Windshield wiper control method, device, equipment, medium and vehicle

Abstract

The invention relates to a windshield wiper control method, device and equipment, a medium and a vehicle. The method comprises the steps that a first current image is obtained, and the first current image is an image obtained by conducting image collection on a target area on a windshield currently through an image collection device; a target rainy day image matched with the first current image is searched in a database, a plurality of windshield wiper gears, a plurality of rainfall categories and a plurality of rainy day images are recorded in the database, and the rainfall categories comprise a plurality of rainfall categories belonging to light rain working conditions; if the target rainy day image is found, searching a first target windshield wiper gear associated with the target rainy day image in a database; and the windshield wiper is controlled to conduct wiping work at the first target windshield wiper gear. According to the embodiment of the invention, the matching between the actual wiping condition of the windshield wiper and the current rain condition can be improved, and the expectation satisfaction of a user is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and particularly to a wiper control method, device, equipment, medium and vehicle. Background Art

[0002] With the development of vehicle technology, the working mode of the wiper on the front windshield is no longer limited to the manual control mode. More and more vehicles are equipped with an automatic control mode. In the automatic control mode, the amount of rainfall can be detected by a rain sensor, and then the wiping frequency of the wiper can be adjusted based on the amount of rainfall, so as to realize the automatic wiping action.

[0003] However, due to different wiping habits of different users in different rain conditions, the current automatic wiper control method often fails to match the actual wiping situation with the rain condition during the actual use by users, resulting in low satisfaction of user expectations. Summary of the Invention

[0004] In order to solve the above technical problems, the present disclosure provides a wiper control method, device, equipment, medium and vehicle.

[0005] In a first aspect, the present disclosure provides a wiper control method, including:

[0006] Obtain a first current image, where the first current image is an image obtained by an image acquisition device currently acquiring an image of a target area on the windshield;

[0007] Search in a database for a target rainy-day image that matches the first current image, where the database records multiple wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each wiper gear. Among the multiple rainfall categories, there are multiple rainfall categories belonging to light rain conditions;

[0008] If a target rainy-day image is found, search in the database for a first target wiper gear associated with the target rainy-day image;

[0009] Control the wiper to perform wiping work at the first target wiper gear.

[0010] In a second aspect, the present disclosure provides a wiper control device, including:

[0011] A first acquisition module, configured to obtain a first current image, where the first current image is an image obtained by an image acquisition device currently acquiring an image of a target area on the windshield;

[0012] A first search module, configured to search in a database for a target rainy-day image that matches a first current image, wherein the database records multiple wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each wiper gear, and multiple rainfall categories include multiple rainfall categories belonging to the light-rain condition;

[0013] A second query module, configured to, if a target rainy-day image is found, search in the database for a first target wiper gear associated with the target rainy-day image;

[0014] A first control module, configured to control the wiper to perform a wiping operation at the first target wiper gear.

[0015] In a third aspect, the present disclosure provides a wiper control device, including:

[0016] A processor;

[0017] A memory, configured to store executable instructions;

[0018] Wherein, the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the wiper control method described in the first aspect.

[0019] In a fourth aspect, the present disclosure provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, enables the processor to implement the wiper control method described in the first aspect.

[0020] The technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art:

[0021] The windshield wiper control method, device, equipment, medium and vehicle according to the embodiments of the present disclosure can obtain a first current image, where the first current image is an image obtained by an image acquisition device currently acquiring an image of a target area on the windshield; search for a target rainy-day image matching the first current image in a database, where the database records multiple wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each wiper gear, and multiple rainfall categories include multiple rainfall categories belonging to the light rain condition; if a target rainy-day image is found, search for a first target wiper gear associated with the target rainy-day image in the database; control the windshield wiper to perform a wiping operation at the first target wiper gear. It can be seen that by adopting the above technical solution, a target rainy-day image matching the first current image can be found in the database. Since the first current image and the target rainy-day image match, the rain condition corresponding to the first current image is similar to the rain condition corresponding to the target rainy-day image. Therefore, the wiper gear associated with the target rainy-day image is used as the first target wiper gear, and the windshield wiper is controlled to perform a wiping operation at the first target wiper gear, so that there is a high matching degree between the actual wiping situation of the windshield wiper and the current rain condition. And considering that users are more sensitive to different rainfall categories under the light rain condition than to heavy rain, for example, although they are all under the light rain condition, users can distinguish between a light rain condition with slightly larger but sparser raindrops and a light rain condition with slightly smaller but denser raindrops. Therefore, the database records multiple different rainfall categories for the light rain condition. In this way, it is beneficial for the rain condition corresponding to the found target rainy-day image to be closer to the rain condition corresponding to the first current image, and further makes the first target wiper gear determined based on the target rainy-day image more in line with the current rain condition, further improving the matching degree between the actual wiping situation of the windshield wiper and the current rain condition. It can be seen that the method provided by the embodiments of the present disclosure can improve the matching degree between the actual wiping situation of the windshield wiper and the current rain condition, and further improve the user's satisfaction with expectations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages and aspects of the various embodiments of the present disclosure will become more apparent. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic, and the original elements and elements are not necessarily drawn to scale.

[0023] Figure 1 FIG. shows a flowchart of a windshield wiper control method provided by an embodiment of the present disclosure;

[0024] Figure 2 FIG. shows a flowchart of another windshield wiper control method provided by an embodiment of the present disclosure;

[0025] Figure 3The structural schematic diagram of a wiper control device provided by an embodiment of the present disclosure is shown;

[0026] Figure 4 The structural schematic diagram of a wiper control device provided by an embodiment of the present disclosure is shown. Detailed implementation manners

[0027] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0028] It should be understood that the various steps recited in the method embodiments of the present disclosure can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0029] As used herein, the term "including" and its variations are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0030] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependent relationships.

