Windscreen wiper control method and device and vehicle

Abstract

The invention is suitable for the technical field of windscreen wiper control, and provides a windscreen wiper control method and device and a vehicle, and the method comprises the steps that a pedestrian detection result in an effective monitoring area of a windscreen wiper and state information of a front door of the vehicle are obtained; wherein the effective monitoring area is determined according to a swing path of a windscreen wiper on the vehicle; according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front vehicle door, the target operation state of the windscreen wiper is determined; and controlling the windscreen wiper to operate according to the target operation state. By means of the windscreen wiper, the technical problem that in the prior art, when a pedestrian gets close to a windscreen wiper in high-speed running or a passenger gets off a vehicle, the running speed of the windscreen wiper is reduced in a manual mode, and time and labor are wasted can be solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wiper control, and particularly relates to a wiper control method and device and a vehicle. BACKGROUND

[0002] When a car or a taxi is taken in heavy rain, the passenger in the front passenger seat is easily splashed by the rainwater swept by the running front wiper when getting into the vehicle, and a pedestrian near a large vehicle (such as an SUV or a bus) is also easily splashed by the water splashed by the wiper. Therefore, how to avoid the rainwater splashed by the wiper of a vehicle in rainy weather is very important for passengers or pedestrians.

[0003] At present, in order to prevent the rainwater splashed by the wiper of a vehicle in rainy weather, the main method is that the driver manually controls the speed of the wiper, and when a pedestrian passes by the vehicle or a passenger gets off the vehicle, the running speed of the wiper is reduced by a manual method to avoid the rainwater splashed by the wiper. However, this method is time-consuming and laborious, and is also easy to distract the driver and cause traffic accidents. SUMMARY

[0004] The application provides a wiper control method, device and vehicle, which can solve the technical problem of time-consuming and laborious caused by reducing the running speed of the wiper by a manual method when a pedestrian approaches a wiper running at high speed or a passenger gets off a vehicle.

[0005] In a first aspect, the application provides a wiper control method, comprising:

[0006] obtaining pedestrian detection results in an effective monitoring area of a wiper and state information of a front door of a vehicle, wherein the effective monitoring area is determined according to a swing path of the wiper on the vehicle;

[0007] determining a target running state of the wiper according to at least one of the pedestrian detection results in the effective monitoring area and the state information of the front door of the vehicle;

[0008] controlling the wiper to run according to the target running state.

[0009] Compared with the prior art, the embodiment of the present application has the beneficial effects that: by acquiring the pedestrian detection result in the effective monitoring area of the windscreen wiper and the state information of the front door of the vehicle, the target running state of the windscreen wiper is determined according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door, so that the target running state of the windscreen wiper can be determined according to the pedestrian detection result and the state of the front door, and then the windscreen wiper is controlled to run according to the target running state, so that when a pedestrian is detected to approach the windscreen wiper or the front door is in an open state, the running state of the windscreen wiper can be automatically adjusted, and the running speed of the windscreen wiper is reduced, thereby effectively avoiding that a person is splashed by water splashed by the high-speed running windscreen wiper, and effectively solving the technical problem that in the prior art, when a pedestrian approaches the high-speed running windscreen wiper or a passenger gets off the vehicle, the running speed of the windscreen wiper is manually reduced, which is time-consuming and laborious.

[0010] In a possible implementation manner of the first aspect, before the acquiring the pedestrian detection result in the effective monitoring area of the windscreen wiper, the method further includes:

[0011] Acquiring a swing path of the windscreen wiper on the vehicle;

[0012] Determining a windscreen wiper swing area according to the swing path of the windscreen wiper;

[0013] Determining the effective monitoring area of the windscreen wiper according to the windscreen wiper swing area;

[0014] Detecting whether there is a pedestrian in the effective monitoring area to obtain a pedestrian detection result;

[0015] When it is detected that there is a pedestrian in the effective monitoring area, determining that the pedestrian detection result is that there is a pedestrian;

[0016] When it is detected that there is no pedestrian in the effective monitoring area, determining that the pedestrian detection result is that there is no pedestrian.

[0017] By acquiring the swing path of the windscreen wiper on the vehicle, determining the windscreen wiper swing area according to the swing path of the windscreen wiper, determining the effective monitoring area of the windscreen wiper according to the windscreen wiper swing area, detecting whether there is a pedestrian in the effective monitoring area to obtain a pedestrian detection result, when it is detected that there is a pedestrian in the effective monitoring area, determining that the pedestrian detection result is that there is a pedestrian, and when it is detected that there is no pedestrian in the effective monitoring area, determining that the pedestrian detection result is that there is no pedestrian, the distance between the pedestrian and the windscreen wiper swing area is relatively close, so that the target running state of the windscreen wiper can be determined according to the pedestrian detection result, and the running state of the windscreen wiper can be controlled in time when a pedestrian approaches the windscreen wiper swing area, thereby effectively avoiding that the high-speed running windscreen wiper splashes the pedestrian.

[0018] In a possible implementation of the first aspect, determining the target operating state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area and the status information of the front door includes:

[0019] When the speed of the vehicle is less than or equal to a first preset speed threshold and the pedestrian detection result indicates the presence of a pedestrian, determining an effective distance between the pedestrian in the effective monitoring area and the wiper according to the wiper swing area;

[0020] Obtaining the current operating status of the wiper;

[0021] A target operating state of the wiper is determined according to the effective distance between the pedestrian and the wiper and the current operating state of the wiper.

[0022] When the pedestrian detection result shows that there is a pedestrian, the effective distance between the pedestrian and the wiper in the effective monitoring area is determined based on the wiper swing area, and the current operating state of the wiper is obtained. The target operating state of the wiper is determined based on the effective distance between the pedestrian and the wiper and the current operating state of the wiper. When a pedestrian is detected approaching the wiper, the target motion state of the wiper can be determined based on the effective distance between the pedestrian and the wiper. When the pedestrian gets closer and closer to the wiper, the wiper can automatically adjust the operating speed of the wiper according to the distance of the pedestrian to avoid the pedestrian being splashed by water scraped by the wiper.

