Vehicle control method and device, processor, electronic equipment and vehicle

Abstract

The invention discloses a vehicle control method and device, a processor, electronic equipment and a vehicle. The method comprises the steps that image information of the environment where a vehicle is located is obtained, the image content of the image information comprises target liquid in the environment, and the target liquid is used for influencing the observation result of a driving object in the vehicle for the environment; on the basis of the image information, feature information of the target liquid is determined, and the feature information is used for representing the motion state of the target liquid; based on the feature information, environment information of the environment is determined, and the environment information is used for representing the influence degree of the target liquid in the environment on the observation result; and a control strategy corresponding to the environment information is used for controlling the vehicle to execute adjustment operation, the adjustment operation is used for adjusting the influence degree, and the influence degree after adjustment is smaller than the influence degree before adjustment. The technical problem that the control accuracy of the vehicle is low is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle electronics, in particular to a vehicle control method and device, a processor, an electronic device and a vehicle. BACKGROUND

[0002] In rainy days or when the front windshield of the vehicle encounters water, the decrease in visual clarity becomes an important factor directly affecting driving safety. At present, the driver needs to manually start the wiper to deal with this problem, but this method depends on personal judgment, and the efficiency and timeliness are limited. In recent years, the introduction of vehicle intelligent control systems, especially the application of rain sensors, aims to automatically adjust the wiper and improve the driving experience. However, the rain sensors in related technologies mostly use optical or sound wave reflection principles, which are affected by external light, windshield cleanliness and acoustic interference, etc. The recognition accuracy is not high, resulting in poor wiper control effect, especially in complex weather conditions, the performance of the sensor is difficult to meet the high level of automation demand. Therefore, there is still a technical problem of low control accuracy of the vehicle.

[0003] At present, no effective solution has been proposed for the above technical problems. SUMMARY

[0004] The embodiments of the present application provide a vehicle control method, device, processor, electronic device and vehicle to at least solve the technical problem of low control accuracy of the vehicle.

[0005] According to an aspect of an embodiment of the present application, a vehicle control method is provided. The method comprises: obtaining image information of an environment in which the vehicle is located, wherein the image content of the image information includes a target liquid in the environment, and the target liquid is used to affect the observation result of a driver or passenger in the vehicle with respect to the environment; determining feature information of the target liquid based on the image information, wherein the feature information is used to represent the motion state of the target liquid; determining environment information of the environment based on the feature information, wherein the environment information is used to represent the influence degree of the target liquid in the environment on the observation result; and controlling the vehicle to perform an adjustment operation using a control strategy corresponding to the environment information, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is less than the unadjusted influence degree.

[0006] Optionally, the vehicle includes a video acquisition device and a circuit board, and obtaining the image information of the environment in which the vehicle is located comprises: obtaining a video stream of the environment in which the vehicle is located using the video acquisition device during driving of the vehicle; controlling the video acquisition device to send the video stream to the circuit board; and determining each frame of image in the video stream as the image information using an image processor in the circuit board.

[0007] Optionally, based on the image information, the feature information of the target liquid is determined, including: in response to the image processor determining the image information, using a data processing unit in the circuit board to analyze the image information to determine the feature information, wherein the feature information includes but is not limited to at least one of the following: shape information of the target liquid, photometric properties of the target liquid, motion trajectory information of the target liquid, and shape information when the target liquid moves to the windshield of the vehicle.

[0008] Optionally, the vehicle further comprises a liquid sensing unit, and the method further comprises: using the liquid sensing unit to detect the target liquid to obtain a detection result; and based on the feature information, determining environmental information of the environment, including: based on the feature information and the detection result, determining the environmental information.

[0009] Optionally, the vehicle comprises a main housing, the video acquisition device is arranged on a target surface of the main housing, and the liquid sensing unit is arranged on the target surface and is in a state of being attached to the windshield of the vehicle, and the video acquisition device and the liquid sensing unit are respectively electrically connected to the circuit board.