[0031] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly specified in the context, it should be understood as "one or more".

[0032] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0033] The applicant's research on the related automatic wiper control method found that the maximum rain detection area of the rain sensor is only 200 mm 2Generally, heavy rain conditions are relatively easy to identify. However, in non-heavy rain conditions, especially light rain conditions, since the size and density distribution of raindrops falling on the windshield are uneven, the measured rainfall by the rain sensor often has a very low degree of fit with the actual rainfall within the driver's field of vision. As a result, there is often a large error between the expected wiper operation and the actual wiper operation in light rain conditions, and the expected satisfaction is low.

[0034] In addition, drivers have different tolerances and personal preferences for the amount of rain on the windshield. Some drivers with a stronger sense of safety hope to immediately wipe off the rain as soon as it starts and prefer to maintain a clear field of vision. Others are more concerned about the vehicle and believe that a small amount of rain does not affect driving and hope to wipe when there is more rain, which is more friendly to the lifespan of the wiper blade. Moreover, as the vehicle is used, the degree of dirt on the windshield surface and the aging state of the wiper blade are constantly changing. The mapping relationship between the amount of rain and the wiper frequency established for new vehicles may no longer be applicable to the current vehicle situation. These various reasons make it difficult for related wiper automatic control methods to meet the requirements of all users' preferences, resulting in some people complaining that it is too slow, while others complain that it is too fast, or complaining that it wipes too early or too late, causing trouble to users.

[0035] To solve the above problems, the embodiments of the present disclosure provide a wiper control method, device, equipment, medium, and vehicle. Below, the wiper control method provided by the embodiments of the present disclosure will be described first.

[0036] Figure 1 The flowchart of a wiper control method provided by the embodiments of the present disclosure is shown.

[0037] In some embodiments of the present disclosure, Figure 1 The wiper control method shown is applicable to scenarios where the wiper is automatically controlled to operate, and can be executed by a wiper control device. The wiper control device can be implemented by hardware and / or software, and can be applied to vehicles, etc., without specific limitation.

[0038] As Figure 1 shown, the wiper control method may include the following steps.

[0039] S110. Obtain a first current image, where the first current image is an image obtained by an image acquisition device currently performing image acquisition on a target area on the windshield.

[0040] In the embodiments of the present disclosure, the wiper control device can be connected to the image acquisition device. The image acquisition device can include a camera, a webcam, etc., but is not limited thereto. In this way, the image acquisition device can perform image acquisition on the target area on the windshield and send the acquired image to the wiper control device.

[0041] Specifically, the applicant considered that when the windshield wiper is working, the raindrops on the windshield are in a cycle of being wiped off and gradually increasing, and then being wiped off again and gradually increasing. Among them, the amount of rain that increases or accumulates between the last time it was wiped off and the next time it is wiped off varies due to the change of rain conditions. To make the image collected by the image acquisition device more reference-worthy, the target area should avoid the interference of the windshield wiper as much as possible. Therefore, the target area should be selected outside the overlapping area of the main and auxiliary windshield wipers. In other words, the target area should be selected in the non-overlapping area of the main and auxiliary windshield wipers, that is, the area in the wiping area of the main windshield wiper that does not overlap with the wiping area of the auxiliary windshield wiper, or the area in the wiping area of the auxiliary windshield wiper that does not overlap with the wiping area of the main windshield wiper. Further, the applicant considered that the larger the area of the target area, the shorter the time for rain accumulation without being interfered by the windshield wiper, and the greater the disturbance factor. Therefore, the size of the target area should not be too large. The target area can be set as a rectangular area within the non-overlapping area, where the length of the target area is greater than or equal to 260 mm and less than or equal to 300 mm, and the width of the target area is greater than or equal to 230 mm and less than or equal to 270 mm. Further, the applicant considered that compared with other areas on the windshield (such as the area directly in front of the co-pilot's field of vision), the rain accumulation in the area directly in front of the driver's field of vision has a greater impact on the driver's observation of the road conditions. Therefore, the target area can be set as a rectangular area with a preset size directly in front of the driver's field of vision in Area A on the windshield. The preset size can be, for example, 280 mm * 250 mm, but is not limited thereto.

[0042] Optionally, obtaining the first current image includes: when the wiper blade is scraping upward and is still a preset angle away from entering the scraping area, controlling the image acquisition device to perform image acquisition on the target area to obtain the first current image.

[0043] It should be noted that the specific value of the preset angle can be set by those skilled in the art according to the actual situation and is not limited here. For example, the preset angle is 5 degrees, but is not limited thereto.

[0044] Specifically, the scraping angle can be measured in real time by a Hall angle sensor built in the output shaft of the electronic windshield wiper motor gearbox and sent to the windshield wiper control device in real time. In this way, when the windshield wiper control device determines that the wiper blade is scraping upward and is still a preset angle away from entering the scraping area based on the scraping angle, it can send an acquisition instruction to the image acquisition device to control the image acquisition device to perform image acquisition on the target area on the windshield, but is not limited thereto.

[0045] It can be understood that, considering that the collected images may not be able to reflect the periodic rainfall changes (i.e., the rainfall increase from the time when it was last wiped off to the time when it is wiped off next time), or that some areas in the collected images are wiped off by the windshield wiper, making it impossible to reflect the rainfall accumulation, the time points for the image acquisition device to perform image acquisition should be limited in each image acquisition cycle. In the embodiments of the present disclosure, image acquisition is performed at the time point when the windshield wiper blade is swiping upward and at a preset angle wiping position before entering the wiping area, so that the image can accurately reflect the periodic rainfall changes and avoid some areas in the image being wiped off by the windshield wiper.

