Windscreen wiper control method and device, vehicle and storage medium

Abstract

The invention discloses a windscreen wiper control method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring first detection data of a radar and second detection data of a rainfall sensor; performing rainfall detection based on the first detection data to obtain first rainfall information, and performing rainfall detection based on the second detection data to obtain second rainfall information; based on the first rainfall information and the second rainfall information, control parameters used for controlling the windscreen wiper are determined; and based on the control parameters, the windscreen wiper is controlled to conduct windscreen wiping operation. The technical problem that the accuracy of windscreen wiper control is low in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the fields of vehicles and automatic control, and more specifically, to a windshield wiper control method, device, vehicle, and storage medium. Background Technology

[0002] With the rapid development of intelligent vehicle technology, automatic windshield wiper systems play a crucial role as part of the vehicle's environmental perception and response. The core objective of automatic windshield wiper systems is to automatically adjust the working status of the wipers by monitoring the amount of rainfall in real time, thereby ensuring the driver has clear visibility, especially in adverse weather conditions such as rain, thus improving driving safety and comfort.

[0003] However, current wiper control solutions often rely on image recognition from cameras. This method is highly dependent on lighting conditions. For example, when the light changes drastically, it is easy for the wipers to misjudge the situation, resulting in low accuracy of wiper control.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a windshield wiper control method, device, vehicle, and storage medium to at least solve the technical problem of low accuracy in windshield wiper control in related technologies.

[0006] According to one aspect of the present invention, a windshield wiper control method is provided, comprising: acquiring first detection data from a radar and second detection data from a rain sensor; performing rain detection based on the first detection data to obtain first rainfall information, and performing rain detection based on the second detection data to obtain second rainfall information; determining control parameters for controlling the windshield wipers based on the first rainfall information and the second rainfall information; and controlling the windshield wipers to perform wiper operations based on the control parameters.

[0007] Optionally, based on the first rainfall information and the second rainfall information, control parameters for controlling the windshield wipers are determined, including one of the following: adjusting the second rainfall information based on the first rainfall information and the second rainfall information to obtain target rainfall information, and determining control parameters based on the target rainfall information; inputting the first rainfall information and the second rainfall information into a calibration experimental model to obtain target rainfall information, and determining control parameters based on the target rainfall information, wherein the calibration experimental model is a mapping relationship between the first rainfall information, the second rainfall information and the target rainfall information pre-constructed through a calibration experiment.

[0008] Optionally, the second rainfall information is adjusted based on the first rainfall information and the second rainfall information to obtain target rainfall information, including: comparing the first rainfall information and the second rainfall information to obtain a comparison result, wherein the comparison result is used to represent a target deviation degree between the first rainfall information and the second rainfall information; and adjusting the second rainfall information based on the comparison result to obtain the target rainfall information.

[0009] Optionally, the first rainfall information is obtained by detecting rainfall based on the first detection data, including: obtaining configuration data of the radar, wherein the configuration data is used to represent a state of the radar emitting electromagnetic waves; determining a speed and a diameter of the raindrop based on the first detection data and the configuration data of the radar; and determining the first rainfall information based on the speed and the diameter of the raindrop.

[0010] Optionally, the first detection data includes a return frequency, and the configuration data includes a wavelength and a transmission frequency; the speed and the diameter of the raindrop are determined based on the first detection data and the configuration data of the radar, including: determining the speed of the raindrop based on the return frequency, the wavelength and the transmission frequency; and determining the diameter of the raindrop based on the return frequency, the wavelength and a preset rotation speed of the raindrop.

[0011] Optionally, the speed of the raindrop is determined based on the return frequency, the wavelength and the transmission frequency, including: determining a frequency shift of the raindrop based on a difference between the return frequency and the transmission frequency; and obtaining the speed of the raindrop based on the frequency shift of the raindrop and the wavelength.

[0012] Optionally, the control parameter is determined based on the target rainfall information, including: determining a control level of controlling the wiper based on the target rainfall information; and determining the control parameter based on the control level.

[0013] Optionally, the control parameter is determined based on the control level, including: determining the control parameter as a first wiper parameter in response to the control level being a first level; determining the control parameter as a second wiper parameter in response to the control level being a second level, wherein the second wiper parameter is higher than the first wiper parameter; and determining the control parameter as a third wiper parameter in response to the control level being a third level, wherein the third wiper parameter is higher than the second wiper parameter.

[0014] According to another aspect of the embodiments of the present application, a wiper control device is also provided, including: an obtaining module configured to obtain first detection data of a radar and second detection data of a rainfall sensor; a detecting module configured to detect rainfall based on the first detection data to obtain first rainfall information, and detect rainfall based on the second detection data to obtain second rainfall information; a determining module configured to determine a control parameter for controlling a wiper based on the first rainfall information and the second rainfall information; and a control module configured to control the wiper to perform a wiper operation based on the control parameter.