[0010] Optionally, the target surface is provided with an optical window, the optical window is in a state of being attached to the windshield, and the optical window is used for the video acquisition device to acquire the video stream and for the liquid sensing unit to detect the target liquid.

[0011] Optionally, the main housing comprises a heat dissipation structure, or the material of the main housing is a heat-conducting material or a heat-insulating material, wherein the heat dissipation structure, the heat-conducting material or the heat-insulating material are used to isolate the heat generated by the video acquisition device.

[0012] Optionally, the vehicle further comprises an anti-fog sensing unit, the anti-fog sensing unit is arranged on the main housing, and the anti-fog sensing unit is used to detect the temperature and humidity of the windshield and the temperature and humidity inside the vehicle.

[0013] Optionally, the vehicle is controlled to perform an adjustment operation using a control strategy corresponding to the environmental information, including: using the control strategy corresponding to the environmental information to control a rain wiper device on the windshield of the vehicle to perform a wiping operation on the target liquid on the windshield to adjust the influence degree.

[0014] According to another aspect of the embodiments of the present application, a control device of a vehicle is also provided. The device can include: an acquisition unit configured to acquire image information of an environment in which the vehicle is located, wherein image content of the image information includes a target liquid in the environment, and the target liquid is configured to affect an observation result of a subject in the vehicle with respect to the environment; a first determination unit configured to determine feature information of the target liquid based on the image information, wherein the feature information is configured to represent a motion state of the target liquid; a second determination unit configured to determine environment information of the environment based on the feature information, wherein the environment information is configured to represent a degree of influence of the target liquid in the environment on the observation result; and a control unit configured to control the vehicle to perform an adjustment operation using a control strategy corresponding to the environment information, wherein the adjustment operation is configured to adjust the degree of influence, and the adjusted degree of influence is less than the unadjusted degree of influence.

[0015] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided. The computer readable storage medium includes a stored program, wherein the program, when executed, controls a device in which the computer readable storage medium is located to perform the above-mentioned method of the embodiments of the present application.

[0016] According to another aspect of the embodiments of the present application, a processor is also provided. The processor is configured to execute a program, wherein the program, when executed, performs the above-mentioned method of the embodiments of the present application.

[0017] According to another aspect of the embodiments of the present application, an electronic device is also provided. The electronic device includes a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the above-mentioned method of the embodiments of the present application.

[0018] According to another aspect of the embodiments of the present application, a computer program product is also provided. The computer program product includes a computer program, and the computer program, when executed by a processor, implements the above-mentioned method of the embodiments of the present application.

[0019] According to another aspect of the embodiments of the present application, a vehicle is also provided. The vehicle includes a memory and a processor. The memory stores an executable program, and the processor is configured to execute the program, and the program, when executed, implements the above-mentioned method of the embodiments of the present application.

[0020] In the embodiment of the present application, image information of an environment in which a vehicle is located is acquired, wherein image content of the image information includes a target liquid in the environment, and the target liquid is used to affect observation results of a subject in the vehicle with respect to the environment; based on the image information, feature information of the target liquid is determined, wherein the feature information is used to represent a motion state of the target liquid; based on the feature information, environment information of the environment is determined, wherein the environment information is used to represent an influence degree of the target liquid in the environment on the observation results; and a control strategy corresponding to the environment information is used to control the vehicle to perform an adjustment operation, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is smaller than the unadjusted influence degree. That is, in this embodiment, by using the environment image information acquired by the vehicle camera, the feature and motion state of the target liquid (such as rainwater) on the windshield are intelligently analyzed and determined, so as to accurately evaluate the influence degree of the target liquid on the driving field of view. Compared with the optical or sound wave reflection type rain amount sensor in the related art, the embodiment of the present application is not affected by external light and glass cleanliness, and can more accurately identify the rain condition. Based on the environment information, the vehicle can automatically select the most suitable control strategy, intelligently adjust the working state of the wiper, and ensure that a clear field of view can be provided under complex weather conditions, thereby significantly improving the accuracy and timeliness of the wiper control, effectively solving the technical problem of low control accuracy of the vehicle in rainy days, and enhancing the driving safety and driving experience. The technical problem of low control accuracy of the vehicle is solved, and the technical effect of improving the control accuracy of the vehicle is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0022] Figure 1 FIG. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present application;