[0046] S120. Search for a target rainy-day image that matches the first current image in the database, where the database records multiple windshield wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each windshield wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each windshield wiper gear. Among the multiple rainfall categories, there are multiple rainfall categories belonging to the light rain condition.

[0047] Optionally, among the multiple rainfall categories, there may also be included at least one rainfall category belonging to the moderate rain condition and / or at least one rainfall category belonging to the heavy rain condition.

[0048] Specifically, different windshield wiper gears correspond to different wiping parameters, where the wiping parameters include wiping frequency, etc., but are not limited thereto.

[0049] It should be noted that the wiping parameters corresponding to each windshield wiper gear can be set by those skilled in the art according to the actual situation, and no limitation is made thereto.

[0050] Exemplarily, the database may include the following eight windshield wiper gears: Gear 1: 5s intermittent, Gear 2: 3.5s intermittent, Gear 3: 2.5s intermittent, Gear 4: 1s intermittent, Gear 5: low speed 42rad / s, Gear 6: low speed 45rad / s, Gear 7: high speed 55rad / s, Gear 8: high speed 60rad / s.

[0051] Specifically, different rainfall categories may correspond to different raindrop diameter ranges, may also correspond to different raindrop number ranges, or may also correspond to different raindrop diameter ranges and raindrop number ranges. Among them, the raindrop diameter range is obtained by dividing the possible raindrop diameters that may appear in the target area, and the raindrop number range is obtained by dividing the possible raindrop numbers that may appear in the target area.

[0052] Among them, the multiple rainfall categories belonging to the light rain condition mentioned here refer to that although these rainfall categories all correspond to the light rain condition, they correspond to different raindrop diameter ranges and / or raindrop number ranges. Similarly, when there are multiple rainfall categories belonging to the moderate rain condition and multiple rainfall categories belonging to the heavy rain condition recorded in the database, the understanding of "multiple rainfall categories belonging to the moderate rain condition" and "multiple rainfall categories belonging to the heavy rain condition" can refer to "multiple rainfall categories belonging to the light rain condition", which will not be elaborated here.

[0053] It should be noted that the raindrop diameter range and raindrop number range corresponding to each rainfall category can be set by those skilled in the art according to the actual situation, and there is no limitation on this. Exemplarily, as shown in Table 1 below, the raindrop diameter can be divided into the following four ranges: a1, a2, c1, c2, and the raindrop number can be divided into the following four ranges: b1, b2, d1, d2. Then, the following 16 rainfall categories can be divided: a1b1, a1b2, a1d1, a1d2, a2b1, a2b2, a2d1, a2d2, c1b1, c1b2, c1d1, c1d2, c2b1, c2b2, c2d1, c2d2.

[0054] Table 1

[0055] Serial number Raindrop diameter range (mm) Raindrop quantity range (pcs) 1 a1：≤2 b1：≤25 2 a2: 2 - 3 (including 3) b2: 25 - 40 (including 25mm) 3 c1: 3 - 4 (excluding 4) d1: 40 - 60 (excluding 60mm) 4 c2：≥4 d2：≥60

[0056] Specifically, the rainy day image is an image obtained by collecting an image of a target area on the windshield when it is raining.

[0057] Specifically, in the initial database (i.e., the database before being updated according to the user's preference), each wiper gear is associated with at least one rainfall category, each rainfall category is associated with at least one rainy day image, and if a certain rainy day image is associated with a certain rainfall category, and this rainfall category is associated with a certain wiper gear, then the raindrop diameter of this rainy day image falls within the raindrop diameter range corresponding to this rainfall category, the raindrop number of this rainy day image falls within the raindrop number range corresponding to this rainfall category, and this rainy day image is associated with this wiper gear, where the raindrop diameter and the number of rainy days of the rainy day image are obtained by raindrop fitting of the rainy day image.

[0058] In some embodiments, optionally, at least one rainfall category is associated with multiple rainy day images corresponding to different raindrop diameters and / or raindrop numbers.

[0059] It can be understood that one rainfall category corresponds to a raindrop diameter range and a raindrop number range. Different raindrop diameters and / or different specific values of raindrop numbers result in different rainfall conditions. For example, for the rainfall category a1b1, the rainfall conditions corresponding to a raindrop diameter of 1.5 and a raindrop number of 20 are different from those corresponding to a raindrop diameter of 2 and a raindrop number of 20. Therefore, by setting the rainfall category to be associated with multiple rainy-day images corresponding to different raindrop diameters and / or raindrop numbers, the rainfall conditions under this rainfall category can be covered as much as possible. In this way, the rainy-day images in the database can cover more rainfall conditions, which is beneficial to making the rainfall condition corresponding to the target rainy-day image found subsequently closer to the rainfall condition corresponding to the first current image, and further making the first target windshield wiper gear determined subsequently more matching with the rainfall condition corresponding to the first current image.

[0060] Further optionally, for each rainfall category belonging to the light rain working condition, it is associated with multiple rainy-day images corresponding to different raindrop diameters and / or raindrop numbers.

[0061] It can be understood that users are more sensitive to different rainfall categories under the light rain working condition. For example, users can perceive the difference between a1b1 and a1b2, and users may also be able to perceive different rainfall conditions under the same rainfall category. For example, users can perceive the difference between the following two rainfall conditions: the rainfall condition corresponding to a raindrop diameter of 1.5 and a raindrop number of 20 and the rainfall condition corresponding to a raindrop diameter of 2 and a raindrop number of 20. Therefore, in the embodiments of the present disclosure, by setting each rainfall category belonging to the light rain working condition to be associated with multiple rainy-day images corresponding to different raindrop diameters and / or raindrop numbers, a large number of rainy-day images belonging to the light rain working condition can be included in the database, which is beneficial to making the rainfall condition corresponding to the target rainy-day image found subsequently closer to the rainfall condition corresponding to the first current image, and further making the first target windshield wiper gear determined subsequently more matching with the rainfall condition corresponding to the first current image.