[0015] According to another aspect of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0018] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0020] In this embodiment of the invention, first detection data from a radar and second detection data from a rain sensor are acquired; rain is detected based on the first detection data to obtain first rainfall information, and rain is detected based on the second detection data to obtain second rainfall information; control parameters for controlling the windshield wipers are determined based on the first and second rainfall information; and the windshield wipers are controlled to perform wiping operations based on the control parameters. It is noteworthy that by acquiring the first detection data from the radar and the second detection data from the rain sensor, direct and indirect rainfall detection information are obtained respectively, rather than using a single sensor for rainfall detection. This avoids the limitations of single-sensor detection, and thus, accurate control parameters can be determined based on the two sets of rainfall detection information, achieving the goal of accurately controlling the windshield wipers. This improves the accuracy of windshield wiper control and solves the technical problem of low accuracy in windshield wiper control in related technologies. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 This is a flowchart of a windshield wiper control method according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a wiper control system according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a wiper control device according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] According to an embodiment of the present invention, a method embodiment of a windshield wiper control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] Figure 1 This is a flowchart of a wiper control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0029] Step S102: Acquire the first detection data from the radar and the second detection data from the rain sensor.

[0030] The aforementioned radar can be used to detect objects in the surrounding environment. Radar can detect information such as the speed, position, and size of raindrops by emitting and receiving electromagnetic waves. Radar can be pulse radar, millimeter-wave radar, lidar, etc.; the type of radar is not limited here and can be determined according to needs. Common radars include 24GHz, 77GHz, or 79GHz millimeter-wave radars. These radars have high frequencies and strong penetration capabilities, making them suitable for object detection under various weather conditions, including raindrops. Radar can supplement the shortcomings of rain gauges under certain conditions by indirectly measuring rainfall information. Radar obtains raindrop motion information by emitting and receiving electromagnetic wave signals and analyzing the Doppler shift and spectral characteristics of the echo signals, thus converting it into initial rainfall information.

[0031] The aforementioned first detection data refers to the observation data obtained by processing the echo signals after the radar emits and receives electromagnetic waves. In the scenario of an automatic wiper control system, this data is mainly used to detect the characteristics of raindrops in front of the vehicle. The first detection data may include, but is not limited to, echo signal strength, reflecting the distance between the radar and the target (such as raindrops) and the target's reflection properties; Doppler shift, caused by radar waves encountering moving targets (such as falling raindrops); and radar wave propagation time, etc. The content of the first detection data is not limited here and can be determined as needed. Rainfall information can be indirectly determined through the first detection data, compensating for the insufficient detection of rain sensors in light rain or when rainfall fluctuates. In addition, radar can not only sense raindrops but also other objects in the surrounding environment.

[0032] The aforementioned rain gauge sensor can be a sensor that directly detects the amount of rainfall falling within its detection range, typically operating on optical or electrical principles. Rain gauge sensors can be optical (e.g., based on the principle of light reflection), capacitive, etc. The type of rain gauge is not limited here and can be determined according to needs. Optical rain gauge sensors acquire secondary detection data by detecting changes in the degree to which light is scattered or blocked by raindrops. Capacitive rain gauge sensors acquire secondary detection data by detecting changes in capacitance caused by water droplets. Rain gauge sensors can directly measure rainfall, providing real-time detection data.

[0033] The aforementioned second detection data can refer to raw data related to rainfall directly acquired by the rain gauge sensor. This data directly reflects the rainfall falling within the detection range of the rain gauge sensor. The second detection data may include, but is not limited to: the degree of raindrop obstruction (measured by detecting the degree to which light is blocked by raindrops); capacitance; raindrop frequency (the number of raindrops detected per unit time), etc. The content of the second detection data is not limited here and can be determined as needed. The second detection data can provide real-time detection data to directly reflect rainfall conditions.

[0034] In one optional embodiment, first and second detection data can be obtained from a cloud server. The first and second detection data can be stored locally or uploaded to the cloud server in real time for easy access. The cloud server uses more powerful computing resources and complex algorithms to perform data fusion and analysis, and then sends the processed results to the control system.

[0035] In another alternative embodiment, first and second detection data can be acquired from radar and rain sensors based on an acquisition command. The acquisition command can be set according to a preset scenario or preset time. The acquisition command may include, but is not limited to, acquisition frequency, data type, acquisition priority, etc., and is not limited here; it can be determined as needed.

[0036] Step S104: Rainfall is detected based on the first detection data to obtain first rainfall information, and rainfall is detected based on the second detection data to obtain second rainfall information.

[0037] The aforementioned rainfall detection refers to the process of obtaining rainfall information from the detection data surrounding the vehicle. The first and second rainfall information correspond to the detection results of the radar and rain sensor, respectively. The radar processes and analyzes the echo signals, while the rain sensor directly senses the water droplets on the object's surface.