[0023] In a possible implementation of the first aspect, the front door includes a left front door and a right front door;

[0024] The target operating state of the wiper includes a target operating mode of the wiper;

[0025] The determining the target operating state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door includes:

[0026] When the state information of at least one of the left front door and the right front door is an open state, it is determined that the target operation mode of the wiper is a low speed mode.

[0027] Since the target operating state includes the target operating mode, when the status information of at least one of the left front door and the right front door is open, it means that there are passengers entering or exiting the left front door or the right front door. At this time, it is necessary to adjust the operating state of the wiper, determine that the target operating mode of the wiper is the low-speed mode, and control the wiper to operate in the low-speed mode. The wiper running at a low speed can reduce splashing of water, avoiding the passengers in the front row of the vehicle being splashed by water scraped by the high-speed wiper when getting on or off the vehicle.

[0028] In a possible implementation manner of the first aspect, the target operating state of the windscreen wiper comprises a target operating speed of the windscreen wiper.

[0029] The current operating state of the windscreen wiper comprises a current operating speed of the windscreen wiper.

[0030] The determining the target operating state of the windscreen wiper according to the effective distance between the pedestrian and the windscreen wiper and the current operating state of the windscreen wiper comprises:

[0031] When the effective distance between the pedestrian and the windscreen wiper is less than a first preset distance and not less than a second preset distance, determining the target operating speed of the windscreen wiper according to the current operating speed of the windscreen wiper.

[0032] The target operating state of the windscreen wiper comprises a target operating speed of the windscreen wiper, the current operating state of the windscreen wiper comprises a current operating speed of the windscreen wiper, and when the effective distance between the pedestrian and the windscreen wiper is less than a first preset distance and not less than a second preset distance, the target operating speed of the windscreen wiper is determined according to the current operating speed of the windscreen wiper, so that when the pedestrian is in the effective monitoring area but at a certain distance from the windscreen wiper, the target operating speed is determined according to the current operating speed of the windscreen wiper, the windscreen wiper is slowed down to a certain extent, but the continuous operation of the windscreen wiper is not affected, the water splashed by the windscreen wiper is avoided from wetting the pedestrian, and the clear vision of the driver is maintained.

[0033] In a possible implementation manner of the first aspect, the current operating state of the windscreen wiper comprises a current operating mode of the windscreen wiper.

[0034] The target operating state of the windscreen wiper comprises a target operating mode of the windscreen wiper.

[0035] The determining the target operating state of the windscreen wiper according to the effective distance between the pedestrian and the windscreen wiper and the current operating state of the windscreen wiper comprises:

[0036] When the effective distance between the pedestrian and the windscreen wiper is less than a second preset distance and not less than a third preset distance, determining the target operating mode of the windscreen wiper according to the current operating mode of the windscreen wiper.

[0037] When the current operating mode of the windscreen wiper is a high-speed mode, determining the target operating mode of the windscreen wiper as an intermittent mode.

[0038] The current running state of the wiper includes a current running mode of the wiper, and the target running state of the wiper includes a target running mode of the wiper. When the effective distance between the pedestrian and the wiper is less than the second preset distance and is not less than the third preset distance, the target running mode of the wiper is determined according to the current running mode of the wiper. When the current running mode of the wiper is a high-speed mode, the target running mode of the wiper is determined as an intermittent mode. In this way, when the pedestrian gradually approaches the wiper and is very close to the wiper, the target running mode can be gradually adjusted according to the current running mode of the wiper, so that the wiper can normally run, and the water splashed by the wiper can be avoided from wetting the pedestrian.

[0039] In a possible implementation of the first aspect, the target running state of the wiper includes a target running mode of the wiper.

[0040] The target running state of the wiper is determined according to the effective distance between the pedestrian and the wiper and the current running state of the wiper, and includes:

[0041] When the effective distance between the pedestrian and the wiper is less than the third preset distance, the target running mode of the wiper is determined as a smooth stop.

[0042] When the effective distance between the pedestrian and the wiper is less than the third preset distance, it indicates that the pedestrian is very close to the wiper. At this time, the target running mode of the wiper is determined as a smooth stop, so that the running state of the wiper is gradually adjusted to stop, and the water splashed by the wiper can be effectively avoided from wetting the pedestrian.

[0043] In a possible implementation of the first aspect, the front door includes a left front door and a right front door.

[0044] Before the control of the wiper running in the target running state, the method further includes:

[0045] When the speed of the vehicle is greater than the second preset speed threshold, and the state information of the left front door and the right front door are both in a closed state, the target running state of the wiper is determined according to the acquired rainfall size.

[0046] The front door includes a left front door and a right front door. When the speed of the vehicle is greater than the first preset speed threshold, and the state information of the left front door and the right front door are both in a closed state, it indicates that the vehicle is in normal driving. The target running state of the wiper is determined according to the acquired rainfall size, and the wiper is controlled to run in the target running state. In this way, the wiper can automatically adjust the running state according to the size of the rainfall, without manual operation of the driver, time and effort are saved, and the driver can be prevented from being distracted, thereby providing a guarantee for safe driving.

[0047] In a second aspect, an embodiment of the present application provides a control device of a wiper, which includes:

[0048] an information obtaining module, configured to obtain a pedestrian detection result in an effective monitoring area of a wiper and state information of a front door of a vehicle, wherein the effective monitoring area is determined according to a swinging path of the wiper on the vehicle;

[0049] a target running state determining module, configured to determine a target running state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door of the vehicle;

[0050] a wiper control module, configured to control the wiper to run in the target running state.

[0051] In a third aspect, an embodiment of the present application provides a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method in any of the above aspects when executing the computer program.

[0052] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable by a processor to implement the method in any of the above aspects.

[0053] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle, enables the vehicle to implement the method in any of the above aspects. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0055] Figure 1 is a flowchart of a control method of a wiper provided by an embodiment of the present application;

[0056] Figure 2 is a position relationship diagram of a wiper on a vehicle provided by the prior art;

[0057] Figure 3 is a structural diagram of a control device of a wiper provided by an embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0059] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0060] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0061] As an important safety component of a car, wipers are mainly used to clear rain, dust and other debris from the windshield. Especially in heavy rain, running the front wipers can clear rain from the front windshield to ensure a clear field of vision for the driver.