[0062] It should be noted that those skilled in the art can set the rainfall categories and rainy-day images associated with each windshield wiper gear, as well as the rainy-day images associated with each of the rainfall categories, according to the actual situation, and no limitation is made thereto. Exemplarily, as shown in Table 2 below, gear 1 is associated with a1b1, a1b1 is associated with images 11, 12, 13, 14, and 15, and gear 1 is associated with images 11, 12, 13, 14, and 15. Among them, the 5 rainy-day images associated with a1b1 correspond to different raindrop diameters and / or raindrop numbers. For other gears, reference can be made to gear 1 for understanding, and details are not described here. It should also be noted that considering that no rain is also a common working condition, therefore, a rainy-day image corresponding to no rain should be included in the rainy-day images associated with gear 1.

[0063] Table 2

[0064]

[0065] Of course, in some other embodiments, optionally, at least one rainfall category is associated with multiple rainy-day images corresponding to different ambient lights.

[0066] Further optionally, for each rainfall category belonging to the light rain condition, it is associated with multiple images, and the multiple images include rainy-day images with the same raindrop diameter and raindrop number but corresponding to different ambient lights.

[0067] Specifically, different ambient lights may include: gloomy weather, under various street lights near and far, oncoming vehicles at night, no street lights at night, white rainy weather, sunshower weather, etc., but are not limited thereto.

[0068] Exemplarily, for the rainfall category a1b1, the associated rainy-day images include 6 rainy-day images with a raindrop diameter of 1.5 and a raindrop number of 20, and the 6 rainy-day images respectively correspond to gloomy weather, under various street lights near and far, oncoming vehicles at night, no street lights at night, white rainy weather, sunshower weather.

[0069] Specifically, the target rainy-day image is a rainy-day image whose image similarity to the first current image is greater than a preset similarity threshold. It should be noted that the specific value of the preset similarity threshold can be set by those skilled in the art according to the actual situation and is not limited herein.

[0070] In some embodiments, finding a target rainy-day image that matches the first current image in the database includes: determining the image similarity between the first current image and the rainy-day images in the database, and determining the rainy-day image with the maximum image similarity and whose image similarity is greater than the preset similarity threshold as the target rainy-day image.

[0071] It should be noted that any possible method can be used to calculate the image similarity between the first current image and the rainy-day images in the database. Some typical examples are described below, but this does not constitute a limitation to the present application.

[0072] In some examples, the process of calculating the image similarity between the first current image and the rainy-day image may include: evaluating the similarity based on the mean square error, structural similarity algorithm, feature similarity algorithm, neural network training, etc. from aspects such as texture, shape, color, and spatial relationship.

[0073] In some other examples, the database also records the raindrop diameter and the number of raindrops obtained after raindrop fitting for each rainy-day image. At this time, the process of calculating the image similarity between the first current image and the rainy-day image may include: performing raindrop fitting on the first current image to obtain the raindrop diameter and the number of raindrops of the first current image; calculating the image similarity between the two based on the raindrop diameter and the number of raindrops of the first current image and the raindrop diameter and the number of raindrops of the rainy-day image. For example, determining the diameter difference based on the raindrop diameter of the first current image and the raindrop diameter of the rainy-day image, and determining the number difference based on the number of raindrops of the first current image and the number of raindrops of the rainy-day image; calculating the image similarity based on the diameter difference and the number difference, where both the diameter difference and the number difference are inversely proportional to the image similarity.

[0074] Specifically, the applicant observed the raindrops landing on the windshield and found that the raindrop sizes are usually uneven and sometimes vary greatly from each other. In addition, there are also scenarios where raindrops flow together. Therefore, it is necessary to perform raindrop fitting on the image to equivalent the raindrops in the image into standard raindrops that are circular and of the same size, so as to obtain the raindrop diameter and the number of raindrops of the equivalent standard raindrops.

[0075] In some examples, performing raindrop fitting on the first current image may include: inputting the first current image into a trained raindrop fitting model for raindrop fitting to obtain the raindrop diameter and the number of raindrops output by the raindrop fitting model.

[0076] In some other examples, performing raindrop fitting on the first current image may include: identifying raindrop regions in the current image to obtain a plurality of raindrop regions and determining the total number of the plurality of raindrop regions; for each raindrop region, determining the region area of the raindrop region; for each raindrop region, dividing the region area by a preset standard raindrop area and taking the integer to obtain the standard raindrop fitting number, where the standard raindrop area is the area of a standard raindrop that is circular with a preset diameter; in a preset raindrop parameter table, looking up the raindrop diameter and the number of raindrops associated with the total number and the standard raindrop fitting numbers of the plurality of raindrop regions, and using them as the raindrop diameter and the number of raindrops of the current image.

[0077] It can be understood that by determining the rainy-day image with the maximum image similarity and an image similarity greater than a preset similarity threshold as the target rainy-day image, the rain condition corresponding to the target rainy-day image can be closer to the rain condition corresponding to the first current image, and further make the first target windshield wiper gear determined subsequently more matched with the rain condition corresponding to the first current image.

[0078] It can also be understood that by calculating the image similarity between the first current image and the rainy day image based on the raindrop diameter and the number of raindrops in the first current image and the raindrop diameter and the number of raindrops in the rainy day image, the calculation of the image similarity between the two images can focus more on the similarity between the two images at the raindrop level, which is helpful in finding a target rainy day image that better matches the raindrop shape and distribution in the first current image.