[0038] The aforementioned initial rainfall information can refer to information about rainfall amount, intensity, or characteristics obtained by processing the initial radar detection data. This information is obtained indirectly, based on the radar's detection of raindrop velocity, size, density, and motion characteristics. Radar provides a deep perception of the vehicle's surrounding environment, including dynamic information about raindrops, which helps the system make more accurate judgments under various weather conditions. Under certain conditions, such as light rain or uneven rainfall distribution, rain sensors may not provide sufficiently accurate data, and the radar's initial rainfall information can supplement this, improving the overall detection accuracy of the system. Radar has a high operating frequency and fast response speed, and its initial rainfall information can be used to adapt to rapidly changing rainfall conditions.

[0039] The aforementioned second rainfall information can be information about rainfall amount, intensity, or characteristics obtained by processing the second detection data from a rain sensor. This information typically reflects the amount of rain falling directly onto the rain sensor. Rain sensors provide a direct method of rainfall measurement, responding instantly to raindrops on the windshield and providing fundamental data for automatic wiper control. For users, the second rainfall information offers more intuitive feedback, making it easier to understand the current rainfall intensity and wiper operation. The first and second rainfall information are obtained through different sensors and detection principles. Acquiring both types of rainfall information simultaneously overcomes the limitations of a single sensor under different weather conditions, providing more comprehensive and accurate rainfall detection results.

[0040] In one alternative embodiment, the corresponding first rainfall information can be determined based on the first detection data using an adaptive threshold algorithm. Alternatively, the first detection data can be input into a first machine learning model, such as a support vector machine, random forest, or deep learning neural network. The model can learn the complex relationship between the first detection data and the first rainfall information, enabling real-time prediction of rainfall information. It can handle nonlinear relationships and complex environments, improving the accuracy and adaptability of rainfall detection.

[0041] In another alternative embodiment, rainfall information can be obtained by performing rainfall detection based on the second detection data using an adaptive thresholding algorithm. Alternatively, the second detection data can be input into a second machine learning model, such as a support vector machine, random forest, or deep learning neural network. The model can learn the complex relationship between the second detection data and the second rainfall information for real-time rainfall prediction.

[0042] Step S106: Based on the first rainfall information and the second rainfall information, determine the control parameters for controlling the windshield wipers.

[0043] The aforementioned windshield wipers can be installed on vehicles, trucks, ships, aircraft, and smart windows to clear rainwater, snow, dust, and other debris from the equipment, maintaining clear visibility. Windshield wipers can be electronic or automatic, and their wiping speed and frequency can be adjusted according to different control parameters. The wipers can execute control unit commands to automatically adjust the wiping speed and frequency based on rainfall intensity and variations. The wipers can receive control signals from a control system (such as a domain controller) and perform intermittent, low-speed, or high-speed wiping operations according to the signal commands.

[0044] The aforementioned control parameters, after integrating the first and second rainfall information, are used to determine the wiper operation mode (e.g., intermittent, low speed, high speed). These control parameters may include, but are not limited to, wiper speed and frequency; the meaning of these parameters is not limited here and can be determined as needed. By using the first and second rainfall information obtained from different devices, accurate wiper control parameters can be determined to ensure the driver has better visibility in rainy weather.

[0045] In one alternative embodiment, a data fusion technique, such as extended Kalman filtering or particle filtering, is used to combine rainfall information from two sources to determine the final rainfall information, thereby determining the corresponding control parameters based on the rainfall information.

[0046] In another alternative embodiment, control parameters are determined based on a comparison and cross-validation of first and second rainfall information. For example, if the radar detects faster raindrop speeds while the rain sensor indicates lower rainfall, the system may prioritize the radar data and adjust the control parameters to accommodate the rapidly falling raindrops.

[0047] In another alternative embodiment, machine learning techniques, such as neural networks, can be used to learn and predict control parameters. The training dataset contains first historical rainfall information, second historical rainfall information, and the optimal control parameters for the windshield wipers at that time. The model predicts the corresponding control parameters based on the two sets of input rainfall information at runtime.

[0048] Step S108: Based on the control parameters, control the windshield wipers to perform windshield wiping operations.

[0049] The aforementioned wiper operation refers to a series of actions performed by the wipers to remove water droplets, snow, or dust from the windshield and maintain clear visibility. Wiper operations can be intermittent or continuous; the specific actions are not limited here and can be determined as needed.

[0050] In one alternative embodiment, a proportional-integral-derivative (PID) control algorithm can be used to calculate the proportional, integral, and derivative terms of the control signal based on the control parameters to adjust the wiper operation. Alternatively, the control parameters can be input into a fuzzy logic controller to control the wiper operation based on fuzzy rules.

