Windscreen wiper motor stalling detection method and device and vehicle

Abstract

The invention relates to the technical field of motors, in particular to a wiper motor stalling detection method and device and a vehicle, and the method comprises the steps: obtaining the current input voltage of a wiper motor when the wiper motor is switched from a static state to a starting state; if the difference value between the current input voltage and the input voltage of the last period is smaller than or equal to a preset threshold value, the maximum current and the maximum starting time when the wiper motor meets the preset stable working condition are determined based on the current input voltage, and the starting duration and the starting current of the wiper motor from the static state to the starting state are obtained; and if the starting duration is greater than the product of the maximum starting time and a first preset coefficient, judging that the motor of the windscreen wiper is locked when the starting current is greater than the product of the maximum current and a second preset coefficient. Therefore, the problems that according to a motor stalling detection scheme in the prior art, the probability that stalling of the motor is detected by mistake is large, and the probability that the motor is damaged is increased are solved, the time for detecting the stalling working condition is shortened, and the wiper motor is better protected.

Description

Technical Field

[0001] The present application relates to the technical field of motors, and particularly to a method and device for detecting the stall of a wiper motor and a vehicle. Background Art

[0002] There are two existing methods for detecting the stall of a wiper. The first method is to set a fixed timeout for one cycle of the wiper's wiping. Starting from when the wiper returns to its home position is detected, if the wiper fails to return to its home position within a certain timeout period during operation, it is considered that the wiper has encountered an obstacle and caused the wiper motor to stall. The second method is to set a maximum stall current threshold. If the current of the wiper motor exceeds the threshold and lasts for a certain period of time, it is considered to be a stall.

[0003] However, the disadvantage of the first method of setting a fixed timeout is that, under the same input voltage of the wiper motor, the resistance of the wiper is different due to the dry and wet conditions of the front windshield, and the hardness of the wiper rubber is also different at different temperatures. This results in different wiping times for one cycle of the wiper. Therefore, the stall time of the wiper is set as the longest wiping time for one cycle plus a certain margin (such as 150%). This leads to a longer stall time of the wiper motor when the wiper encounters an obstacle, increasing the probability of damage to the wiper motor and the wiper mechanical device when the wiper encounters an obstacle.

[0004] The disadvantage of the second method of setting a maximum stall current threshold is that, under the same input voltage of the wiper motor, the current of the motor is different at different temperatures. Therefore, the maximum stall current threshold can only be set as the minimum value calibrated under different temperature conditions, which increases the probability of false detection of the stall and has a negative impact on the user experience. Summary of the Invention

[0005] The present application provides a method and device for detecting the stall of a wiper motor and a vehicle, so as to solve problems such as a high probability of false detection of the motor stall in the existing motor stall detection scheme and an increased probability of motor damage.

[0006] The first aspect of the embodiments of the present application provides a method for detecting the stall of a wiper motor, including the following steps: obtaining the current input voltage of the wiper motor when it changes from a stationary state to a starting state; if the difference between the current input voltage and the input voltage of the previous cycle is less than or equal to a preset threshold, determining the maximum current and the maximum starting time when the wiper motor meets the preset stable working condition based on the current input voltage, and obtaining the starting duration and the starting current of the wiper motor when it changes from the stationary state to the starting state; if the starting duration is greater than the product of the maximum starting time and a first preset coefficient, and when the starting current is greater than the product of the maximum current and a second preset coefficient, determining that the motor of the wiper has stalled.

[0007] Optionally, after obtaining the current input voltage when the wiper changes from the stationary state to the starting state, the method further includes: if the difference between the current input voltage and the input voltage in the previous cycle is greater than a preset threshold, determining whether the current current of the wiper motor is greater than or equal to a preset stall current threshold; if the current current is greater than or equal to the preset stall current threshold, determining that the wiper motor is stalled; otherwise, determining that the wiper motor is not stalled.

[0008] Optionally, after determining that the wiper motor is not stalled, the method includes: calculating a new input voltage, a new maximum current, and a new maximum starting time by using a preset second iteration formula according to the current input voltage, the current maximum current, and the current starting duration of the wiper motor, where the preset second iteration formula is:

[0009] V_in_old' = V_in_now;

[0010] max_i_old' = max_i_now;

[0011] delta_t_old' = delta_t_now;

[0012] where V_in_old' is the new input voltage, max_i_old' is the new maximum current when meeting the preset stable working condition, delta_t_old' is the new maximum starting time when meeting the preset stable working condition, V_in_now is the current input voltage, max_i_now is the current maximum current, and delta_t_now is the current starting duration.

[0013] Optionally, after the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to the preset threshold, the method includes: if the starting duration is less than or equal to the product of the maximum starting time and a first preset coefficient, or the starting duration is greater than the product of the maximum starting time and the first preset coefficient, and the starting current is less than or equal to the product of the maximum current and a second preset coefficient, determining that the wiper motor is not stalled.

[0014] Optionally, after determining that the wiper motor is not stalled, the method includes: calculating a new input voltage, a new maximum current when meeting the preset stable working condition, and a new maximum starting time by using a preset first iteration formula based on the current input voltage, the starting current, and the starting duration, where the preset first iteration formula is:

[0015] V_in_old' = V_in_now * a + V_in_old * (1 - a);

[0016] max_i_old' = max_i_now * a + max_i_old * (1 - a);

[0017] delta_t_old' = delta_t_now * a + delta_t_old * (1 - a);

[0018] Wherein, a is a weighting coefficient, V_in_old is the input voltage in the previous cycle, V_in_now is the current input voltage, max_i_old is the maximum current when the preset steady-state working condition is satisfied, max_i_now is the starting current, delta_t_old is the maximum time when the preset steady-state working condition is satisfied, delta_t_now is the starting duration, V_in_old' is the new input voltage, max_i_old' is the new maximum current when the preset steady-state working condition is satisfied, and delta_t_old' is the new maximum starting time when the preset steady-state working condition is satisfied.