[0079] In some other implementations, searching a database for a target rainy day image that matches a first current image includes: acquiring a second current image, wherein an image acquisition device periodically acquires images of a target area on a windshield, and the second current image is an image obtained by the image acquisition device acquiring images of a target area on the windshield in a next acquisition cycle after acquiring the first current image; determining image similarity between the first current image and rainy day images in a database, and determining a rainy day image whose image similarity is greater than a preset similarity threshold as a first candidate rainy day image; determining image similarity between the second current image and rainy day images in the database, and determining a rainy day image whose image similarity is greater than a preset similarity threshold as a second candidate rainy day image; if the first candidate rainy day image and the second candidate rainy day image are associated with the same wiper gear, then using the first candidate rainy day image as the target rainy day image, otherwise, determining that the target rainy day image is not found.

[0080] Specifically, regarding how to calculate the "image similarity between the second current image and the rainy day images in the database", please refer to the previous description on how to calculate the "image similarity between the first current image and the rainy day images in the database", which will not be repeated here.

[0081] It is understandable that the applicant has considered that in real life scenarios, there are "fake rain" conditions, such as encountering a short period of heavy rain, or a vehicle passing under a dripping building or tree. At this time, one wiper cycle can solve the problem, and there is no need to change the wiper gear. At the same time, since the candidate rainy day image is searched for the first current image and the second current image respectively, the processing time is about 1s-1.5s, which is within the acceptable time for most users. In the embodiment of the present disclosure, when the first candidate rainy day image and the second candidate rainy day image are associated with the same wiper gear, the first candidate rainy day image is used as the target rainy day image, and the rainfall is considered to have changed and is adopted. In this way, the "fake rain" can be wiped off, and the problem of switching the wiper gear back and forth in a short period of time can be avoided. It can also avoid the problem that the user is annoyed because the wiper gear cannot be quickly switched back to the original wiper gear after switching the wiper gear due to "fake rain".

[0082] S130: If the target rainy day image is found, search the database for a first target wiper gear position associated with the target rainy day image.

[0083] Specifically, the first target wiper gear is the wiper gear associated with the target rainy-day image.

[0084] It can be understood that in the initial database (i.e., the database before being updated according to user preferences), the first target wiper gear is the wiper gear associated with the rainfall category associated with the target rainy-day image. Therefore, in one example, S130 may include: based on the rainy-day images associated with each wiper gear recorded in the database, searching for the first target wiper gear associated with the target rainy-day image. Of course, in another example, S130 may also include: based on the rainy-day images associated with each rainfall category recorded in the database, searching for the rainfall category associated with the target rainy-day image, and then based on the rainfall categories associated with each wiper gear recorded in the database, searching for the first target wiper gear associated with the target rainy-day image. In this way, the first target wiper gear can be quickly found.

[0085] S140: Control the wiper to perform the wiping operation at the first target wiper gear.

[0086] Optionally, if the target rainy-day image is not found, keep the current wiper gear of the wiper unchanged.

[0087] In the embodiment of the present disclosure, a target rainy-day image matching the first current image can be searched in the database. Since the first current image and the target rainy-day image match, the rain condition corresponding to the first current image and the rain condition corresponding to the target rainy-day image are similar. Therefore, the wiper gear associated with the target rainy-day image is used as the first target wiper gear, and the wiper is controlled to perform the wiping operation at the first target wiper gear, which can make the actual wiping situation of the wiper have a high matching degree with the current rain condition. Moreover, considering that users are more sensitive to different rainfall categories under light rain conditions than heavy rain conditions, for example, although they are both light rain conditions, users can distinguish between a light rain condition with slightly larger but sparser raindrops and a light rain condition with slightly smaller but denser raindrops. Therefore, the database records multiple rainfall categories with different raindrop diameter ranges and / or raindrop quantity ranges for light rain conditions. In this way, it is beneficial for the rain condition corresponding to the found target rainy-day image to be closer to the rain condition corresponding to the first current image, and further makes the first target wiper gear determined based on the target rainy-day image more in line with the current rain condition, further improving the matching degree between the actual wiping situation of the wiper and the current rain condition. It can be seen that the method provided by the embodiment of the present disclosure can improve the matching degree between the actual wiping situation of the wiper and the current rain condition, and further improve the user's expected satisfaction.

[0088] Figure 2 The flowchart shows another wiper control method provided by the embodiment of the present disclosure. The embodiment of the present disclosure is optimized based on the above embodiment, and the embodiment of the present disclosure can be combined with each optional solution in one or more of the above embodiments.

[0089] As Figure 2 shown, the windshield wiper control method may include the following steps.

[0090] S210. Obtain a first current image, where the first current image is an image obtained by an image acquisition device currently performing image acquisition on a target area on the windshield.

[0091] Specifically, S210 is similar to S110, and details are not described herein again.

[0092] S220. Search in the database for a target rainy-day image that matches the first current image, where the database records multiple windshield wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each windshield wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each windshield wiper gear. The multiple rainfall categories include multiple rainfall categories belonging to the light rain condition.

[0093] Specifically, S220 is similar to S120, and details are not described herein again.

[0094] S230. If a target rainy-day image is found, search in the database for a first target windshield wiper gear associated with the target rainy-day image.

[0095] Specifically, S230 is similar to S130, and details are not described herein again.

[0096] S240. Control the windshield wiper to perform a wiping operation at the first target windshield wiper gear.

[0097] Specifically, S240 is similar to S140, and details are not described herein again.

[0098] S250. When the adjustment is effective, in response to receiving a user's adjustment operation on the working gear of the windshield wiper, determine a second target windshield wiper gear, and control the windshield wiper to perform a wiping operation at the second target windshield wiper gear.

[0099] In some embodiments, the adjustment is effective immediately after S240, that is, there is no limit to the effectiveness of the adjustment.