[0051] In this embodiment of the invention, first detection data from a radar and second detection data from a rain sensor are acquired; rain is detected based on the first detection data to obtain first rainfall information, and rain is detected based on the second detection data to obtain second rainfall information; control parameters for controlling the windshield wipers are determined based on the first and second rainfall information; and the windshield wipers are controlled to perform wiping operations based on the control parameters. It is noteworthy that by acquiring the first detection data from the radar and the second detection data from the rain sensor, direct and indirect rainfall detection information are obtained respectively, rather than using a single sensor for rainfall detection. This avoids the limitations of single-sensor detection, and thus, accurate control parameters can be determined based on the two sets of rainfall detection information, achieving the goal of accurately controlling the windshield wipers. This improves the accuracy of windshield wiper control and solves the technical problem of low accuracy in windshield wiper control in related technologies.

[0052] Optionally, based on the first rainfall information and the second rainfall information, control parameters for controlling the windshield wipers are determined, including one of the following: adjusting the second rainfall information based on the first rainfall information and the second rainfall information to obtain target rainfall information, and determining control parameters based on the target rainfall information; inputting the first rainfall information and the second rainfall information into a calibration experimental model to obtain target rainfall information, and determining control parameters based on the target rainfall information, wherein the calibration experimental model is a mapping relationship between the first rainfall information, the second rainfall information and the target rainfall information pre-constructed through a calibration experiment.

[0053] The aforementioned calibration experiment model can be a mapping relationship between the first and second rainfall information and the target rainfall information, pre-constructed through calibration experiments. Calibration experiments are typically conducted under controlled conditions to collect corresponding data between sensor outputs and actual rainfall. Different rainfall conditions can be simulated in a controlled environment (such as a laboratory or simulation environment) while simultaneously recording the output data from the millimeter-wave radar and the rain sensor. Through data analysis, a mathematical model between the two sensor outputs and the actual rainfall is established. Alternatively, tests can be conducted on actual roads, recording sensor data and wiper performance under various weather conditions, using this data to construct and adjust the calibration experiment model. This approach may involve real-time data acquisition and post-processing analysis.

[0054] In one optional embodiment, the second rainfall information can be adjusted based on the first and second rainfall information to obtain target rainfall information, and control parameters can be determined based on the target rainfall information. Adjusting the second rainfall information through data fusion ensures the accuracy of rainfall detection. Specifically, an extended Kalman filter algorithm can be used to correct the sensor data. Alternatively, Bayesian data fusion can be used to fuse the first and second rainfall information to determine the target rainfall information. Alternatively, the second rainfall information can be dynamically adjusted based on the first and second rainfall information using preset rules. Thus, control parameters can be determined based on the target rainfall information to ensure the accuracy of the control parameters.

[0055] In another alternative embodiment, the first and second rainfall information can be input into the calibration experimental model. The target rainfall information can be determined by looking up a table or interpolation. Once accurate target rainfall information is obtained, control parameters can be determined based on this information. Alternatively, the calibration experimental model can establish a mapping relationship between the first and second rainfall information and the target rainfall information using nonlinear regression. Thus, the first and second rainfall information can be used as input, and a linear regression relationship can be applied to determine the target rainfall information.

[0056] Optionally, adjusting the second rainfall information based on the first rainfall information and the second rainfall information to obtain the target rainfall information includes: comparing the first rainfall information and the second rainfall information to obtain a comparison result, wherein the comparison result is used to characterize the degree of target deviation between the first rainfall information and the second rainfall information; and adjusting the second rainfall information based on the comparison result to obtain the target rainfall information.

[0057] The comparison results described above can be used to characterize the degree of target deviation between the first and second rainfall information. The comparison result refers to a quantitative index obtained by analyzing the differences between the first and second rainfall information, characterizing the degree of deviation between the two information sources in rainfall perception. This comparison result can be used to identify which information source is more accurate under specific conditions, or whether the deviation between the two exceeds a preset threshold, thereby determining how to adjust the second rainfall information to obtain more accurate target rainfall information.

[0058] In one optional embodiment, a predefined deviation threshold can be set to compare the first and second rainfall data. If the difference exceeds the threshold, the information is considered inconsistent. When inconsistency is detected, the second rainfall data is adjusted based on the accuracy of the first rainfall data and environmental conditions, such as increasing or decreasing the sensed rainfall value. If radar information indicates heavy rainfall while sensor information indicates light rainfall, the rainfall data from the rain sensor can be increased.

[0059] In another alternative embodiment, not only can the corresponding hash values ​​of the two sources be compared, but the credibility or error rate of each information source can also be calculated to form a comparison result. Based on the comparison result, a weighted average or extended Kalman filter is used to adjust the second rainfall information. Information sources with higher credibility will receive higher weights, and the fused result will be closer to the value of the information source with higher credibility, thereby obtaining more accurate target rainfall information.

