front windshield 40, and the installation position of the position sensor 20 corresponds to the wiper reference position. Outputting abnormal prompt information may include: outputting abnormal prompt information to the central control screen, so that the central control screen displays the abnormal prompt information. The abnormal prompt information may be: information such as abnormal position of the wiper blade. In this embodiment, the position of the position sensor 20 is concealed, which can avoid affecting the driver's field of vision. In addition, the detection area of ​​the position sensor 20 is limited. If the position deviation of the wiper blade 10 is too large, the position sensor 20 cannot detect the wiper blade 10, and it will output abnormal prompt information to remind the user of the abnormal situation.

[0126] Reference Figure 4 In an optional embodiment of the present application, after obtaining the first current position of the wiper blade and determining whether the first current position deviates from the pre-calibrated wiper reference position in step 103, before controlling the radar cleaning mechanism to close when the initial opening duration of the radar cleaning mechanism reaches a preset duration, step 104 further includes:

[0127] Step 105 , if there is no deviation between the first current position and the wiper reference position, the wiper blade is controlled to operate, and when the operating time of the wiper blade reaches a first opening time, the radar cleaning mechanism is controlled to be opened for the first time.

[0128] In this embodiment, when there is no deviation between the first current position and the wiper reference position, there is no need to correct the first opening time. The radar cleaning mechanism can be directly controlled to open for the first time based on the preset first opening time, which can simplify the control process.

[0129] Reference Figure 5 and Figure 6 The embodiment of the present application also provides a radar cleaning control system, including a controller and a wiper device, the wiper device includes a wiper drive component, a wiper blade 10 and a radar cleaning mechanism, the controller is connected to the wiper drive component and the radar cleaning mechanism, and the controller is configured to execute the above-mentioned radar cleaning control method.

[0130] The controller may be a wiper controller 50, or may be another controller connected to the wiper controller 50. The wiper driving member is used to drive the wiper blade 10 to rotate so that the wiper blade 10 operates. The wiper driving member may be a wiper rotating motor 60. The radar cleaning mechanism may include a radar cleaning waterway, a radar cleaning waterway valve, and a radar cleaning nozzle. The radar cleaning nozzle is connected to the radar cleaning waterway. The radar cleaning nozzle is arranged at the top of the wiper blade 10, and the radar cleaning nozzle is used to spray cleaning fluid. The radar cleaning waterway valve is arranged on the radar cleaning waterway, and is used to control the opening and closing of the radar cleaning waterway. The controller is specifically electrically connected to the radar cleaning waterway valve in the radar cleaning mechanism.

[0131] The wiper device may further include a glass cleaning water path and a glass cleaning nozzle connected to the glass cleaning water path. The glass cleaning water path and the radar cleaning water path are two independent water paths.

[0132] The radar cleaning control system further includes a position sensor 20 electrically connected to the controller. The position sensor 20 is disposed on the front windshield 40 , and the installation position of the position sensor 20 corresponds to the wiper reference position.

[0133] The radar cleaning control system also includes a memory, the memory is used to store controller executable instructions, and the controller is used to execute the instructions stored in the memory to implement the above radar cleaning control method. The memory may include a random access memory (RAM) or a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0134] An embodiment of the present application also provides a vehicle, comprising the above-mentioned radar cleaning control system.

[0135] Reference Figure 7 The embodiment of the present application also provides a radar cleaning control device, including:

[0136] An acquisition module 201 is used to acquire a radar cleaning instruction;

[0137] A determination module 202 is used to obtain a first current position of the wiper blade and determine whether the first current position deviates from a pre-calibrated wiper reference position;

[0138] The first control module 203 is used for correcting the preset first opening time according to the deviation value and deviation direction of the first current position relative to the wiper reference position if there is a deviation between the first current position and the wiper reference position, and controlling the wiper blade to operate, and when the operation time of the wiper blade reaches the corrected first opening time, controlling the radar cleaning mechanism to operate for the first time, wherein the first opening time is the time required for the wiper blade to operate from the wiper reference position to a pre-calibrated radar cleaning area;

[0139] The second control module 204 is configured to control the radar cleaning mechanism to be turned off when the initial on time duration of the radar cleaning mechanism reaches a preset time duration.

[0140] Optionally, the deviation value is a deviation angle, and the deviation direction is divided into a direction away from the radar and a direction close to the radar;

[0141] If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, including:

[0142] If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position;

[0143] Get the running angular velocity of the wiper blade;

[0144] Calculate the correction time according to the deviation angle and the running angular velocity;

[0145] If the deviation direction is away from the radar direction, the preset first opening time is corrected by adding the correction time;

[0146] If the deviation direction is close to the radar direction, the preset first opening time is subtracted and corrected according to the correction time.