[0100] In other embodiments, the method further includes: real-time detecting a first continuous wiping duration during which the windshield wiper continuously wipes at the first target windshield wiper gear; when the first continuous wiping duration reaches a first preset duration threshold, determining that the adjustment is effective, and when the first continuous wiping duration is less than the first preset duration threshold, determining that the adjustment is ineffective.

[0101] Specifically, the first continuous wiping duration refers to the duration elapsed from when S240 changes the windshield wiper gear to the first target windshield wiper gear to the current moment.

[0102] It should be noted that those skilled in the art can set the specific value of the first preset duration threshold according to the actual situation, and there is no limitation thereto. For example, the first preset duration threshold can be 1 minute, but it is not limited thereto.

[0103] It can be understood that based on the applicant's experience in solving after-sales problems and contacting users, users will only manually adjust the wiper gear when the first target wiper gear does not meet their maximum tolerance, and will not manually adjust the wiper gear when the wiper just starts to operate at the first target wiper gear. In addition, users may accidentally adjust the wiper gear. Based on the above considerations, the embodiments of the present disclosure set a first preset duration threshold to filter out some misoperations and gear update intentions that are not actually expected by users.

[0104] In some embodiments, in response to receiving an adjustment operation of the user on the working gear of the wiper, determining a second target wiper gear includes: starting from the adjustment being effective, each time the user makes at least one adjustment to the working gear of the wiper, the corresponding wiper gear of each adjustment can be used as the second target wiper gear.

[0105] In other embodiments, in response to receiving an adjustment operation of the user on the working gear of the wiper, determining a second target wiper gear includes: starting from the adjustment being effective, if the user makes at least one adjustment to the working gear of the wiper within a preset duration, the wiper gear corresponding to the last adjustment is used as the second target wiper gear. Of course, in still other embodiments, the wiper gear corresponding to the last adjustment can also be used as a candidate wiper gear, and the second continuous wiping duration of the wiper continuously wiping at the candidate wiper gear is detected in real time; when the second continuous wiping duration reaches the second preset duration threshold, the candidate wiper gear is used as the second target wiper gear.

[0106] It should be noted that those skilled in the art can set the specific values of the preset duration and the second preset duration threshold according to the actual situation, and there is no limitation thereto. For example, the preset duration can be 20 seconds, and the second preset duration threshold is 1 minute, but it is not limited thereto.

[0107] It can be understood that the applicant considers that the wiper gear adjusted by the user for the first time may not be the wiper gear he thinks he most wants, and may continue to make a second adjustment. In addition, there may also be a situation of accidentally triggering the gear adjustment. In order to filter out the above situations, in the embodiments of the present disclosure, by setting the wiper gear corresponding to the last adjustment of the user within the preset duration as the second target wiper gear, the second target wiper gear can be the wiper gear that the user most wants to use for the current rain condition.

[0108] It can also be understood that when the user adjusts to a wiper gear and there is no further adjustment for a period of time, the user should be satisfied with that wiper gear. Therefore, it is considered that the wiper gear is a reasonable gear that the user believes is suitable for the current rain condition. Thus, in the embodiments of the present disclosure, first, the wiper gear corresponding to the last adjustment is used as the candidate wiper gear. When the second continuous wiping duration for the subsequent wiper to continuously wipe at the candidate wiper gear reaches the second preset duration threshold, the candidate wiper gear is used as the second target wiper gear. In this way, the wiper gear that the user prefers under the current rain condition can be accurately determined.

[0109] S260. Obtain an additional image, where the additional image is obtained by an image acquisition device acquiring an image of a target area during the process of the user adjusting the working gear of the wiper.

[0110] Specifically, since the image acquisition device continuously and periodically acquires images of the target area on the windshield, during the process of the user adjusting the working gear of the wiper, the image acquisition device is still acquiring images.

[0111] Specifically, the additional image is an image acquired by the image device and subsequently added to the database.

[0112] Specifically, all the images acquired during the process of the user adjusting the working gear of the wiper can be used as the additional image; or a randomly selected image can be used as the additional image; or the image with the acquisition time closest to the determination time of the second target wiper gear can be selected as the additional image, but it is not limited thereto.

[0113] S270. Delete the target rainy-day image from the database, save the additional image to the database, and associate the additional image with the second target wiper gear to update the database.

[0114] Specifically, when the user manually adjusts the first target wiper gear to the second target wiper gear, it indicates that the user believes that the first target wiper gear is not reasonable under the current rain condition, but the second target wiper gear is more reasonable. Therefore, the target rainy-day image can be deleted from the database, thereby disconnecting the association relationship between the target rainy-day image and the first target wiper gear, as well as disconnecting the association relationship between the target rainy-day image and its original corresponding rainfall category, so as to prevent the wiper from still being controlled to wipe at the first target wiper gear that the user does not like when the current rain condition appears again.

[0115] Specifically, the additional image is added to the database, and an association relationship between the additional image and the second target wiper gear is established, so that when the current rain condition appears again, the wiper can be controlled to wipe at the second target wiper gear that the user likes.

[0116] Exemplarily, if the target rainy-day image is Image 15 in Table 2 and the first target wiper gear is Gear 1: intermittent for 5 s, after the user manually adjusts the gear later and determines that the second target wiper gear is Gear 2: intermittent for 3.5 s, and the added image is Added Image 1, the updated database is shown in Table 3 below.

[0117] Table 3

[0118]

[0119]

[0120] It can be understood that for the updated database, when "searching in the database for the first target wiper gear associated with the target rainy-day image", based on the rainy-day images associated with each wiper gear recorded in the updated database, the first target wiper gear associated with the target rainy-day image can be searched. Of course, if the target rainy-day image is not an added image but a rainy-day image included in the initial database, the rainfall category associated with the target rainy-day image can also be searched based on the rainy-day images associated with each rainfall category recorded in the database, and then the first target wiper gear associated with the target rainy-day image can be searched based on the rainfall categories associated with each wiper gear recorded in the database. In this way, the first target wiper gear can be quickly found.