[0062] like Figure 2 As shown, Figure 2 This is a diagram of the position of wipers on a vehicle, provided by related technology. Wipers are located on the windshield surface of the vehicle, with the front wiper located on the front windshield. The wiper blade of the wiper assembly is the part of the wiper system that directly contacts the windshield. It is usually composed of a rubber blade, a metal bracket, and a connection interface, and is responsible for wiping the glass surface.

[0063] The positive attack angle is the angle between the wiper blade and the windshield surface. When the wiper is in motion, the angle formed by the perpendicular line from any projection point of the wiper blade on the windshield to the top of the wiper arm and the normal line of the windshield at that point (windshield normal) is called the attack angle. Figure 2 As shown in the figure, the angle of attack is determined by looking from the top of the wiper blade (away from the output shaft end) to the bottom (closer to the output shaft end). When rotating counterclockwise from the windshield surface to the centerline of the wiper blade, the angle of attack is positive, and vice versa. The angle of attack for a wiper is between +7 degrees and -7 degrees.

[0064] The wiper has at least two frequencies, high frequency and low frequency, and can have more frequencies. The high frequency should be no less than 45 times / min, the low frequency should be no less than 10 times / min and no more than 55 times / min. The difference between the high frequency and the low frequency should be no less than 15 times / min. Among them, one reciprocating motion of the wiper blade is one time.

[0065] In the prior art, the operation mode of the wiper can be divided into manual adjustment mode, intermittent mode, low speed mode, medium speed mode, high speed mode and single wiping mode (tear wiping mode) according to different vehicle models and design requirements. The characteristics and running speed of different operation modes are different, and the splashing water is also different.

[0066] When riding in a car or a taxi on a rainy day, the passenger in the co-driver's seat will be easily splashed by the water wiped by the wiper when entering the vehicle, and pedestrians approaching a large vehicle (such as an SUV or a bus) will also be easily splashed by the water splashed by the wiper. It is very important for passengers or pedestrians to avoid being splashed by the water splashed by the wiper of the vehicle on a rainy day.

[0067] At present, in order to prevent the water splashed by the wiper on a rainy day from splashing the passengers or pedestrians, the driver manually controls the operation mode of the wiper, and when a pedestrian passes by the vehicle or a passenger wants to get off the vehicle, the driver manually switches the wiper from high speed mode to low speed mode to reduce the running speed of the wiper, so as to avoid the water splashed by the wiper from splashing the passengers or pedestrians. However, this method is time-consuming and laborious, and it is easy to distract the driver and cause traffic accidents.

[0068] In order to solve the above problems, the application embodiment provides a control method of a wiper, referring to Figure 1 , Figure 1 is a flowchart of a control method of a wiper provided by an embodiment of the application, comprising:

[0069] Step S11, obtaining pedestrian detection results in an effective monitoring area of the wiper and state information of a front door of the vehicle; wherein the effective monitoring area is determined according to the swinging path of the wiper on the vehicle.

[0070] Step S12, determining a target running state of the wiper according to at least one of the pedestrian detection results in the effective monitoring area and the state information of the front door.

[0071] Step S13, controlling the wiper to run according to the target running state.

[0072] It should be noted that the vehicle is provided with a 360-degree surround view system, multi-modal sensors and radar devices, etc. The 360-degree surround view system, multi-modal sensors and radar devices can be arranged near the wiper or other positions. Through the 360-degree surround view system of the vehicle, the camera (visual recognition) and millimeter wave radar (suitable for bad weather) are fused, the pedestrians near the vehicle can be recognized, and the distance between the passengers or pedestrians and the vehicle can be detected in combination with the infrared sensor.

[0073] The vehicle can also be provided with a sunlight and rainfall sensor to collect the size of the rainfall. The vehicle is also provided with a wiper gear virtual switch. By triggering the wiper gear virtual switch, the wiper can be controlled to switch to the corresponding gear, and the running mode of the wiper can be switched.

[0074] The vehicle door is also provided with a sensor, which can be used to detect the state information of the door, such as the open or closed state of the door.

[0075] The running state of the wiper can include the running mode of the wiper and the running speed of the wiper. The running mode of the wiper can include intermittent mode, low-speed mode, medium-speed mode, high-speed mode and single-wiping mode (tear-wiping mode).

[0076] The intermittent mode is intermittent work of the wiper at a fixed time interval (such as 2-12 seconds), which is suitable for light rain or drizzle weather. The intermittent mode can reduce the wear of the wiper, avoid the noise generated by continuous wiping, and reduce the splashing water caused by continuous operation of the wiper. The low-speed mode is continuous work of the wiper at a slow speed, which is suitable for moderate rain or small but continuous rainfall. The medium-speed mode is continuous work of the wiper at a faster speed, which is suitable for moderate rain or large but continuous rainfall. The high-speed mode is continuous work of the wiper at the fastest speed, which is suitable for heavy rain or extremely large rainfall. The wiper in high-speed mode can quickly remove the water on the windshield to ensure clear vision. The single-wiping mode is also the tear-wiping mode. In the tear-wiping mode, the wiper control lever is pushed lightly, and the wiper is wiped only once and then automatically returns to the original position, which can temporarily remove small debris (such as insects and dust) on the windshield.

[0077] Different running modes have different characteristics and running speeds, and the splashing water is also different. In the same running mode, the running speed of the wiper can be a range. For example, in the high-speed mode, the running speed of the wiper is 50-70 times / min, and in the low-speed mode, the running speed of the wiper is 10-55 times / min.

[0078] Specifically, according to the position of the wiper and the swing path of the wiper, the effective monitoring area of the wiper can be determined. The effective monitoring area, i.e., the effective monitoring range, can be an area within a preset range of an area covering the swing path of the wiper. For example, an area within a range of 2 meters from the front windshield of the vehicle is the effective monitoring area of the wiper. The swing path of the wiper is the running track of the wiper.