[0019] Optionally, the above method for detecting the stall of the wiper motor further includes: obtaining the average value of the input voltage and the current rotation time of the wiper motor in the moving state; if the difference between the average value of the input voltage and the average value of the preset input voltage is less than or equal to the preset voltage value, and the wiper is not in the retracted state and the current rotation time of the wiper motor is greater than the product of the preset rotation time and the third preset coefficient, it is determined that the wiper is stalled.

[0020] Optionally, when the wiper is in the retracted state, it includes: calculating the new average value of the input voltage and the new rotation time according to the average value of the input voltage and the current rotation time by using a preset third iteration formula, wherein the preset third iteration formula is:

[0021] V_in_avg_old' = V_in_avg_now * a + V_in_avg_old * (1 - a);

[0022] T_old' = T_now * a + T_old * (1 - a);

[0023] Wherein, V_in_avg_old' is the new average value of the input voltage, V_in_avg_old is the average value of the preset input voltage, T_old is the preset rotation time, T_now is the current rotation time, V_in_avg_now' is the new rotation time, and V_in_avg_now is the average value of the input voltage.

[0024] Optionally, when the difference between the average value of the input voltage and the average value of a preset input voltage is greater than the preset voltage value, the method includes: determining whether the wiper is in the return position; if the wiper is in the return position, then according to the average value of the input voltage and the current rotation time, a new average value of the input voltage and a new rotation time are calculated by using a preset fourth iteration formula, where the preset fourth iteration formula is:

[0025] V_in_avg_old' = V_in_avg_now;

[0026] T_old' = T_now;

[0027] where V_in_avg_old' is the new average value of the input voltage, V_in_avg_now is the average value of the input voltage, T_old' is the new rotation time, and T_now is the current rotation time.

[0028] An embodiment of the second aspect of the present application provides a wiper motor stall detection device, including: a first acquisition module, configured to acquire a current input voltage when the wiper motor changes from a stationary state to a starting state; a second acquisition module, configured to, if the difference between the current input voltage and the input voltage of the previous cycle is less than or equal to a preset threshold, determine a maximum current and a maximum time when the wiper motor meets a preset stable working condition based on the current input voltage, and acquire a starting duration and a starting current when the wiper motor changes from the stationary state to the starting state; a first detection module, configured to, if the starting duration is greater than the product of the maximum time and a preset coefficient, determine that the motor of the wiper is stalled when the starting current is greater than the product of the maximum current and the preset coefficient.

[0029] Optionally, after acquiring the current input voltage when the wiper changes from a stationary state to a starting state, the first acquisition module is further configured to: if the difference between the current input voltage and the input voltage of the previous cycle is greater than a preset threshold, determine whether the current current of the wiper motor is greater than or equal to a preset stall current threshold; if the current current is greater than or equal to the preset stall current threshold, determine that the wiper motor is stalled, otherwise, determine that the wiper motor is not stalled.

[0030] Optionally, after the difference between the current input voltage and the input voltage of the previous cycle is less than or equal to a preset threshold, the second acquisition module is further configured to: if the starting duration is less than or equal to the product of the maximum starting time and a first preset coefficient, or the starting duration is greater than the product of the maximum starting time and the first preset coefficient, and the starting current is less than or equal to the product of the maximum current and a second preset coefficient, determine that the wiper motor is not stalled.

[0031] Optionally, after determining that the wiper motor is not blocked, the first detection module is further configured to: according to the current input voltage, the current maximum current, and the current startup duration of the wiper motor, calculate a new input voltage, a new maximum current, and a new maximum startup time by using a preset second iteration formula, where the preset second iteration formula is:

[0032] V_in_old' = V_in_now;

[0033] max_i_old' = max_i_now;

[0034] delta_t_old' = delta_t_now;

[0035] where V_in_old' is the new input voltage, max_i_old' is the new maximum current when meeting the preset steady-state working condition, delta_t_old' is the new maximum startup time when meeting the preset steady-state working condition, V_in_now is the current input voltage, max_i_now is the current maximum current, and delta_t_now is the current startup duration.

[0036] Optionally, after determining that the wiper motor does not have the blockage, the second acquisition module is further configured to: based on the current input voltage, the startup current, and the startup duration, calculate a new input voltage, a new maximum current when meeting the preset steady-state working condition, and a new maximum startup time by using a preset first iteration formula, where the preset first iteration formula is:

[0037] V_in_old' = V_in_now * a + V_in_old * (1 - a);

[0038] max_i_old' = max_i_now * a + max_i_old * (1 - a);

[0039] delta_t_old' = delta_t_now * a + delta_t_old * (1 - a);

[0040] Wherein, a is a weighting coefficient, V_in_old is the input voltage in the previous cycle, V_in_now is the current input voltage, max_i_old is the maximum current when the preset steady working condition is satisfied, max_i_now is the starting current, delta_t_old is the maximum time when the preset steady working condition is satisfied, delta_t_now is the starting duration, V_in_old' is the new input voltage, max_i_old' is the new maximum current when the preset steady working condition is satisfied, and delta_t_old' is the new maximum starting time when the preset steady working condition is satisfied.

[0041] Optionally, the above wiper motor stall detection device further includes: a third acquisition module, configured to acquire the average value of the input voltage and the current rotation time of the wiper motor when it is in the motion state; a second detection module, configured to determine that the wiper is stalled if the difference between the average value of the input voltage and the average value of the preset input voltage is less than or equal to the preset voltage value, and the wiper is not in the return position and the current rotation time of the wiper motor is greater than the product of the preset rotation time and the third preset coefficient.