[0121] In the embodiments of the present disclosure, the applicant considers that the wiper gear selected according to the initial database may not meet the preferences of all users. Therefore, when the adjustment is effective, in response to receiving an adjustment operation of the user on the working gear of the wiper, the second target wiper gear is determined, and the wiper is controlled to perform the wiping operation at the second target wiper gear; the added image is obtained, and then the target rainy-day image is deleted from the database, and the added image is saved to the database, and the added image is associated with the second target wiper gear to update the database. In this way, the association relationship between the wiper gear and the rainy-day image recorded in the updated database can better meet the user's preferences, a database matching the usage habits of different users can be formed, and finally the actual performance of the wiper gear automatically determined based on the database can be more in line with the user's usage habits and expected effects, the user experience is better, which is conducive to reducing customer complaints and lowering the cost of after-sales response.

[0122] Figure 3 The structural schematic diagram of a wiper control device provided by the embodiments of the present disclosure is shown. This wiper control device can be understood as the above-mentioned wiper control device or a partial functional module in the above-mentioned wiper control device. As Figure 3 shown, the wiper control device 300 includes:

[0123] The first acquisition module 310 is configured to acquire a first current image, where the first current image is an image obtained by an image acquisition device currently acquiring an image of a target area on a windshield;

[0124] The first search module 320 is configured to search for a target rainy-day image matching the first current image in a database, where the database records multiple wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each wiper gear. Among the multiple rainfall categories, there are multiple rainfall categories belonging to the light rain condition;

[0125] The second query module 330 is configured to, if the target rainy-day image is found, search for a first target wiper gear associated with the target rainy-day image in the database;

[0126] The first control module 340 is configured to control the wiper to perform a wiping operation at the first target wiper gear.

[0127] In some embodiments, at least one of the rainfall categories is associated with multiple rainy-day images corresponding to different raindrop diameters and / or raindrop numbers.

[0128] In some embodiments, at least one of the rainfall categories is associated with multiple rainy-day images corresponding to different ambient light conditions.

[0129] In some embodiments, the first acquisition module 310 is specifically configured to, in the current acquisition cycle, when the wiper blade is wiping upward and is still a preset angle away from entering the wiping area, control the image acquisition device to acquire an image of the target area to obtain the first current image.

[0130] In some embodiments, the target area is a rectangular area with a preset size directly in front of the driver's field of vision within area A on the windshield.

[0131] In some embodiments, the first query module is specifically configured to acquire a second current image, where the image acquisition device periodically acquires an image of the target area on the windshield, and the second current image is an image obtained by the image acquisition device acquiring an image of the target area on the windshield in the next acquisition cycle after acquiring the first current image;

[0132] Determine the image similarity between the first current image and the rainy-day images in the database, and determine the rainy-day images with an image similarity greater than a preset similarity threshold as the first candidate rainy-day images;

[0133] Determine the image similarity between the second current image and the rainy-day images in the database, and determine the rainy-day images with an image similarity greater than a preset similarity threshold as the second candidate rainy-day images;

[0134] If the first candidate rainy-day image and the second candidate rainy-day image are associated with the same wiper gear position, then use the first candidate rainy-day image as the target rainy-day image; otherwise, determine that the target rainy-day image has not been found.

[0135] In some embodiments, the apparatus further includes: an update module, configured to, after the working gear position of the wiper is the first target wiper gear position and when the adjustment is effective, in response to receiving a user's adjustment operation on the working gear position of the wiper, determine a second target wiper gear position, and control the wiper to perform a wiping operation at the second target wiper gear position;

[0136] Obtain an additional image, where the additional image is obtained by an image acquisition device performing image acquisition on the target area during the process of the user adjusting the working gear position of the wiper;

[0137] Delete the target rainy-day image from the database, save the additional image to the database, and associate the additional image with the second target wiper gear position to update the database.

[0138] In some embodiments, the apparatus further includes:

[0139] A detection module, configured to detect in real time a first continuous wiping duration during which the wiper continuously performs wiping at the first target wiper gear position;

[0140] When the first continuous wiping duration reaches a first preset duration threshold, determine that the adjustment is effective.

[0141] In some embodiments, the determining the second target wiper gear position in response to receiving a user's adjustment operation on the working gear position of the wiper includes: starting from when the adjustment is effective, if the user makes at least one adjustment to the working gear position of the wiper within a preset duration, then use the wiper gear position corresponding to the last adjustment as the second target wiper gear position.

[0142] In some embodiments, the apparatus further includes:

[0143] A holding module, configured to, if the target rainy-day image has not been found, keep the current wiper gear position of the wiper unchanged.

[0144] The apparatus provided in this embodiment can execute the method of any of the above embodiments, and its execution manner and beneficial effects are similar, and will not be elaborated here.

[0145] Figure 4 The figure shows a schematic structural diagram of a wiper control device provided by an embodiment of the present disclosure.

[0146] As Figure 4 shown, the wiper control device may include a controller 401 and a memory 402 storing computer program instructions.

[0147] Specifically, the controller 401 may include 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.

[0148] The memory 402 may include a mass storage for information or instructions. By way of example and not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 402 may include removable or non-removable (or fixed) media. In a suitable case, the memory 402 may be internal or external to the integrated gateway device. In a specific embodiment, the memory 402 is a non-volatile solid state memory. In a specific embodiment, the memory 402 includes a read-only memory (ROM). In a suitable case, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0149] The controller 401 reads and executes the computer program instructions stored in the memory 402 to perform the steps of the wiper control method provided by the embodiments of the present disclosure.