[0079] When the vehicle is in a stopped state, the effective monitoring area of the wiper can be determined according to the current running state of the wiper through positioning of the wiper. The effective monitoring area of the wiper is monitored in real time through a camera or other device, and whether there is a pedestrian in the effective area is detected in real time to obtain a pedestrian detection result. The pedestrian detection result is that there is a pedestrian or there is no pedestrian. When the pedestrian detection result is that there is a pedestrian, the distance between the pedestrian and the wiper can be further determined, and the response mechanism of the wiper is determined according to the distance between the pedestrian and the wiper.

[0080] It should be noted that whether the vehicle is in a stopped state can be determined according to the state of the vehicle. When the speed of the vehicle is less than a preset vehicle speed, it is determined that the vehicle is in a stopped state. The preset vehicle speed can be 5 km / h.

[0081] Specifically, the response mechanism of the wiper can be divided into a warning stage, a speed reduction stage, and an emergency stop stage. When the distance between the pedestrian and the wiper is far, the response mechanism of the wiper is determined to be the warning stage. In the warning stage, the running speed of the wiper can be relatively high. When the distance between the pedestrian and the wiper is close, the response mechanism of the wiper is determined to be the speed reduction stage. In the speed reduction stage, the running speed of the wiper can be relatively low. When the distance between the pedestrian and the wiper is very close, the response mechanism of the wiper is determined to be the emergency stop stage. In the emergency stop stage, the running speed of the wiper can gradually become zero.

[0082] The target running state of the wiper is determined according to the response mechanism of the wiper. When the distance between the pedestrian in the effective monitoring area and the wiper is far, the response mechanism of the wiper is determined to be the warning stage. When the response mechanism of the wiper is the warning stage, the target running state of the wiper is determined to be unchanged, but the target running speed of the wiper is reduced by 50%, and the wiper is controlled to run at the target running speed.

[0083] In an optional example, the current running mode in the current running state of the wiper is a medium-speed mode, and the current running speed is 44 times / min. When the pedestrian detection result in the effective area is that there is a pedestrian, and the distance between the pedestrian and the wiper is far, the target running state of the wiper is determined to be the medium-speed mode with a speed of 22 times / min, and the wiper is controlled to run at a speed of 22 times / min.

[0084] When there is no pedestrian in the effective monitoring area of the wiper, but a pedestrian is detected to gradually approach the effective monitoring area of the wiper, the historical running track of the pedestrian can also be obtained by the camera or other devices, and the predicted running track of the pedestrian in the preset time is predicted according to the historical running track of the pedestrian.

[0085] The wiper is provided with a brushless direct current motor and an encoder. When it is determined that the pedestrian will enter the effective monitoring area of the wiper according to the predicted running track of the pedestrian, the distance between the pedestrian and the wiper is predicted, and the target running state of the wiper is determined according to the distance between the pedestrian and the wiper. The target running state includes the target running speed and the target running mode of the wiper. Since the brushless direct current motor and the encoder have the functions of accurately controlling the rotating speed of the wiper and quickly responding, the wiper can be quickly controlled to switch to the target running state, so that the pedestrian can run quickly according to the target running speed and the target running mode when entering the effective monitoring area, and the water splashed by the high-speed running wiper can be avoided from wetting the pedestrian.

[0086] The front door of the vehicle includes a left front door and a right front door, and sensors are installed on the left front door and the right front door. The state information of the left front door and the right front door of the vehicle can be obtained through the sensors. The state information can be that the left front door is in an open state or a closed state, and the right front door is in an open state or a closed state.

[0087] When the vehicle is in a stopped state, and any one of the left front door or the right front door changes from the closed state to the open state, it indicates that the driver or the co-driver gets off the vehicle. At this time, the wiper runs in the high-speed mode, which is easy to splash the driver or the co-driver. The sensor sends the obtained state information of the left front door and the right front door of the vehicle to the control device of the wiper. The control device of the wiper determines the target running state of the wiper according to the state information of the left front door and the right front door of the vehicle. When any one of the left front door or the right front door changes from the closed state to the open state, the running state of the wiper needs to be adjusted to the low-speed running, and the target running mode of the wiper is determined to be the low-speed mode. The wiper is controlled to run in the low-speed mode to avoid the water splashed by the high-speed running wiper from wetting the driver or the co-driver.

[0088] When the vehicle is in a stopped state, and the state of the left front door and the right front door is the closed state, and the pedestrian detection result in the effective area is that there is no pedestrian, it is determined that the wiper does not need to consider whether to splash the pedestrian, and the target running state of the wiper does not need to be adjusted. The wiper can continue to run in the current running state.

[0089] It should be noted that when the vehicle is in a low-speed running state, the target running state of the wiper can also be determined according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door. For example, the target running state of the wiper can be determined according to the pedestrian detection result in the effective monitoring area. When the detected pedestrian detection result in the effective area is that there is no pedestrian, it is determined that whether the wiper will splash the pedestrian with water is not considered at this time, and the target running state of the wiper does not need to be adjusted. The wiper can continue to run according to the current running state, and the running state of the vehicle is not limited in this embodiment. The wiper runs according to the target running state.

[0090] It can be understood that the technical scheme provided in the embodiment determines the target running state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area of the wiper and the state information of the front door of the vehicle, so that the target running state of the wiper can be determined according to the pedestrian detection result and the state of the front door. Then the wiper is controlled to run according to the target running state, so that when a pedestrian is detected to approach the wiper or the front door is in an open state, the running state of the wiper can be automatically adjusted, and the running speed of the wiper is reduced, thereby effectively avoiding the water splashed by the wiper running at high speed from wetting the personnel. The technical problem of time-consuming and laborious caused by manually reducing the running speed of the wiper when a pedestrian approaches the wiper running at high speed or a passenger gets off the vehicle in the prior art is effectively solved.