[0042] Optionally, when the wiper is in the return position, the second detection module is further configured to: calculate the average value of the new input voltage and the new rotation time by using a preset third iteration formula according to the average value of the input voltage and the current rotation time, where the preset third iteration formula is:

[0043] V_in_avg_old' = V_in_avg_now * a + V_in_avg_old * (1 - a);

[0044] T_old' = T_now * a + T_old * (1 - a);

[0045] Wherein, V_in_avg_old' is the average value of the new input voltage, V_in_avg_old is the average value of the preset input voltage, T_old is the preset rotation time, T_now is the current rotation time, V_in_avg_now' is the new rotation time, and V_in_avg_now is the average value of the input voltage.

[0046] Optionally, when the difference between the average value of the input voltage and the average value of the preset input voltage is greater than the preset voltage value, the second detection module is further configured to: determine whether the wiper is in the return position; if the wiper is in the return position, calculate the average value of the new input voltage and the new rotation time by using a preset fourth iteration formula according to the average value of the input voltage and the current rotation time, where the preset fourth iteration formula is:

[0047] V_in_avg_old' = V_in_avg_now;

[0048] T_old' = T_now;

[0049] Wherein, V_in_avg_old' is the average value of the new input voltage, V_in_avg_now is the average value of the input voltage, T_old' is the new rotation time, and T_now is the current rotation time.

[0050] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the wiper motor stall detection method as described in the above embodiments.

[0051] An embodiment of the fourth aspect of the present application provides a computer program product, on which a computer program is stored, and the program is executed by a processor to implement the wiper motor stall detection method as described in the above embodiments.

[0052] In the above implementation manner, the current input voltage when the wiper motor changes from the stationary state to the starting state is obtained. If the difference between the current input voltage and the input voltage of the previous cycle is less than or equal to a preset threshold, then based on the current input voltage, the maximum current and the maximum starting time when the wiper motor meets the preset stable working condition are determined, and the starting duration and the starting current when the wiper motor changes from the stationary state to the starting state are obtained. If the starting duration is greater than the product of the maximum starting time and the first preset coefficient, then when the starting current is greater than the product of the maximum current and the second preset coefficient, it is determined that the motor of the wiper is stalled. Thus, problems such as a high probability of false detection of motor stall in the motor stall detection scheme of the prior art and an increased probability of motor damage are solved, the wiper motor and the wiper mechanical structure are prevented from being damaged due to the wiper motor being in a stalled state for a long time, and at the same time, the time for detecting the stalled condition is shortened, thereby better protecting the wiper motor and the wiper mechanical structure.

[0053] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, wherein:

[0055] Figure 1 is a flowchart of a wiper motor stall detection method according to an embodiment of the present application;

[0056] Figure 2Schematic diagram of the change trend of the current of the wiper motor under the first working condition according to an embodiment of the present application;

[0057] Figure 3 Block diagram of the stall detection of the wiper motor under the first working condition according to an embodiment of the present application;

[0058] Figure 4 Schematic diagram of the change trend of the current of the wiper motor under the second working condition according to an embodiment of the present application;

[0059] Figure 5 Block diagram of the stall detection of the wiper motor under the second working condition according to an embodiment of the present application;

[0060] Figure 6 Example diagram of the wiper motor stall detection device according to an embodiment of the present application;

[0061] Figure 7 Schematic diagram of the vehicle structure according to an embodiment of the present application.

[0063] 10 - Wiper motor stall detection device; 100 - First acquisition module; 200 - Second acquisition module; and 300 - First detection module. Detailed implementation manners

[0064] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0065] The following describes a method, apparatus, and vehicle for detecting the blocked rotation of a windshield wiper motor according to embodiments of the present application. In view of the problem in the prior art mentioned in the above background art that the probability of misdetecting the blocked rotation of the motor in the existing motor blocked rotation detection scheme is high, and the probability of motor damage is increased, the present application provides a method for detecting the blocked rotation of a windshield wiper motor. In this method, the current input voltage when the windshield wiper motor changes from a stationary state to a starting state is obtained. If the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, the maximum current and the maximum starting time when the windshield wiper motor meets the preset stable working conditions are determined based on the current input voltage, and the starting duration and the starting current when the windshield wiper motor changes from a stationary state to a starting state are obtained. If the starting duration is greater than the product of the maximum starting time and a first preset coefficient, and when the starting current is greater than the product of the maximum current and a second preset coefficient, it is determined that the motor of the windshield wiper is blocked. Thereby, problems such as the high probability of misdetecting the blocked rotation of the motor in the existing motor blocked rotation detection scheme and the increased probability of motor damage are solved, the windshield wiper motor is prevented from being damaged due to being in a blocked rotation state for a long time, and at the same time, the time for detecting the blocked rotation condition is shortened, so as to better protect the windshield wiper motor and the windshield wiper mechanical structure.

[0066] The prerequisite conditions for implementing the technical solutions of the embodiments of the present application need to simultaneously meet the following requirements:

[0067] 1. The stop and rotation of the windshield wiper are controlled by the windshield wiper motor. The motor is a DC motor. The windshield wiper motor is directly connected or indirectly connected through a relay by the controller. When the controller controls the windshield wiper motor to be powered on and there is no obstacle blocking the windshield wiper, the windshield wiper motor rotates and drives the windshield wiper to rotate and wipe the car glass. When the controller controls the windshield wiper motor to be powered off, the windshield wiper motor is powered off, and the windshield wiper stops moving due to the resistance on the car glass.

[0068] 2. If the wiping speed of the windshield wiper is controlled by the controller by directly connecting to the windshield wiper motor and using PWM control, the controller realizes the switching of the high, medium, and low speeds of the windshield wiper by setting several fixed PWM duty ratios; or the controller controls the on-off of the relay to realize the switching of the windshield wiper speed.