[0060] Optionally, rainfall detection is performed based on the first detection data to obtain first rainfall information, including: acquiring radar configuration data, wherein the configuration data is used to characterize the state of electromagnetic waves emitted by the radar; determining the velocity and diameter of rainwater based on the first detection data and the radar configuration data; and determining the first rainfall information based on the velocity and diameter of rainwater.

[0061] The configuration data mentioned above can be used to characterize the state of the radar's emitted electromagnetic waves and the settings of its related parameters. This configuration data is crucial for correctly interpreting radar echoes and accurately measuring raindrop velocity and diameter, ensuring that the initial detection data acquired from the radar can be converted into highly accurate initial rainfall information. Configuration data typically includes, but is not limited to: transmission frequency, i.e., the frequency of the electromagnetic waves emitted by the radar, which is usually around 77 GHz for millimeter-wave radars. Frequency determines the radar wavelength, thus affecting the radar's resolution and ranging accuracy; transmission power, i.e., the energy of the electromagnetic waves emitted by the radar. Transmission power affects the radar's detection range and penetration capability, and is particularly critical for detecting long-range and dense raindrops; beamwidth, i.e., the angular range of the radar's transmitted and received signals. Narrow beams help improve azimuth resolution, while wide beams are beneficial for increasing the detection range. The specific configuration content is not limited here and can be determined as needed.

[0062] In one alternative embodiment, configuration data can be read from the radar device via the radar's interface or communication protocol. Alternatively, configuration data can be obtained from a configuration file in the software. Alternatively, configuration data can also be obtained from the cloud.

[0063] Therefore, based on the initial detection data and radar configuration data, the velocity and diameter of the rainwater can be determined, and then the initial rainfall information can be determined based on the velocity and diameter of the rainwater. Specifically, the velocity and diameter of the rainwater can be determined through Doppler effect analysis. That is, based on the difference between the electromagnetic wave frequency and the transmission frequency (Doppler shift), and combined with the wavelength information in the configuration data, the radial velocity of the raindrops is calculated. Then, the diameter of the raindrops is analyzed through the intensity and spectral width of the scattered echo. Alternatively, the micro-Doppler characteristics of the radar echo can be analyzed, that is, the small frequency fluctuations caused by the rotation and deformation of the raindrops. Combined with the radar parameters in the configuration data, these features are extracted through signal processing techniques (such as Fourier transform), and then the diameter and velocity of the raindrops are inferred. Thus, based on the physical properties of rainwater, the raindrop velocity and diameter are converted into rainfall information using the rainfall estimation formula. Alternatively, the initial rainfall information can be determined based on the velocity and diameter of the rainwater using a rainfall prediction model. The rainfall prediction model is established based on a large amount of raindrop velocity and diameter data through statistical analysis. By analyzing the distribution of raindrop parameters, statistical methods are used to estimate the rainfall information.

[0064] Optionally, the first detection data includes the echo frequency, and the configuration data includes the wavelength and the transmission frequency; based on the first detection data and the radar configuration data, the speed and diameter of the rainwater are determined, including: determining the speed of the rainwater based on the echo frequency, wavelength and transmission frequency; and determining the diameter of the rainwater based on the echo frequency, wavelength and the preset rotation speed of the rainwater.

[0065] In one alternative embodiment, spectral analysis (such as Fast Fourier Transform) can be performed on the radar echo signal to identify the echo frequency shift caused by raindrops. By analyzing the deviation between the maximum peak position or center frequency of the spectrum and the transmission frequency, combined with wavelength information, the speed of the raindrops can be calculated. This approach can handle the complex frequency distribution of Doppler shift, improving the accuracy and reliability of speed measurement. Alternatively, adaptive algorithms (such as adaptive filtering or adaptive Kalman filtering) can be applied to adjust the parameters in the speed calculation formula in real time, taking into account the dynamic influence of factors such as radar beam direction and vehicle motion state, based on the calculation of Doppler shift, to more accurately estimate the raindrop speed.

[0066] In another alternative embodiment, the bandwidth variation of the radar echo signal spectrum can be analyzed; an increase in spectral bandwidth typically reflects the presence of raindrop rotation velocity. The known raindrop rotation velocity, combined with the radar echo bandwidth, allows for the estimation of the raindrop diameter using empirical formulas or physical models. Alternatively, the micro-Doppler effect can be used to analyze the raindrop rotation velocity. A preset rotation velocity is matched with minute frequency fluctuations in the received echo spectrum, thereby inferring the raindrop diameter. This method requires the radar to have high frequency and time resolution, enabling the direct extraction of detailed raindrop features from the echo signal and improving the accuracy of diameter measurement.

[0067] Optionally, the speed of rainwater can be determined based on the echo frequency, wavelength, and transmission frequency, including: determining the frequency shift of rainwater based on the difference between the echo frequency and the transmission frequency; and obtaining the speed of rainwater based on the frequency shift and wavelength of rainwater.