[0147] Optionally, when the deviation direction is away from the radar direction, the calculation formula of the corrected first opening time is:

[0148] T1=T2+ΔT=T2+Δθ / ω

[0149] When the deviation direction is close to the radar direction, the calculation formula for the corrected first opening time is:

[0150] T1=T2-ΔT=T2-Δθ / ω

[0151] Wherein, T1 is the first opening time after correction, T2 is the first opening time, ΔT is the correction time, Δθ is the deviation angle, and ω is the running angular velocity.

[0152] Optionally, the radar cleaning control device further includes:

[0153] a third control module, configured to correct a preset reverse return time according to a deviation value and a deviation direction if the first current position deviates from the wiper reference position, and control the wiper blade to reversely run when the operation time of the wiper blade reaches the corrected reverse return time, wherein the reverse return time is greater than the first opening time, and the reverse return time is the time required for the wiper blade to run from the wiper reference position to a pre-calibrated return calibration position;

[0154] a fourth control module, configured to control the radar cleaning mechanism to be turned on again when the operation time of the wiper blade reaches a preset second turn-on time, wherein the second turn-on time is the time required for the wiper blade to run from a pre-calibrated return calibration position to a pre-calibrated radar cleaning area;

[0155] The fifth control module is used to control the radar cleaning mechanism to be turned off when the reopening duration of the radar cleaning mechanism reaches a preset duration.

[0156] Optionally, the deviation value is a deviation angle; the first control module 203 includes:

[0157] a first determining unit, configured to determine a deviation angle and a deviation direction of the first current position relative to the wiper reference position if the first current position deviates from the wiper reference position;

[0158] A second determination unit is used to obtain the running angular velocity of the wiper blade, and determine the return time according to the deviation value and the running angular velocity;

[0159] A first control unit, for controlling the return time of the wiper blade toward the wiper reference position according to the deviation direction;

[0160] A determination unit, used to reacquire a second current position of the wiper blade, and determine a deviation value and a deviation direction of the second current position relative to a pre-calibrated wiper reference position;

[0161] The second control unit corrects the preset first opening time according to the deviation value and deviation direction of the second current position relative to the wiper reference position if there is a deviation between the second current position and the wiper reference position, and controls the operation of the wiper blade. When the operation time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to open for the first time.

[0162] Optionally, obtaining a first current position of a wiper blade includes:

[0163] receiving a detection signal sent by a position sensor, wherein the position sensor is arranged on the front windshield, and the installation position of the position sensor corresponds to the wiper reference position;

[0164] determining whether the position sensor detects the wiper blade according to the detection signal;

[0165] If so, determining a first current position of the wiper blade according to the detection signal;

[0166] If not, an exception message is output.

[0167] Optionally, the radar cleaning control device further includes:

[0168] The sixth control module is used to control the wiper blade to operate if there is no deviation between the first current position and the wiper reference position, and control the radar cleaning mechanism to be turned on for the first time when the operation time of the wiper blade reaches a first turn-on time.

[0169] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the radar cleaning control method provided in any of the above embodiments is implemented.

[0170] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is implemented in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage system such as a server, a data center, etc. that includes one or more available media integrated. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk), etc.

[0171] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0172] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0173] The above are only preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the protection scope of the present application.

Claims

1. A radar cleaning control method, characterized in that: include: Get radar cleaning instructions; Acquiring a first current position of the wiper blade, and determining whether the first current position deviates from a pre-calibrated wiper reference position; If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, and the wiper blade is controlled to run, and when the running time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to be turned on for the first time, wherein the first opening time is the time required for the wiper blade to run from the wiper reference position to a pre-calibrated radar cleaning area; When the first opening duration of the radar cleaning mechanism reaches a preset duration, the radar cleaning mechanism is controlled to be closed.

2. The method according to claim 1, characterized in that The deviation value is a deviation angle, and the deviation direction is divided into a direction away from the radar and a direction close to the radar; If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, including: If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position; Get the running angular velocity of the wiper blade; Calculating a correction time according to the deviation angle and the running angular velocity; If the deviation direction is away from the radar direction, the preset first opening time is corrected by adding according to the correction time; If the deviation direction is close to the radar direction, the preset first opening time is subtracted and corrected according to the correction time.