[0069] 3. The switching of the wiping direction of the windshield wiper is realized by the mechanical device inside the windshield wiper, and the controller does not need to control the positive and negative voltages of the windshield wiper motor.

[0070] 4. The current of the windshield wiper motor can be collected by the circuit inside the controller.

[0071] 5. The non-volatile memory inside the controller can store data related to the windshield wiper and can be modified by the program running inside the controller.

[0072] 6. When the windshield wiper returns to the initial position or area, it will be detected by the circuit of the controller.

[0073] As mentioned in the requirement of the above - mentioned point 2, if the controller can directly drive the wiper motor by changing the PWM duty cycle, the equivalent input voltage of the wiper motor can be calculated by multiplying the output voltage of the controller to the wiper motor by the PWM duty cycle; if the controller controls the voltage of the wiper motor by controlling the on - off of the relay, the controller can calculate the input voltage of the wiper motor according to the on - off of the relay and the circuit principle.

[0074] Specifically, Figure 1 FIG. is a schematic flow chart of a method for detecting the stall of a wiper motor provided by an embodiment of the present application.

[0075] As Figure 1 shown, the method for detecting the stall of the wiper motor includes the following steps:

[0076] In step S101, obtain the current input voltage of the wiper motor when it changes from the stationary state to the starting state.

[0077] In step S102, if the difference between the current input voltage and the input voltage of the previous cycle is less than or equal to a preset threshold, then based on the current input voltage, determine the maximum current and the maximum starting time when the wiper motor meets the preset stable working condition, and obtain the starting duration and the starting current of the wiper motor when it changes from the stationary state to the starting state.

[0078] In step S103, if the starting duration is greater than the product of the maximum starting time and the first preset coefficient, then when the starting current is greater than the product of the maximum current and the second preset coefficient, it is determined that the wiper motor is stalled.

[0079] Among them, the preset threshold, the first preset coefficient, and the second preset coefficient can be thresholds preset by the user, can be thresholds obtained through a finite number of experiments, or can be thresholds obtained through a finite number of computer simulations. There is no specific limitation here. For the convenience of description, in the embodiment of the present application, the preset threshold can be 0.5V, the first preset coefficient is 150%, and the second preset coefficient is 120%.

[0080] It should be understood that if there is no obstacle other than the automobile window glass hindering the wiper scraping movement, when the wiper changes from the stop state to the start - scraping state, that is, when the wiper is in the first working condition, if the input voltage remains unchanged, the current of the wiper motor collected by the controller will show a curve that first rises rapidly and then drops rapidly to a relatively stable fluctuation (such as Figure 2 curve 1 shown); if there are other obstacles other than the window continuously hindering the wiper movement, the current of the wiper motor collected by the controller will show a curve that first rises rapidly but does not drop rapidly and remains at a relatively high level (such as Figure 2 curve 2 shown).

[0081] If there is no obstacle other than the automotive window glass hindering the wiper's wiping movement, and with the input voltage V_in of the wiper motor remaining unchanged, after the controller detects that the wiper current is in a stable fluctuation, the maximum current max_i (as shown by curve 1 in Figure 2 ) and the maximum start-up time delta_t from start-up to stable operation (as shown by curve 1 in Figure 2 ) that meet the preset stable operating conditions can be calculated from the current curve of the wiper. The controller stores the input voltage V_in_old of the wiper motor, the maximum current max_i_old during stable operation of the wiper, and the maximum start-up time delta_t_old from start-up to stable operation.

[0082] Specifically, as shown in Figure 3 , after the controller controls the wiper to stop moving and return to the initial position, if the difference between the current input voltage V_in of the wiper motor and the input voltage V_in_old of the wiper motor stored in the controller is less than or equal to the preset threshold, then the controller determines whether the start-up duration delta_t_now of the wiper is greater than 150% of the product of the maximum start-up time delta_t_old. If the start-up duration delta_t_now of the wiper is greater than 150% of the product of the maximum start-up time delta_t_old, then it is determined whether the start-up current max_i_now of the wiper motor is greater than 120% of the product of the maximum current max_i_old. If the start-up current max_i_now of the wiper motor is greater than 120% of the product of the maximum current max_i_old, it is considered that the wiper has encountered an obstacle, that is, the wiper motor is stalled.

[0083] For example, if the difference between the current input voltage V_in of the wiper motor and the input voltage V_in_old of the wiper motor stored in the controller is within the range of -0.5V to 0.5V, then the controller determines whether the start-up duration delta_t_now of the wiper is greater than 150% of the product of the maximum start-up time delta_t_old. If the start-up duration delta_t_now of the wiper is greater than 150% of the product of the maximum start-up time delta_t_old, then it is determined whether the start-up current max_i_now of the wiper motor is greater than 120% of the product of the maximum current max_i_old. If the start-up current max_i_now of the wiper motor is greater than 120% of the product of the maximum current max_i_old, it is determined that the wiper motor is stalled.

[0084] Further, in some embodiments, after the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, it includes: if the startup duration is less than or equal to the product of the maximum startup time and a first preset coefficient, or the startup duration is greater than the product of the maximum startup time and the first preset coefficient, and the startup current is less than or equal to the product of the maximum current and a second preset coefficient, it is determined that the wiper motor does not have a stall.

[0085] Specifically, as Figure 3 shown, if the startup duration delta_t_now of the wiper is not greater than the product of the maximum startup time delta_t_old and 150%, it is determined that the wiper motor does not have a stall, or the startup duration delta_t_now of the wiper is greater than the product of the maximum startup time delta_t_old and 150%, and the startup current max_i_now is less than or equal to the product of the maximum current max_i_old and 120%, it is determined that the wiper motor does not have a stall.