[0068] Frequency shift is directly proportional to raindrop velocity. By measuring the frequency shift, the raindrop velocity can be deduced, thus enabling accurate measurement of raindrop velocity. This provides crucial information for subsequent rainfall assessment, thereby improving the response speed and accuracy of automatic wiper systems. The accuracy of velocity measurement can be further enhanced by increasing the radar's sampling frequency.

[0069] In one alternative embodiment, the frequency shift of the raindrops can be determined by directly calculating the difference between the echo frequency and the transmitted frequency. Alternatively, the frequency shift can be calculated by measuring the phase difference between the radar echo signal and the transmitted signal, combined with the radar wavelength and time difference. Thus, the velocity of the raindrops can be obtained based on their frequency shift and wavelength. Specifically, a model between frequency shift and velocity can be established using linear regression. When the current frequency shift is received, the corresponding raindrop velocity is predicted using the model. Alternatively, the radial velocity of the raindrops can be obtained through Doppler frequency shift analysis by calculating the frequency shift and the known wavelength.

[0070] Optionally, control parameters are determined based on the target rainfall information, including: determining the control level for controlling the windshield wipers based on the target rainfall information; and determining the control parameters based on the control level.

[0071] By analyzing target rainfall information, different wiper control strategies are formulated. Target rainfall information reflects the actual state of current rainfall. By matching it with preset rainfall levels, an appropriate wiper control level can be determined, enabling the automatic wiper system to automatically adjust wiping speed and frequency according to the amount of rainfall, thus improving driving safety and comfort. In other embodiments, user preference settings can be introduced to allow users to customize the wiper control level to meet individual needs.

[0072] In one optional embodiment, a series of rainfall thresholds can be defined, each corresponding to a control level, such as "light rain," "moderate rain," and "heavy rain." When the target rainfall information falls within a certain threshold range, the corresponding control level is automatically matched. For example, if the target rainfall information indicates that the rainfall is less than a preset light rain threshold, the system will assign a "light rain" control level. Alternatively, the rainfall level range can be dynamically adjusted according to actual conditions (such as driving speed, vehicle model, temperature, etc.). For example, when driving at high speeds, even light rain may require a higher control level to clear water from the windshield more quickly. This improves the system's adaptability and flexibility, enabling it to better respond to rainfall control needs in different driving environments.

[0073] Once the control level is determined, the control parameters can be defined to control the windshield wipers. Specifically, a rule base can be established, where each control level corresponds to a set of predefined control parameters. After the control level is determined, the corresponding parameters are directly queried from the rule base and applied. For example, the "heavy rain" level might correspond to high-speed continuous wiping, while the "light rain" level might correspond to intermittent wiping. Alternatively, a proportional-integral-derivative (PID) controller can be used to dynamically adjust the control parameters based on the deviation between the current rainfall and the target rainfall to achieve optimal control performance.

[0074] Optionally, control parameters are determined based on the control level, including: determining a first wiper parameter in response to a first control level; determining a second wiper parameter in response to a second control level, wherein the second wiper parameter is higher than the first wiper parameter; and determining a third wiper parameter in response to a third control level, wherein the third wiper parameter is higher than the second wiper parameter.

[0075] By setting different control parameters, hierarchical control of the automatic wiper system is achieved. The control parameters are related to the speed and cycle of the wiper motor. Different levels of control parameters correspond to different wiper speeds and frequencies, thus ensuring that the automatic wiper system can intelligently adjust its working state according to different levels. It can maintain good wiping performance in light rain, moderate rain, or heavy rain, reducing user dissatisfaction with automatic wipers.

[0076] In one optional embodiment, when the control level is first, a first wiper parameter is used as the control parameter. When the control level is second, a second wiper parameter is used as the control parameter. When the control level is third, a third wiper parameter is used as the control parameter. Wiper control can also be made more precise by adding more control levels or introducing a dynamic adjustment mechanism to cope with more variable weather conditions.

[0077] like Figure 2 The image shows a windshield wiper control system. This system includes a sensing system, a control system, and an execution system. The sensing system and the control system, as well as the control system and the execution system, are connected via cables. The sensing system includes a millimeter-wave radar and a rain sensor. The control system includes an automatic windshield wiper control system. The execution system includes electronic windshield wipers.

[0078] The technical solution proposed in this application will be described below with reference to an optional embodiment. This application proposes a windshield wiper control method that can be applied to vehicles.