3. The method according to claim 2, characterized in that When the deviation direction is away from the radar direction, the calculation formula of the corrected first opening time is: T1=T2+ΔT=T2+Δθ / ω When the deviation direction is close to the radar direction, the calculation formula of the corrected first opening time is: T1=T2-ΔT=T2-Δθ / ω Wherein, T1 is the corrected first opening time, T2 is the first opening time, ΔT is the correction time, Δθ is the deviation angle, and ω is the running angular velocity of the wiper blade.

4. The method according to any one of claims 1 to 3, characterized in that: When the initial opening duration of the radar cleaning mechanism reaches a preset duration, after controlling the radar cleaning mechanism to close, the method further includes: If the first current position deviates from the wiper reference position, the preset reverse return time is corrected according to the deviation value and the deviation direction, and when the operation time of the wiper blade reaches the corrected reverse return time, the wiper blade is controlled to operate in reverse, wherein the reverse return time is greater than the first opening time, and the reverse return time is the time required for the wiper blade to operate from the wiper reference position to a pre-calibrated return calibration position; When the reverse running time of the wiper blade reaches a preset second opening time, the radar cleaning mechanism is controlled to be turned on again, wherein the second opening time is the time required for the wiper blade to run from a pre-calibrated return calibration position to a pre-calibrated radar cleaning area; When the reopening duration of the radar cleaning mechanism reaches a preset duration, the radar cleaning mechanism is controlled to be closed.

5. The method according to any one of claims 1 to 3, characterized in that: The deviation value is a deviation angle; If the first current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation value and deviation direction of the first current position relative to the wiper reference position, and the wiper blade is controlled to operate, and when the operation time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to be opened for the first time, including: If the first current position deviates from the wiper reference position, determining a deviation angle and a deviation direction of the first current position relative to the wiper reference position; Acquiring the running angular velocity of the wiper blade, and determining the return time according to the deviation angle and the running angular velocity; Controlling the wiper blade to move toward the wiper reference position for the return time according to the deviation direction; reacquiring a second current position of the wiper blade, and determining whether the second current position deviates from a pre-calibrated wiper reference position; If the second current position deviates from the wiper reference position, the preset first opening time is corrected according to the deviation angle and deviation direction of the second current position relative to the wiper reference position, and the wiper blade is controlled to operate. When the operating time of the wiper blade reaches the corrected first opening time, the radar cleaning mechanism is controlled to open for the first time.

6. The method according to any one of claims 1 to 3, characterized in that: The obtaining of the first current position of the wiper blade comprises: receiving a detection signal sent by a position sensor, wherein the position sensor is arranged on the front windshield, and the installation position of the position sensor corresponds to the wiper reference position; determining whether the position sensor detects a wiper blade according to the detection signal; If yes, determining a first current position of the wiper blade according to the detection signal; If not, an exception message is output.

7. The method according to any one of claims 1 to 3, characterized in that: After obtaining the first current position of the wiper blade and determining whether the first current position deviates from a pre-calibrated wiper reference position, before controlling the radar cleaning mechanism to be turned off when the initial opening duration of the radar cleaning mechanism reaches a preset duration, the method further includes: If there is no deviation between the first current position and the pre-calibrated wiper reference position, the wiper blade is controlled to operate, and when the operating time of the wiper blade reaches the first opening time, the radar cleaning mechanism is controlled to be opened for the first time.

8. A radar cleaning control device, characterized in that: include: An acquisition module is used to obtain radar cleaning instructions; A determination module, used for acquiring a first current position of the wiper blade, and determining whether the first current position deviates from a pre-calibrated wiper reference position; a first control module, configured to correct a preset first opening time according to a deviation value and a deviation direction of the first current position relative to the wiper reference position if the first current position deviates from the wiper reference position, and control the wiper blade to operate, and control the radar cleaning mechanism to operate for the first time when the operating time of the wiper blade reaches the corrected first opening time, wherein the first opening time is the time required for the wiper blade to operate from the wiper reference position to a pre-calibrated radar cleaning area; The second control module is used to control the radar cleaning mechanism to be turned off when the initial opening duration of the radar cleaning mechanism reaches a preset duration.

9. A radar cleaning control system, characterized in that: The invention comprises a controller and a wiper device, wherein the wiper device comprises a wiper drive, a wiper blade and a radar cleaning mechanism, the controller is connected to the wiper drive and the radar cleaning mechanism, and the controller is configured to implement the radar cleaning control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: It comprises the radar cleaning control system as claimed in claim 9.

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