[0086] Further, in some embodiments, after it is determined that the wiper motor does not have a stall, it includes: based on the current input voltage, startup current, and startup duration, using a preset first iteration formula to calculate a new input voltage, a new maximum current when meeting the preset stable working condition, and a new maximum startup time, where the preset first iteration formula is:

[0087] V_in_old' = V_in_now * a + V_in_old * (1 - a);

[0088] max_i_old' = max_i_now * a + max_i_old * (1 - a);

[0089] delta_t_old' = delta_t_now * a + delta_t_old * (1 - a);

[0090] where a is a weighting coefficient, V_in_old is the input voltage in the previous cycle, V_in_now is the current input voltage, max_i_old is the maximum current when meeting the preset stable working condition, max_i_now is the startup current, delta_t_old is the maximum time when meeting the preset stable working condition, delta_t_now is the startup duration, V_in_old' is the new input voltage, max_i_old' is the new maximum current when meeting the preset stable working condition, and delta_t_old' is the new maximum startup time when meeting the preset stable working condition.

[0091] It should be understood that if the controller detects that the wiper returns to the initial position and starts moving again from a stop, and the controller does not detect an obstacle (i.e., the wiper does not jam), then the maximum current max_i_now and the start duration delta_t_now of this cycle are obtained from the current curve of the wiper. Then, a new input voltage V_in_old', a new maximum current max_i_old' that satisfies the preset steady-state working condition, and a new maximum start time delta_t_old' are calculated using a preset first iteration formula. In the preset first iteration formula, a > 50%.

[0092] Optionally, in some embodiments, after obtaining the current input voltage when the wiper moves from the stationary state to the start state, it further includes: if the difference between the current input voltage and the input voltage of the previous cycle is greater than a preset threshold, then determine whether the current of the wiper motor is greater than or equal to a preset stall current threshold; if the current is greater than or equal to the preset stall current threshold, it is determined that the wiper motor is stalled, otherwise, it is determined that the wiper motor is not stalled.

[0093] Optionally, in some embodiments, after determining that the wiper motor is not stalled, it includes: calculating a new input voltage, a new maximum current, and a new maximum start time using a preset second iteration formula according to the current input voltage, the current maximum current, and the current start duration of the wiper motor. The preset second iteration formula is as follows:

[0094] V_in_old' = V_in_now;

[0095] max_i_old' = max_i_now;

[0096] delta_t_old' = delta_t_now;

[0097] Wherein, V_in_old' is the new input voltage, max_i_old' is the new maximum current that satisfies the preset steady-state working condition, delta_t_old' is the new maximum start time that satisfies the preset steady-state working condition, V_in_now is the current input voltage, max_i_now is the current maximum current, and delta_t_now is the current start duration.

[0098] Wherein, the preset stall current threshold can be a threshold preset by the user, a threshold obtained through a limited number of experiments, or a threshold obtained through a limited number of computer simulations, and specific limitations are not made here.

[0099] Specifically, such as Figure 3As shown, if the wiper works normally next time, from stop to motion, if the difference between the current input voltage V_in_now of this cycle and the input voltage V_in_old of the previous cycle stored in the controller is greater than the preset threshold, for example, the difference between the previous input voltage V_in_now and the input voltage V_in_old of the previous cycle is greater than 0.5V, then it is judged whether the current of the wiper motor is greater than or equal to the preset stall current threshold. If the current is greater than or equal to the preset stall current threshold, it is determined that the wiper motor is stalled.

[0100] If the current is less than the preset stall current threshold and it is determined that the wiper motor is not stalled, then when the current is in the stable fluctuation range (as Figure 2 described), the current data is not weighted and calculated with the historical data, that is, the new input voltage V_in_old', the new maximum current max_i_old' and the new maximum start time delta_t_old' are obtained through the preset second iteration formula.

[0101] Optionally, in some embodiments, the above wiper motor stall detection method further includes: obtaining the average value of the input voltage and the current rotation time of the wiper motor in the motion state; if the difference between the average value of the input voltage and the preset average value of the input voltage is less than or equal to the preset voltage value, and the wiper is not in the return position state and the current rotation time of the wiper motor is greater than the product of the preset rotation time and the third preset coefficient, it is determined that the wiper is stalled.

[0102] Further, in some embodiments, when the wiper is in the return position state, it includes: calculating the new average value of the input voltage and the new rotation time according to the average value of the input voltage and the current rotation time by using the preset third iteration formula, where the preset third iteration formula is:

[0103] V_in_avg_old' = V_in_avg_now * a + V_in_avg_old * (1 - a);

[0104] T_old' = T_now * a + T_old * (1 - a);

[0105] where V_in_avg_old' is the new average value of the input voltage, V_in_avg_old is the preset average value of the input voltage, T_old is the preset rotation time, T_now is the current rotation time, V_in_avg_now' is the new rotation time, and V_in_avg_now is the average value of the input voltage.

[0106] Among them, the third preset coefficient and the preset voltage value can be threshold values preset by the user, threshold values obtained through a finite number of experiments, or threshold values obtained through a finite number of computer simulations. There is no specific limitation here. For the convenience of description, in the embodiments of the present application, the third preset coefficient is 120%, and the preset voltage value can be 0.5V.

[0107] Specifically, after the windshield wiper starts moving from a stop, it indicates that the windshield wiper motor is in the second working condition. If there is no obstacle other than the window hindering the wiping movement of the windshield wiper, after the controller detects that the windshield wiper rotates one week, if the difference in the input voltage of the windshield wiper motor for the current one-week rotation does not exceed the threshold range, then the controller calculates the average value of the input voltage and the rotation time of the windshield wiper motor for the current one-week rotation, and stores the average value of the input voltage and the rotation time for the current one-week rotation as the average value of the preset input voltage V_in_avg_old and the preset rotation time T_old, as Figure 4 shown, where the threshold range can be (-0.5V, 0.5V), and those skilled in the relevant art can set it by themselves.