[0091] In a possible implementation, to obtain the pedestrian detection result in the effective monitoring area of the wiper, it is necessary to first detect whether there is a pedestrian in the effective monitoring area of the wiper. In step S11, the pedestrian detection result in the effective monitoring area of the wiper is obtained, and before that, the method further includes:

[0092] obtaining a swing path of the wiper on the vehicle; determining a wiper swing area according to the swing path of the wiper; determining the effective monitoring area of the wiper according to the wiper swing area; detecting whether there is a pedestrian in the effective monitoring area to obtain a pedestrian detection result; when it is detected that there is a pedestrian in the effective monitoring area, determining that the pedestrian detection result is that there is a pedestrian; and when it is detected that there is no pedestrian in the effective monitoring area, determining that the pedestrian detection result is that there is no pedestrian.

[0093] Specifically, according to the running mode of the wiper on the vehicle in the prior art, the swing path of the wiper can be determined in advance. The swing path of the wiper is preset according to the front windshield of the vehicle. According to the swing path of the wiper, the wiper swing area can be determined, that is, all the ranges in which the wiper swings can be determined as the wiper swing area, or the center of all the ranges in which the wiper swings can be determined as the wiper swing area, which is not limited in this embodiment.

[0094] According to the boundary points of the wiper swing area, the center point of the wiper swing area can be determined, and through the center point of the wiper swing area, a region composed of all points within a preset distance range from the center point of the wiper swing area is determined as the effective monitoring area of the wiper. In addition, through the method of generating a buffer area, a region composed of all points within a preset distance range from the wiper swing area is determined as the effective monitoring area of the wiper. In addition, the effective monitoring area of the wiper can be determined according to the distance between the vehicle. When the pedestrian enters the effective monitoring area of the wiper, it indicates that the pedestrian may be splashed by the water splashed by the wiper.

[0095] The effective monitoring area is detected by a camera or other device. For example, through AI visual recognition or other methods, the face of the image or video obtained by the camera in the effective monitoring area can be recognized. When a face is recognized, it is determined that a pedestrian in the effective monitoring area is detected. At this time, it is determined that the pedestrian detection result is that there is a pedestrian, and the wiper needs to be adjusted to the target running state. When no face is recognized, it is determined that no pedestrian in the effective monitoring area is detected. At this time, it is determined that the pedestrian detection result is that there is no pedestrian.

[0096] It can be understood that by obtaining the swing path of the wiper on the vehicle, the wiper swing area is determined according to the swing path of the wiper, the effective monitoring area of the wiper is determined according to the wiper swing area, the effective monitoring area is detected to obtain the pedestrian detection result, when the effective monitoring area is detected, the pedestrian detection result is that there is a pedestrian, when the effective monitoring area is detected, the pedestrian detection result is that there is no pedestrian, and the effective monitoring area is determined according to the wiper swing area, so that the pedestrian close to the wiper swing area can be detected, so that the target running state of the wiper can be determined according to the pedestrian detection result, and when the pedestrian is close to the wiper swing area, the running state of the wiper can be controlled in time, and the pedestrian splashed by the high-speed running wiper can be effectively avoided.

[0097] In one possible implementation, when the pedestrian detection result of the effective monitoring area of the wiper is obtained, in step S12, the target running state of the wiper is determined according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door, and the target running state of the wiper can be determined according to the pedestrian detection result in the effective monitoring area, including:

[0098] When the vehicle speed is less than or equal to a first preset speed threshold and the pedestrian detection result shows that there is a pedestrian, the effective distance between the pedestrian and the wiper in the effective monitoring area is determined based on the wiper swing area; the current operating status of the wiper is obtained; and the target operating status of the wiper is determined based on the effective distance between the pedestrian and the wiper and the current operating status of the wiper.

[0099] Specifically, when the vehicle's speed is less than or equal to a first preset speed threshold, the vehicle is considered stopped. At this point, if the pedestrian detection result indicates a pedestrian is present, it indicates that a pedestrian is approaching the wipers, and the target operating state of the wipers needs to be determined. For example, the first preset speed threshold is 5 km / h.

[0100] The longitude and latitude or plane coordinates of the pedestrian can be obtained through GPS devices, mobile phone positioning, etc. Then, based on the wiper swing area and the coordinates of the pedestrian, the effective distance between the pedestrian and the wiper within the effective monitoring area is calculated by calculating the Euclidean distance or other methods.

[0101] In an optional example, an infrared sensor is provided on the wiper, and the effective distance between the pedestrian in the effective monitoring area and the wiper can be directly obtained based on the infrared sensor.

[0102] Then, based on the effective distance between the pedestrian and the wiper, the wiper's graded response mechanism is determined to be either the early warning stage, the speed reduction stage, or the emergency stop stage. The wiper's current operating state is obtained, including the current operating speed and the current operating mode. Based on the wiper's graded response mechanism and the wiper's current operating state, the wiper's target operating state is determined. For example, when the effective distance between the pedestrian and the wiper is long, the wiper's graded response mechanism is determined to be the early warning stage. When the wiper's current operating mode is medium speed, the wiper's target operating mode is determined to be medium speed, with the target operating speed being 50% of the current operating speed.

[0103] It can be understood that when the pedestrian detection result shows that there is a pedestrian, the effective distance between the pedestrian and the wiper in the effective monitoring area is determined based on the wiper swing area, the current operating state of the wiper is obtained, and the target operating state of the wiper is determined based on the effective distance between the pedestrian and the wiper and the current operating state of the wiper. When a pedestrian is detected approaching the wiper, the target motion state of the wiper can be determined based on the effective distance between the pedestrian and the wiper. When the pedestrian gets closer and closer to the wiper, the wiper can automatically adjust the operating speed of the wiper according to the distance of the pedestrian to avoid the pedestrian being splashed by the water scraped by the wiper.

[0104] In a possible implementation, the target running state of the windscreen wiper includes a target running speed of the windscreen wiper; the current running state of the windscreen wiper includes a current running speed of the windscreen wiper; and in step S12, the target running state of the windscreen wiper is determined according to the effective distance between the pedestrian and the windscreen wiper and the current running state of the windscreen wiper, including:

[0105] When the effective distance between the pedestrian and the windscreen wiper is less than the first preset distance and not less than the second preset distance, the target running speed of the windscreen wiper is determined according to the current running speed of the windscreen wiper.