[0079] The system employs a direct rain sensor and millimeter-wave radar to assist in rain detection, thereby improving the accuracy of rain detection and response speed of the automatic wipers, reducing user complaints about the simplistic control of automatic wipers. Both systems utilize common vehicle hardware for wiper control. The sensing system includes a direct rain sensor (rain gauge) and an indirect rain sensor (millimeter-wave radar). The control system reuses the vehicle's domain control system, requiring only the creation of a new application layer program within the domain control system to store and call the automatic wiper control program. The execution system is the automatic wiper itself, receiving execution commands from the control system to drive the wiper motor to perform intermittent, low-speed, and high-speed wiping, or to execute different wiping speeds and frequencies, thus providing users with a clearer view in rainy weather while reducing obstruction. This allows for data fusion using existing vehicle hardware, improving the accuracy and responsiveness of automatic wiper control. Therefore, a data fusion method combining rain gauges and millimeter-wave radar can be used for rain sensing, with rain gauges as the primary source and millimeter-wave radar as the auxiliary source to dynamically detect rainfall, thus solving the problems of inaccurate rainfall identification and slow response speed when there is light rainfall.

[0080] Both the rain sensor and the millimeter-wave radar can be installed in the original vehicle positions, with the rain sensor installed at the rearview mirror inside the vehicle and the millimeter-wave radar installed between the front grille and the license plate. This does not require any changes to the overall vehicle layout; only data collection and fusion are performed.

[0081] Rain sensor detection principle: When the windshield surface is dry, light is 100% reflected back and received by the receiver tube, serving as the light reference value. When raindrops appear on the outer surface of the windshield, the incident light is scattered by the raindrops, resulting in a corresponding reduction in the reflected light. The heavier the rainfall, the more pronounced the scattering.

[0082] Millimeter-wave radar constantly emits electromagnetic waves (77 GHz band). When these radar waves illuminate water droplets, they are reflected back as moving targets. The Doppler effect is used to measure the droplet velocity. This is based on the Doppler frequency shift formula. By calculating the difference f between the echo frequency and the transmission frequency d The velocity ν of the water droplet can be deduced from λ, where λ is the wavelength. For example, if the radar wavelength is 4 mm (77 GHz) and the measured frequency shift is 1 kHz, then the water droplet velocity ν is 2 m / s. During the fall, the water droplet experiences a slight spectral spread due to rotation and deformation (micro-Doppler characteristic). By analyzing the spectral bandwidth Δf, the droplet diameter d can be inferred (generally considered as small raindrops (d < 1 mm) and large raindrops (d > 3 mm)). Therefore, by combining velocity and size information, the rainfall intensity (light rain / moderate rain / heavy rain) and the type of water droplet (rain / snow / hail) can be distinguished.

[0083] The diameter of a water droplet can be calculated using the following formula:

[0084]

[0085] Where Δf is the spectral bandwidth, v r λ is the rotational speed of the water droplet, approximately 7000 rpm, λ is the wavelength, and d is the diameter of the water droplet.

[0086] Using extended Kalman filtering for sensor data fusion allows for real-time correction of rainfall sensor readings using millimeter-wave radar. Alternatively, the rainfall detection data from both the rain sensor and millimeter-wave radar require extensive calibration experiments in both laboratory settings and on real-world roads to ensure they better meet the needs of actual vehicle usage scenarios.

[0087] According to an embodiment of the present invention, a device embodiment of a wiper control device is provided. It should be noted that the device can be used to execute the above-described wiper control method. The specific implementation scheme and application scenario of this embodiment are the same as those of the above embodiments, and will not be repeated here.

[0088] Figure 3 This is a schematic diagram of a wiper control device according to an embodiment of this application, such as... Figure 3 As shown, the device includes the following:

[0089] The acquisition module 40 is used to acquire the first detection data from the radar and the second detection data from the rain sensor.

[0090] The detection module 42 is used to perform rainfall detection based on the first detection data to obtain first rainfall information, and to perform rainfall detection based on the second detection data to obtain second rainfall information.

[0091] The determination module 44 is used to determine the control parameters for controlling the windshield wipers based on the first rainfall information and the second rainfall information.

[0092] The control module 46 is used to control the windshield wipers to perform wiper operations based on control parameters.

[0093] Optionally, the determining module is further configured to adjust the second rainfall information based on the first rainfall information and the second rainfall information to obtain target rainfall information, and determine control parameters based on the target rainfall information; input the first rainfall information and the second rainfall information into the calibration experimental model to obtain target rainfall information, and determine control parameters based on the target rainfall information, wherein the calibration experimental model is a mapping relationship between the first rainfall information, the second rainfall information and the target rainfall information pre-constructed through the calibration experiment.

[0094] Optionally, the determining module is further configured to compare the first rainfall information and the second rainfall information to obtain a comparison result, wherein the comparison result is used to characterize the degree of target deviation between the first rainfall information and the second rainfall information; based on the comparison result, the second rainfall information is adjusted to obtain the target rainfall information.

[0095] Optionally, the detection module is also used to acquire radar configuration data, wherein the configuration data is used to characterize the state of electromagnetic waves emitted by the radar; based on the first detection data and the radar configuration data, the speed and diameter of the rainwater are determined; based on the speed and diameter of the rainwater, the first rainfall information is determined.