[0108] If the difference in the input voltage of the windshield wiper motor for the current one-week rotation does not exceed the threshold range, and the average value of the input voltage in the current cycle can match the input voltage in the historical data, when the current rotation time exceeds a certain range of the preset rotation time T_old, and the controller detects that the windshield wiper has not returned to the initial position, it is considered that the windshield wiper is stuck.

[0109] Specifically, as Figure 5 shown, if the windshield wiper continues to move one week after being in the return position and there is no obstacle other than the window hindering the wiping movement of the windshield wiper, and the difference in the input voltage of the windshield wiper motor for the current one-week rotation does not exceed the threshold range, the controller calculates the average value of the input voltage V_in_avg_now and the current rotation time T_now of the windshield wiper motor. If the difference between the average value of the input voltage V_in_avg_now and the average value of the preset input voltage V_in_avg_old is less than or equal to the preset voltage value, for example, the difference between V_in_avg_now and V_in_avg_old is less than or equal to 0.5V, then when the windshield wiper is not in the return position and the current rotation time T_now of the windshield wiper motor is greater than 120% of the preset rotation time T_old, it is determined that the windshield wiper is stuck.

[0110] If the windshield wiper is in the return position, as Figure 5As shown, if it is determined that the wiper motor is not stalled, then based on the average value V_in_avg_now of the input voltage and the current rotation time T_now, the new average value V_in_avg_old' of the input voltage and the new rotation time V_in_avg_now' are calculated using a preset third iteration formula. In the preset third iteration formula, a > 50%.

[0111] Optionally, in some embodiments, when the difference between the average value of the input voltage and the average value of the preset input voltage is greater than a preset voltage value, it includes: determining whether the wiper is in the return position; if the wiper is in the return position, then based on the average value of the input voltage and the current rotation time, the new average value of the input voltage and the new rotation time are calculated using a preset fourth iteration formula, where the preset fourth iteration formula is:

[0112] V_in_avg_old' = V_in_avg_now;

[0113] T_old' = T_now;

[0114] where V_in_avg_old' is the new average value of the input voltage, V_in_avg_now is the average value of the input voltage, T_old' is the new rotation time, and T_now is the current rotation time.

[0115] Specifically, as Figure 5 shown, if the difference between the average value V_in_avg_now of the input voltage for one current rotation and the average value V_in_avg_old of the preset input voltage is large, for example, the difference between V_in_avg_now and V_in_avg_old is greater than 0.5V, then it is determined whether the wiper is in the return position. If the wiper is in the return position, then based on the average value V_in_avg_now of the input voltage and the current rotation time T_now, the new average value V_in_avg_old' of the input voltage and the new rotation time T_old' are calculated using a preset fourth iteration formula.

[0116] If the wiper is not in the return position, then when the running time after the last return of the wiper is less than or equal to a certain time threshold, it is determined that the wiper motor is not stalled. If the running time after the last return of the wiper is greater than a certain time threshold, then it is determined that the wiper motor is stalled.

[0117] According to the wiper motor stall detection method provided by the embodiments of the present application, the current input voltage when the wiper motor changes from the stationary state to the starting state is obtained. If the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, the maximum current and the maximum starting time when the wiper motor meets the preset stable working conditions are determined based on the current input voltage, and the starting duration and the starting current when the wiper motor changes from the stationary state to the starting state are obtained. If the starting duration is greater than the product of the maximum starting time and a first preset coefficient, when the starting current is greater than the product of the maximum current and a second preset coefficient, it is determined that the motor of the wiper is stalled. Thus, the problems in the prior art such as the large probability of mis-detecting the motor stall in the motor stall detection scheme and the increased probability of motor damage are solved. It can adapt to different working conditions, iterate the relevant parameters for stall detection, shorten the stall detection time in the working condition of the wiper changing from stationary to moving, and shorten the stall detection time and avoid mis-detecting the stall during the movement of the wiper.

[0118] Next, a wiper motor stall detection device according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0119] Figure 6 It is a block diagram of the wiper motor stall detection device according to an embodiment of the present application.

[0120] As Figure 6 shown, the wiper motor stall detection device 10 includes: a first acquisition module 100, a second acquisition module 200, and a first detection module 300.

[0121] Among them, the first acquisition module 100 is used to acquire the current input voltage when the wiper motor changes from the stationary state to the starting state; the second acquisition module 200 is used to, if the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, determine the maximum current and the maximum time when the wiper motor meets the preset stable working conditions based on the current input voltage, and acquire the starting duration and the starting current when the wiper motor changes from the stationary state to the starting state; the first detection module 300 is used to, if the starting duration is greater than the product of the maximum time and a preset coefficient, when the starting current is greater than the product of the maximum current and a preset coefficient, determine that the motor of the wiper is stalled.

[0122] Optionally, in some embodiments, after acquiring the current input voltage when the wiper changes from the stationary state to the starting state, the first acquisition module 100 is further used to: if the difference between the current input voltage and the input voltage in the previous cycle is greater than a preset threshold, determine whether the current current of the wiper motor is greater than or equal to a preset stall current threshold; if the current current is greater than or equal to the preset stall current threshold, determine that the wiper motor is stalled, otherwise, determine that the wiper motor is not stalled.

[0123] Optionally, in some embodiments, after the difference between the current input voltage and the input voltage of the previous cycle is less than or equal to a preset threshold, the second acquisition module 200 is further configured to: if the startup duration is less than or equal to the product of the maximum startup time and the first preset coefficient, or the startup duration is greater than the product of the maximum startup time and the first preset coefficient, and the startup current is less than or equal to the product of the maximum current and the second preset coefficient, determine that the wiper motor is not jammed.