[0106] Specifically, the first preset distance, the second preset distance, and the third preset distance are set in advance. When the effective distance between the pedestrian and the windscreen wiper is less than the first preset distance and not less than the second preset distance, the grading response mechanism of the windscreen wiper is determined as the pre-warning stage. In the pre-warning stage, the target running mode of the windscreen wiper does not change, and the target running speed becomes 50% of the current running speed. Then, the target running speed of the windscreen wiper is calculated according to the current running speed of the windscreen wiper, and the running speed of the windscreen wiper is controlled to switch to the target running speed.

[0107] It should be noted that the first preset distance can be 2 meters, the second preset distance can be 1 meter, and the third preset distance can be 0.5 meter. The first preset distance, the second preset distance, and the third preset distance can also be set according to actual scenes, and the present embodiment does not make specific limitations in this regard.

[0108] It can be understood that the target running state of the windscreen wiper includes the target running speed of the windscreen wiper, the current running state of the windscreen wiper includes the current running speed of the windscreen wiper, and when the effective distance between the pedestrian and the windscreen wiper is less than the first preset distance and not less than the second preset distance, the target running speed of the windscreen wiper is determined according to the current running speed of the windscreen wiper, which can make the target running speed of the windscreen wiper determined according to the current running speed of the windscreen wiper when the pedestrian is in the effective monitoring area but at a certain distance from the windscreen wiper, so that the running of the windscreen wiper is slowed down to a certain extent, but the continuous running of the windscreen wiper is not affected, so that the water splashed by the windscreen wiper does not wet the pedestrian, and the driver maintains a clear line of sight.

[0109] In a possible implementation, the current running state of the windscreen wiper includes a current running mode of the windscreen wiper; the target running state of the windscreen wiper includes a target running mode of the windscreen wiper; and in step S12, the target running state of the windscreen wiper is determined according to the effective distance between the pedestrian and the windscreen wiper and the current running state of the windscreen wiper, including:

[0110] When the effective distance between the pedestrian and the windscreen wiper is less than the second preset distance and not less than the third preset distance, the target running mode of the windscreen wiper is determined according to the current running mode of the windscreen wiper; and when the current running mode of the windscreen wiper is the high-speed mode, the target running mode of the windscreen wiper is determined as the intermittent mode.

[0111] Specifically, when the effective distance between the pedestrian and the wiper is less than the second preset distance and not less than the third preset distance, it is determined that the wiper hierarchical response mechanism is in a pre-warning stage. In the pre-warning stage, the target running mode of the wiper is pre-set to be the intermittent mode. At this time, according to the current running mode of the wiper, the target running mode of the wiper is determined to be the intermittent mode, and the wiper is gradually switched from the current running mode to the intermittent mode.

[0112] For example, when the current running mode of the wiper is the high-speed mode, the target running mode of the wiper is determined to be the intermittent mode, and the wiper is gradually reduced from the high-speed mode, the medium-speed mode and the low-speed mode to the intermittent mode.

[0113] The pre-warning stage of the wiper can also be set to be that the running speed of the wiper is reduced by 80%. When the effective distance between the pedestrian and the wiper is less than the second preset distance and not less than the third preset distance, according to the current running speed of the wiper, the target running speed of the wiper can be determined to be 20% of the current running speed, and the wiper is gradually reduced from the current running speed to 20% of the current running speed.

[0114] It can be understood that the current running state of the wiper includes the current running mode of the wiper, the target running state of the wiper includes the target running mode of the wiper, when the effective distance between the pedestrian and the wiper is less than the second preset distance and not less than the third preset distance, according to the current running mode of the wiper, the target running mode of the wiper is determined, when the current running mode of the wiper is the high-speed mode, the target running mode of the wiper is determined to be the intermittent mode, which can enable the target running mode to be gradually adjusted according to the current running mode of the wiper when the pedestrian gradually approaches the wiper and is very close to the wiper, while ensuring the normal operation of the wiper and avoiding the water splashed by the wiper from wetting the pedestrian.

[0115] In a possible implementation, the target running state of the wiper includes the target running mode of the wiper; in step S12, the target running state of the wiper is determined according to the effective distance between the pedestrian and the wiper and the current running state of the wiper, including:

[0116] When the effective distance between the pedestrian and the wiper is less than the third preset distance, the target running mode of the wiper is determined to be the smooth stop.

[0117] Specifically, when the effective distance between the pedestrian and the wiper is less than the third preset distance, it indicates that the pedestrian is particularly close to the wiper, and if the wiper continues to run, the pedestrian will be splashed. When the effective distance between the pedestrian and the wiper is less than the third preset distance, it is determined that the wiper hierarchical response mechanism is in an emergency stop stage. In the emergency stop stage, the target running mode of the wiper is pre-set to be the smooth stop. At this time, the target running mode of the wiper is determined to be the smooth stop, and the wiper is gradually switched from the current running mode to the smooth stop.

[0118] It should be noted that the smooth stop mode of the wiper indicates that the motor of the wiper gradually stops rotating, which can be realized by PID control, so as to avoid mechanical impact on the motor of the wiper caused by sudden stop, protect the motor of the wiper, and prolong the service life of the wiper.

[0119] It can be understood that when the effective distance between the pedestrian and the wiper is less than the third preset distance, it indicates that the pedestrian is particularly close to the wiper, and at this time, the target running mode of the wiper is determined as the smooth stop mode, that is, the running state of the wiper is gradually adjusted to stop, so as to effectively avoid the water splashed by the wiper from wetting the pedestrian.

[0120] In a possible implementation, the front door includes a left front door and a right front door; the target running state of the wiper includes a target running mode of the wiper, and when the target running state of the wiper is determined according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door in step S12, the target running state of the wiper can be determined according to the state information of the front door, including:

[0121] When the state information of at least one of the left front door and the right front door is in the open state, the target running mode of the wiper is determined as the low-speed mode.