[0096] Optionally, the detection module is also used to determine the speed of rainwater based on the echo frequency, wavelength, and transmission frequency; and to determine the diameter of rainwater based on the echo frequency, wavelength, and a preset rotation speed of the rainwater.

[0097] Optionally, the detection module is also used to determine the frequency shift of rainwater based on the difference between the echo frequency and the transmission frequency; and to obtain the speed of rainwater based on the frequency shift and wavelength of the rainwater.

[0098] Optionally, the control module is also used to determine the control level for controlling the windshield wipers based on the target rainfall information; and to determine the control parameters based on the control level.

[0099] Optionally, the control module is further configured to determine a first wiper parameter in response to a control level of first level; to determine a second wiper parameter in response to a control level of second level, wherein the second wiper parameter is higher than the first wiper parameter; and to determine a third wiper parameter in response to a control level of third level, wherein the third wiper parameter is higher than the second wiper parameter.

[0100] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0101] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0102] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0103] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0104] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0105] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0107] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0108] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0109] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0110] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A windshield wiper control method, characterized in that, include: Acquire the first detection data from the radar and the second detection data from the rain sensor; Rainfall is detected based on the first detection data to obtain first rainfall information, and rainfall is detected based on the second detection data to obtain second rainfall information; Based on the first rainfall information and the second rainfall information, control parameters for controlling the windshield wipers are determined; Based on the control parameters, the windshield wipers are controlled to perform windshield wiping operations.

2. The method according to claim 1, characterized in that, Based on the first rainfall information and the second rainfall information, control parameters for controlling the windshield wipers are determined, including one of the following: The second rainfall information is adjusted based on the first rainfall information and the second rainfall information to obtain the target rainfall information, and the control parameters are determined based on the target rainfall information. The first rainfall information and the second rainfall information are input into the calibration experimental model to obtain the target rainfall information, and the control parameters are determined based on the target rainfall information. The calibration experimental model is a mapping relationship between the first rainfall information, the second rainfall information and the target rainfall information that is pre-constructed through the calibration experiment.

3. The method according to claim 2, characterized in that, The target rainfall information is obtained by adjusting the second rainfall information based on the first rainfall information and the second rainfall information, including: The first rainfall information and the second rainfall information are compared to obtain a comparison result, wherein the comparison result is used to characterize the degree of target deviation between the first rainfall information and the second rainfall information; Based on the comparison results, the second rainfall information is adjusted to obtain the target rainfall information.

4. The method according to claim 1, characterized in that, Rainfall is detected based on the first detection data to obtain first rainfall information, including: Acquire the configuration data of the radar, wherein the configuration data is used to characterize the state of the radar emitting electromagnetic waves; Based on the first detection data and the radar configuration data, the speed and diameter of the rainwater are determined; The first rainfall information is determined based on the speed and diameter of the rainwater.

5. The method according to claim 4, characterized in that, The first detection data includes the echo frequency, and the configuration data includes the wavelength and transmission frequency; based on the first detection data and the radar configuration data, determining the speed and diameter of the rainwater includes: The speed of the rainwater is determined based on the echo frequency, the wavelength, and the transmission frequency. The diameter of the rainwater is determined based on the echo frequency, the wavelength, and the preset rotation speed of the rainwater.

6. The method according to claim 5, characterized in that, Determining the speed of the rainwater based on the echo frequency, the wavelength, and the transmission frequency includes: The frequency shift of the rainwater is determined based on the difference between the echo frequency and the transmission frequency. The speed of the rainwater is obtained based on the frequency shift and wavelength of the rainwater.

7. The method according to claim 2, characterized in that, Based on the target rainfall information, the control parameters are determined, including: Based on the target rainfall information, determine the control level for controlling the windshield wipers; The control parameters are determined based on the control level.

8. The method according to claim 7, characterized in that, Based on the control level, the control parameters are determined, including: In response to the control level being the first level, the control parameter is determined to be the first wiper parameter; In response to the control level being the second level, the control parameter is determined to be a second wiper parameter, wherein the second wiper parameter is higher than the first wiper parameter; In response to the control level being the third level, the control parameter is determined to be a third wiper parameter, wherein the third wiper parameter is higher than the second wiper parameter.

9. A windshield wiper control device, characterized in that, include: The acquisition module is used to acquire the first detection data from the radar and the second detection data from the rain sensor. The detection module is used to perform rainfall detection based on the first detection data to obtain first rainfall information, and to perform rainfall detection based on the second detection data to obtain second rainfall information; The determining module is used to determine control parameters for controlling the windshield wipers based on the first rainfall information and the second rainfall information; The control module is used to control the windshield wipers to perform windshield wiping operations based on the control parameters.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 8.

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