[0124] Optionally, in some embodiments, after determining that the wiper motor is not jammed, the second acquisition module 200 is further configured to: based on the current input voltage, the startup current, and the startup duration, calculate a new input voltage, a new maximum current when meeting the preset stable operation condition, and a new maximum startup time by using a preset first iteration formula, where the preset first iteration formula is:

[0125] V_in_old' = V_in_now * a + V_in_old * (1 - a);

[0126] max_i_old' = max_i_now * a + max_i_old * (1 - a);

[0127] delta_t_old' = delta_t_now * a + delta_t_old * (1 - a);

[0128] Where a is a weighting coefficient, V_in_old is the input voltage of the previous cycle, V_in_now is the current input voltage, max_i_old is the maximum current when meeting the preset stable operation condition, max_i_now is the startup current, delta_t_old is the maximum time when meeting the preset stable operation condition, delta_t_now is the startup duration, V_in_old' is the new input voltage, max_i_old' is the new maximum current when meeting the preset stable operation condition, and delta_t_old' is the new maximum startup time when meeting the preset stable operation condition.

[0129] Optionally, in some embodiments, after determining that the wiper motor is not jammed, the first detection module 300 is further configured to: according to the current input voltage, the current maximum current, and the current startup duration of the wiper motor, calculate a new input voltage, a new maximum current, and a new maximum startup time by using a preset second iteration formula, where the preset second iteration formula is:

[0130] V_in_old' = V_in_now;

[0131] max_i_old' = max_i_now;

[0132] delta_t_old' = delta_t_now;

[0133] Wherein, V_in_old' is the new input voltage, max_i_old' is the maximum current when the new preset steady operating condition is satisfied, delta_t_old' is the maximum start-up time when the new preset steady operating condition is satisfied, V_in_now is the current input voltage, max_i_now is the current maximum current, and delta_t_now is the current start-up duration.

[0134] Optionally, in some embodiments, the above wiper motor stall detection device 10 further includes: a third acquisition module for acquiring the average value of the input voltage and the current rotation time of the wiper motor in the moving state; a second detection module for determining that the wiper is stalled if the difference between the average value of the input voltage and the average value of the preset input voltage is less than or equal to the preset voltage value, and the wiper is not in the return position and the current rotation time of the wiper motor is greater than the product of the preset rotation time and the third preset coefficient.

[0135] Optionally, in some embodiments, when the wiper is in the return position, the second detection module is further configured to: calculate the average value of the new input voltage and the new rotation time by using a preset third iteration formula according to the average value of the input voltage and the current rotation time, where the preset third iteration formula is:

[0136] V_in_avg_old' = V_in_avg_now * a + V_in_avg_old * (1 - a);

[0137] T_old' = T_now * a + T_old * (1 - a);

[0138] Wherein, V_in_avg_old' is the average value of the new input voltage, V_in_avg_old is the average value of the preset input voltage, T_old is the preset rotation time, T_now is the current rotation time, V_in_avg_now' is the new rotation time, and V_in_avg_now is the average value of the input voltage.

[0139] Optionally, in some embodiments, when the difference between the average value of the input voltage and the average value of the preset input voltage is greater than the preset voltage value, the second detection module is further configured to: determine whether the wiper is in the return position; if the wiper is in the return position, calculate the average value of the new input voltage and the new rotation time by using a preset fourth iteration formula according to the average value of the input voltage and the current rotation time, where the preset fourth iteration formula is:

[0140] V_in_avg_old' = V_in_avg_now;

[0141] T_old' = T_now;

[0142] Wherein, V_in_avg_old' is the average value of the new input voltage, V_in_avg_now is the average value of the input voltage, T_old' is the new rotation time, and T_now is the current rotation time.

[0143] It should be noted that the foregoing explanation of the embodiment of the wiper motor stall detection method is also applicable to the wiper motor stall detection device of this embodiment, and will not be elaborated here.

[0144] According to the wiper motor stall detection device provided by the embodiment of the present application, the current input voltage when the wiper motor changes from the stationary state to the starting state is obtained. If the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, then based on the current input voltage, the maximum current and the maximum starting time when the wiper motor meets the preset stable working conditions are determined, and the starting duration and the starting current when the wiper motor changes from the stationary state to the starting state are obtained. If the starting duration is greater than the product of the maximum starting time and the first preset coefficient, then when the starting current is greater than the product of the maximum current and the second preset coefficient, it is determined that the wiper motor is stalled. Thus, the problems in the prior art that the probability of misdetection of the motor stall in the motor stall detection scheme is large and the probability of motor damage is increased are solved. It avoids the wiper motor being in the stalled state for a long time and damaging the wiper motor and the wiper mechanical structure. At the same time, it also shortens the time for detecting the stalled condition, thereby better protecting the wiper motor and the wiper mechanical structure.

[0145] Figure 7 The structural schematic diagram of the vehicle provided by the embodiment of the present application. The vehicle may include:

[0146] A memory 701, a processor 702, and a computer program stored on the memory 701 and executable on the processor 702.

[0147] When the processor 702 executes the program, it implements the wiper motor stall detection method provided in the above embodiment.

[0148] Furthermore, the vehicle further includes:

[0149] A communication interface 703 for communication between the memory 701 and the processor 702.

[0150] The memory 701 is used to store a computer program executable on the processor 702.

[0151] The memory 701 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0152] If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0153] Optionally, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a single chip, the memory 701, the processor 702, and the communication interface 703 can communicate with each other through an internal interface.

[0154] The processor 702 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0155] The embodiments of the present application also provide a computer program product, on which a computer program is stored, and when the program is executed by a processor, the above-described method for detecting the stall of a wiper motor is implemented.