[0122] Specifically, when the state information of the left front door is in the open state, or the state information of the right front door is in the open state, it indicates that a passenger gets off the vehicle, at this time, the running state of the wiper needs to be adjusted, and the target running mode of the wiper is determined as the low-speed mode, and the running mode of the wiper is switched to the low-speed mode.

[0123] It should be noted that when the target running state of the wiper determined according to the pedestrian detection result in the effective monitoring area is inconsistent with the target running state of the wiper determined according to the state information of the front door, the target running state of the wiper determined according to the pedestrian detection result in the effective monitoring area can be set as the final target running state, or the target running state of the wiper determined according to the state information of the front door can be set as the final target running state, which is not limited in the embodiment.

[0124] It can be understood that since the target running state includes the target running mode, when the state information of at least one of the left front door and the right front door is in the open state, it indicates that the left front door or the right front door has a passenger entering or exiting, at this time, the running state of the wiper needs to be adjusted, the target running mode of the wiper is determined as the low-speed mode, and the wiper is controlled to run at the low-speed mode. The wiper running at low speed can reduce the splashed water, so as to avoid the water splashed by the wiper running at high speed from wetting the passenger when the passenger in the front row of the vehicle gets on or off the vehicle.

[0125] In a possible implementation, the front doors include a left front door and a right front door; and the step S13 of controlling the wiper to run in the target running state further includes:

[0126] When the speed of the vehicle is greater than the first preset speed threshold, and the state information of the left front door and the right front door are both in the closed state, the target running state of the wiper is determined according to the acquired rainfall size.

[0127] Specifically, when the speed of the vehicle is less than the second preset speed threshold and the vehicle is not in the stopped state, the target running mode of the wiper is determined to be the low-speed mode regardless of whether the state information of the left front door and the right front door of the vehicle is in the opened state or the closed state. For example, when the vehicle is driving at a low speed to send passengers to an airport or a high-speed rail station, the state information of the left front door and the right front door of the vehicle is in the closed state because the passengers have not left the vehicle. At this time, to avoid the water splashed by the wiper from wetting the passengers, the target running mode of the wiper is determined to be the low-speed mode, and the wiper is controlled to run at a low speed.

[0128] It should be noted that the second preset speed threshold is greater than the first preset speed threshold, for example, the second preset speed threshold is 10 km / h, and the first preset speed threshold is 5 km / h, which can be set according to actual conditions, and the present embodiment does not make a specific limitation in this regard.

[0129] When the speed of the vehicle is greater than the second preset speed threshold, and the state information of the left front door and the right front door are both in the closed state, it indicates that the vehicle starts to drive, at this time, the rainfall size can be acquired in real time, and the target running state of the wiper is determined according to the rainfall size.

[0130] It can be understood that the front doors include a left front door and a right front door, when the speed of the vehicle is greater than the second preset speed threshold, and the state information of the left front door and the right front door are both in the closed state, at this time, it indicates that the vehicle is driving normally, the target running state of the wiper is determined according to the acquired rainfall size, and the wiper is controlled to run in the target running state, so that the wiper can automatically adjust the running state according to the rainfall size, without the need for manual operation by the driver, saving time and effort, and at the same time, the driver can be prevented from being distracted, providing a guarantee for safe driving.

[0131] It can be understood that the technical scheme provided by the embodiment determines the target running state of the windscreen wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door of the vehicle, so that the target running state of the windscreen wiper can be determined according to the pedestrian detection result and the state of the front door, and then the windscreen wiper is controlled to run according to the target running state, so that when a pedestrian is detected to approach the windscreen wiper or the front door is in an open state, the running state of the windscreen wiper can be automatically adjusted, and the running speed of the windscreen wiper is reduced, thereby effectively avoiding that a person is splashed by water splashed by the windscreen wiper running at a high speed, and effectively solving the technical problem that in the prior art, when a pedestrian approaches the windscreen wiper running at a high speed or a passenger gets off the vehicle, the running speed of the windscreen wiper is manually reduced, which is time-consuming and laborious.

[0132] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0133] Corresponding to the method described in the above embodiment, an embodiment of the application also provides a control device of a windscreen wiper, which refers to Figure 3 , Figure 3 FIG. 1 is a structural schematic diagram of a control device of a windscreen wiper according to an embodiment of the application, and only parts related to the embodiment of the application are shown for ease of description.

[0134] The control device 3 of the windscreen wiper comprises:

[0135] An information acquisition module 31 is configured to acquire a pedestrian detection result in an effective monitoring area of the windscreen wiper and state information of a front door of the vehicle, wherein the effective monitoring area is determined according to a swing path of the windscreen wiper on the vehicle;

[0136] A target running state determination module 32 is configured to determine a target running state of the windscreen wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door of the vehicle.

[0137] A windscreen wiper control module 33 is configured to control the windscreen wiper to run according to the target running state.

[0138] In a possible implementation manner, the control device 3 of the windscreen wiper further comprises:

[0139] The monitoring area determination module 34 is configured to acquire a swing path of the wiper on the vehicle; determine a wiper swing area according to the swing path of the wiper; determine an effective monitoring area of the wiper according to the wiper swing area; detect whether there is a pedestrian in the effective monitoring area to obtain a pedestrian detection result; determine that the pedestrian detection result is that there is a pedestrian when it is detected that there is a pedestrian in the effective monitoring area; and determine that the pedestrian detection result is that there is no pedestrian when it is detected that there is no pedestrian in the effective monitoring area.

[0140] In a possible implementation, the target operating state determination module 32 is further configured to, when the speed of the vehicle is less than or equal to the first preset speed threshold and the pedestrian detection result is that there is a pedestrian, determine an effective distance between the pedestrian and the wiper in the effective monitoring area according to the wiper swing area; acquire a current operating state of the wiper; and determine a target operating state of the wiper according to the effective distance between the pedestrian and the wiper and the current operating state of the wiper.

[0141] In a possible implementation, the front doors include a left front door and a right front door; and the target operating state of the wiper includes a target operating mode of the wiper; and the target operating state determination module 32 is further configured to determine that the target operating mode of the wiper is a low-speed mode when the state information of at least one of the left front door and the right front door is an open state.