[0150] In one example, the wiper control device may further include a transceiver 403 and a bus 404. Among them, as Figure 4 shown, the controller 401, the memory 402, and the transceiver 403 are connected through the bus 404 to complete communication with each other.

[0151] The bus 404 includes hardware, software, or both. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 404 may include one or more buses. Although embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0152] Embodiments of the present disclosure also provide a computer-readable storage medium that can store a computer program, which, when executed by a processor, causes the processor to implement the wiper control method provided by the embodiments of the present disclosure.

[0153] The above storage medium may include, for example, a memory 402 storing computer program instructions, and the above instructions may be executed by a controller 401 of a wiper control device to complete the wiper control method provided by the embodiments of the present disclosure. Optionally, the storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a ROM, a Random Access Memory (RAM), a Compact Disc ROM (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0154] Embodiments of the present disclosure also provide a vehicle including at least one of the following:

[0155] The wiper control device provided by the embodiments of the present disclosure;

[0156] The windshield wiper control device provided by the embodiments of the present disclosure;

[0157] The computer-readable storage medium provided by the embodiments of the present disclosure.

[0158] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" is intended to cover non-exclusive inclusion, such that a process, method, article, or device that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or device.

[0159] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A windshield wiper control method, characterized in that, Including: Obtain a first current image, where the first current image is an image obtained by an image acquisition device currently acquiring an image of a target area on a windshield; Search in a database for a target rainy-day image that matches the first current image, where the database records multiple wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each wiper gear. Among the multiple rainfall categories, there are multiple rainfall categories belonging to the light rain condition; If the target rainy-day image is found, search in the database for a first target wiper gear associated with the target rainy-day image; Control the wiper to perform a wiping operation at the first target wiper gear.

2. The method according to claim 1, wherein At least one of the rainfall categories is associated with multiple rainy-day images corresponding to different raindrop diameters and / or raindrop quantities.

3. The method according to claim 1, wherein At least one of the rainfall categories is associated with multiple rainy-day images corresponding to different ambient light conditions.

4. The method according to claim 1, characterized in that, The searching in the database for a target rainy-day image that matches the first current image includes: Obtain a second current image, where the image acquisition device periodically acquires an image of the target area on the windshield, and the second current image is an image obtained by the image acquisition device acquiring an image of the target area on the windshield in the next acquisition cycle after acquiring the first current image; Determine the image similarity between the first current image and the rainy-day images in the database, and determine the rainy-day images with an image similarity greater than a preset similarity threshold as the first candidate rainy-day images; Determine the image similarity between the second current image and the rainy-day images in the database, and determine the rainy-day images with an image similarity greater than a preset similarity threshold as the second candidate rainy-day images; If the first candidate rainy-day image and the second candidate rainy-day image are associated with the same wiper gear, use the first candidate rainy-day image as the target rainy-day image; otherwise, determine that the target rainy-day image has not been found.

5. The method according to claim 1, wherein After the working gear of the wiper is the first target wiper gear, it further includes: When the adjustment is effective, in response to receiving a user's adjustment operation on the working gear of the wiper, determine a second target wiper gear, and control the wiper to perform a wiping operation at the second target wiper gear; Obtain an added image, where the added image is obtained by the image acquisition device acquiring an image of the target area during the process of the user adjusting the working gear of the wiper; Delete the target rainy-day image from the database, save the added image to the database, and associate the added image with the second target wiper gear to update the database.

6. The method according to claim 4, wherein It further includes: Real-time detect a first continuous wiping duration during which the wiper continuously performs a wiping operation at the first target wiper gear; When the first continuous wiping duration reaches a first preset duration threshold, determine that the adjustment is effective.

7. The method according to claim 4, wherein The determining a second target wiper gear in response to receiving a user's adjustment operation on the working gear of the wiper includes: Starting from when the adjustment becomes effective, if the user makes at least one adjustment to the working gear of the windshield wiper within a preset duration, the windshield wiper gear corresponding to the last adjustment is taken as the second target windshield wiper gear.

8. The method according to claim 1, wherein The obtaining of the first current image includes: When the wiper blade is scraping upward and is still a preset angle away from entering the scraping area, controlling the image acquisition device to perform image acquisition on the target area to obtain the first current image.

9. The method according to claim 1, characterized in that The target area is a rectangular area with a preset size directly in front of the driver's field of vision in area A on the windshield.

10. The method according to claim 1, wherein It further includes: If the target rainy-day image is not found, the current windshield wiper gear remains unchanged.

11. A windshield wiper control device, characterized in that, It includes: A first obtaining module, configured to obtain a first current image, where the first current image is an image obtained by the image acquisition device currently performing image acquisition on the target area on the windshield; A first searching module, configured to search in a database for a target rainy-day image that matches the first current image, where the database records multiple windshield wiper gears, multiple rainfall categories, and multiple rainy-day images, and records the rainfall category associated with each windshield wiper gear, the rainy-day image associated with each rainfall category, and the rainy-day image associated with each windshield wiper gear. Among the multiple rainfall categories, there are multiple rainfall categories belonging to the light rain condition; A second query module, configured to, if the target rainy-day image is found, search in the database for the first target windshield wiper gear associated with the target rainy-day image; A first control module, configured to control the windshield wiper to perform scraping work at the first target windshield wiper gear.

12. A windshield wiper control device, characterized in that, It includes: A processor; A memory, configured to store executable instructions; Wherein, the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the windshield wiper control method according to any one of claims 1 - 10 above.

13. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by the processor, the processor is caused to implement the windshield wiper control method according to any one of claims 1 - 10 above.

14. A vehicle, characterized in that, It includes at least one of the following: The windshield wiper control device according to claim 11; The windshield wiper control equipment according to claim 12; The computer-readable storage medium according to claim 13.

Images