[0156] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or N embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0157] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0158] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more N executable instructions for implementing a customized logic function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0159] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer program product for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer program product" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer program products include the following: an electrical connection portion (electronic device) having one or N wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer program product can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0160] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0161] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer program product. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0162] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer program product.

[0163] The above-mentioned computer program product can be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for detecting a wiper motor stall, characterized in that: The following steps are involved: Get the current input voltage of the wiper motor when it changes from a stationary state to a starting state; If the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, the maximum current and the maximum starting time of the wiper motor when it meets the preset stable working condition are determined based on the current input voltage, and the starting time and the starting current of the wiper motor from the static state to the starting state are obtained; If the startup time is longer than the product of the maximum startup time and a first preset coefficient, then when the startup current is greater than the product of the maximum current and a second preset coefficient, it is determined that the wiper motor is stalled.

2. The method according to claim 1, characterized in that After obtaining the current input voltage when the wiper changes from a stationary state to a start-up state, the method further includes: If the difference between the current input voltage and the previous cycle input voltage is greater than a preset threshold, determining whether the current current of the wiper motor is greater than or equal to a preset stall current threshold; If the current current is greater than or equal to the preset stall current threshold, it is determined that the wiper motor is stalled; otherwise, it is determined that the wiper motor is not stalled.

3. The method according to claim 2, characterized in that After determining that the wiper motor is not blocked, the method includes: According to the current input voltage, current maximum current and current start-up time of the wiper motor, a new input voltage, a new maximum current and a new maximum start-up time are calculated using a preset second iterative formula, wherein the preset second iterative formula is: V_in_old' = V_in_now; max_i_old' = max_i_now; delta_t_old' = delta_t_now; Among them, V_in_old' is the new input voltage, max_i_old' is the new maximum current when the preset stable working conditions are met, delta_t_old' is the new maximum startup time when the preset stable working conditions are met, V_in_now is the current input voltage, max_i_now is the current maximum current, and delta_t_now is the current startup time.

4. The method according to claim 1, characterized in that: After the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold, the method includes: If the startup duration is less than or equal to the product of the maximum startup time and the first preset coefficient, or the startup duration is greater than the product of the maximum startup time and the first preset coefficient, and the startup current is less than or equal to the product of the maximum current and the second preset coefficient, it is determined that the wiper motor is not stuck.

5. The method according to claim 4, characterized in that After determining that the wiper motor is not blocked, the method includes: Based on the current input voltage, the startup current and the startup time, a new input voltage, a new maximum current that satisfies a preset stable working condition and a new maximum startup time are calculated using a preset first iterative formula, wherein the preset first iterative formula is: V_in_old'=V_in_now*a+V_in_old*(1-a); max_i_old'=max_i_now*a+max_i_old*(1-a); delta_t_old'=delta_t_now*a+delta_t_old*(1-a); Among them, a is the weighting coefficient, V_in_old is the input voltage of the previous cycle, V_in_now is the current input voltage, max_i_old is the maximum current when the preset stable working conditions are met, max_i_now is the starting current, delta_t_old is the maximum time when the preset stable working conditions are met, delta_t_now is the starting duration, V_in_old' is the new input voltage, max_i_old' is the new maximum current when the preset stable working conditions are met, and delta_t_old' is the new maximum starting time when the preset stable working conditions are met.

6. The method according to claim 1, characterized in that Also includes: Obtaining an average value of an input voltage and a current rotation time of the wiper motor when the wiper motor is in a moving state; If the difference between the average value of the input voltage and the average value of the preset input voltage is less than or equal to the preset voltage value, then when the wiper is not in the return state and the current rotation time of the wiper motor is greater than the product of the preset rotation time and the third preset coefficient, it is determined that the wiper is stuck.

7. The method according to claim 6, characterized in that When the wiper is in the return state, the method comprises: According to the average value of the input voltage and the current rotation time, a new average value of the input voltage and a new rotation time are calculated using a preset third iterative formula, wherein the preset third iterative formula is: V_in_avg_old'=V_in_avg_now*a+V_in_avg_old*(1-a); T_old'=T_now*a+T_old*(1-a); Among them, V_in_avg_old' is the average value of the new input voltage, V_in_avg_old is the average value of the preset input voltage, T_old is the preset rotation time, T_now is the current rotation time, V_in_avg_now' is the new rotation time, and V_in_avg_now is the average value of the input voltage.

8. The method according to claim 6, characterized in that When the difference between the average value of the input voltage and the average value of the preset input voltage is greater than the preset voltage value, comprising: Determining whether the wiper is in the return state; If the wiper is in the return state, a new average value of the input voltage and a new rotation time are calculated using a preset fourth iterative formula according to the average value of the input voltage and the current rotation time, wherein the preset fourth iterative formula is: V_in_avg_old'=V_in_avg_now; T_old' = T_now; Among them, V_in_avg_old' is the new average value of the input voltage, V_in_avg_now is the average value of the input voltage, T_old' is the new rotation time, and T_now is the current rotation time.

9. A wiper motor stall detection device, characterized in that: include: The first acquisition module is used to acquire the current input voltage of the wiper motor when it changes from a stationary state to a starting state; A second acquisition module is used to determine the maximum current and maximum time when the wiper motor meets the preset stable working condition based on the current input voltage if the difference between the current input voltage and the input voltage in the previous cycle is less than or equal to a preset threshold value, and to acquire the starting time and starting current of the wiper motor from the static state to the starting state; The first detection module is used to determine that the wiper motor is blocked if the startup time is greater than the product of the maximum time and a preset coefficient and when the startup current is greater than the product of the maximum current and the preset coefficient.

10. A vehicle, characterized in that: Including memory and processor; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the wiper motor stall detection method as described in any one of claims 1 to 8.

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