[0142] In a possible implementation, the target operating state of the wiper includes a target operating speed of the wiper; the current operating state of the wiper includes a current operating speed of the wiper; and the target operating state determination module 32 is further configured to, when the effective distance between the pedestrian and the wiper is less than a first preset distance and not less than a second preset distance, determine the target operating speed of the wiper according to the current operating speed of the wiper.

[0143] In a possible implementation, the current operating state of the wiper includes a current operating mode of the wiper; the target operating state of the wiper includes a target operating mode of the wiper; and the target operating state determination module 32 is further configured to, when the effective distance between the pedestrian and the wiper is less than the second preset distance and not less than a third preset distance, determine the target operating mode of the wiper according to the current operating mode of the wiper.

[0144] When the current operating mode of the wiper is a high-speed mode, the target operating mode of the wiper is determined to be an intermittent mode.

[0145] In a possible implementation, the target operating state of the wiper includes a target operating mode of the wiper; and the target operating state determination module 32 is further configured to, when the effective distance between the pedestrian and the wiper is less than the third preset distance, determine that the target operating mode of the wiper is a smooth stall.

[0146] In a possible implementation, the front doors include a left front door and a right front door; before the wiper runs in the target running state, the target running state determination module 32 is further configured to determine the target running state of the wiper according to the acquired rainfall amount when the speed of the vehicle is greater than the second preset speed threshold and the state information of the left front door and the right front door are both in the closed state.

[0147] It should be noted that the information interaction and execution process between the above system / units are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by them can be referred to the method embodiments part. Therefore, no further description is given here.

[0148] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example for illustration. In actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0149] The embodiments of the present application also provide a vehicle, which comprises at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above method embodiments when executing the computer program.

[0150] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, wherein the computer program is executable by a processor to implement the steps in any of the above method embodiments.

[0151] The embodiments of the present application provide a computer program product, which, when executed on a vehicle, causes the vehicle to perform any of the above methods.

[0152] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct relevant hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0153] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0154] Those of ordinary skill in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0155] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the above-described apparatus / network device embodiments are merely schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0156] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0157] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for controlling a windshield wiper, characterized in that: include: Obtaining pedestrian detection results and status information of the front door of the vehicle within an effective monitoring area of ​​the wiper, wherein the effective monitoring area is determined based on the swing path of the wiper on the vehicle; determining a target operating state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door; The wiper is controlled to operate according to the target operating state.

2. The wiper control method according to claim 1, wherein: Before obtaining the pedestrian monitoring result within the effective monitoring area of ​​the wiper, the method further includes: Obtaining a swing path of the wiper on the vehicle; determining a wiper swing area according to the wiper swing path; determining an effective monitoring area of ​​the wiper according to the wiper swing area; Detecting whether there are pedestrians in the effective monitoring area and obtaining pedestrian detection results; When a pedestrian is detected in the effective monitoring area, determining the pedestrian detection result as the presence of a pedestrian; When it is detected that there are no pedestrians in the effective monitoring area, the pedestrian detection result is determined to be that there are no pedestrians.

3. The wiper control method according to claim 2, wherein: The determining the target operating state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door includes: When the speed of the vehicle is less than or equal to a first preset speed threshold and the pedestrian detection result indicates the presence of a pedestrian, determining an effective distance between the pedestrian in the effective monitoring area and the wiper according to the wiper swing area; Obtaining the current operating status of the wiper; A target operating state of the wiper is determined according to the effective distance between the pedestrian and the wiper and the current operating state of the wiper.

4. The wiper control method according to claim 1, wherein: The front doors include a left front door and a right front door; The target operating state of the wiper includes a target operating mode of the wiper; The determining the target operating state of the wiper according to at least one of the pedestrian detection result in the effective monitoring area and the state information of the front door includes: When the state information of at least one of the left front door and the right front door is an open state, it is determined that the target operation mode of the wiper is a low speed mode.

5. The wiper control method according to claim 3, wherein: The target operating state of the wiper includes a target operating speed of the wiper; The current operating state of the wiper includes the current operating speed of the wiper; The determining a target operating state of the wiper according to the effective distance between the pedestrian and the wiper and the current operating state of the wiper includes: When the effective distance between the pedestrian and the wiper is less than a first preset distance and not less than a second preset distance, a target operating speed of the wiper is determined according to a current operating speed of the wiper.

6. The wiper control method according to claim 3, wherein: The current operating state of the wiper includes a current operating mode of the wiper; The target operating state of the wiper includes a target operating mode of the wiper; The determining a target operating state of the wiper according to the effective distance between the pedestrian and the wiper and the current operating state of the wiper includes: When the effective distance between the pedestrian and the wiper is less than a second preset distance and not less than a third preset distance, determining a target operating mode of the wiper according to the current operating mode of the wiper; When the current operation mode of the wiper is the high-speed mode, the target operation mode of the wiper is determined to be the intermittent mode.

7. The wiper control method according to claim 3, wherein: The target operating state of the wiper includes a target operating mode of the wiper; The determining a target operating state of the wiper according to the effective distance between the pedestrian and the wiper and the current operating state of the wiper includes: When the effective distance between the pedestrian and the wiper is less than a third preset distance, the target operating mode of the wiper is determined to be smooth stop.

8. The wiper control method according to claim 1, wherein: The front doors include a left front door and a right front door; Before controlling the wiper to operate according to the target operating state, the method further includes: When the speed of the vehicle is greater than a second preset speed threshold, and the status information of the left front door and the right front door are both closed, the target operating state of the wiper is determined according to the acquired rainfall amount.

9. A wiper control device, characterized in that: include: An information acquisition module, configured to acquire pedestrian detection results within an effective monitoring area of ​​the wiper and status information of the vehicle's front door; wherein the effective monitoring area is determined based on the swing path of the wiper on the vehicle; a target operating state determining module, configured to determine a target operating state of the wiper according to at least one of the pedestrian detection result within the effective monitoring area and the state information of the front door; The wiper control module is used to control the wiper to operate according to the target operating state.

10. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

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