[0023] Figure 2 FIG. 2 is a schematic diagram of arrangement positions of various sensors in an integrated module according to an embodiment of the present application;

[0024] Figure 3 FIG. 3 is a schematic diagram of raindrop classification and features according to which raindrops are visually recognized according to an embodiment of the present application;

[0025] Figure 4 FIG. 4 is a schematic diagram of a control device of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work should belong to the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to the steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to the embodiments of the present application, an embodiment of a control method of a vehicle is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0029] Figure 1 is a flowchart of a control method of a vehicle according to an embodiment of the present application, as shown in Figure 1 The method can include the following steps:

[0030] Step S102, acquiring image information of an environment in which the vehicle is located.

[0031] In the technical solution provided in the above step S102 of the present application, the image content of the image information can include a target liquid in the environment. The target liquid can be used to affect the observation result of the vehicle occupant with respect to the environment.

[0032] Optionally, the image information can refer to digital image data captured by a front-view camera module carried by the vehicle, and the above image information can contain visual details of the environment in which the vehicle is located. In the embodiments of the present application, the above image information can be in the form of a video stream acquired in real time and continuously, which provides rich environmental change information, including but not limited to: road conditions, weather conditions and other traffic participants.

[0033] Optionally, the target liquid can refer to liquid substances that can fall onto the front windshield of the vehicle, thereby affecting the clarity of the driver's observation of the environment, such as rainwater, and can also be splashed mud, snowmelt water or any other form of water droplets. In rainy or slippery road conditions, the presence of the above-mentioned target liquid can block or blur the driver's vision, reducing the quality of the field of view and thus affecting driving safety.

[0034] Optionally, the observation result can refer to the quality and effect of the driver's observation of the surrounding environment through the front windshield of the vehicle, such as the driver's field of view. A good field of view means that the driver can clearly see the road and other important elements in front of the vehicle, which is crucial to ensure safety during driving. However, the presence of target liquids such as rainwater, mud spots, etc. can hinder the normal transmission of light, causing scattering or absorption phenomena, resulting in a decrease in the transparency of the glass surface, and thus affecting the observation result, which is manifested as a blurred field of view. The purpose of the present application is to optimize the observation result by precise identification and intelligent control, that is, to improve the field of view and ensure that the driver's visual information reception is not affected by liquid obstruction, thereby maintaining driving safety.

[0035] In this embodiment, image information of the environment in which the vehicle is located can be obtained.

[0036] Optionally, the front-view camera module of the vehicle starts to work, such as being automatically activated when the vehicle is started or the camera system detects a change in light. Real-time capture of high-definition images of the environment in front of the vehicle forms a continuous video stream data. Image information containing environmental details.

[0037] Optionally, the image information is captured by the front-view camera module. The captured image information is preliminarily processed, such as denoising, contrast enhancement, edge detection, etc., to improve the accuracy and efficiency of subsequent analysis. The pre-processed, clearer image data.

[0038] Step S104, based on the image information, determining the characteristic information of the target liquid.

[0039] In the technical solution provided by the above step S104 of the present application, the characteristic information is used to represent the motion state of the target liquid.

[0040] Optionally, the characteristic information can refer to the unique attributes and dynamic behavior data exhibited by the target liquid (such as raindrops) in the video stream extracted by in-depth analysis of the image information obtained by the front-view camera of the vehicle. The above-mentioned characteristic information is used to understand and evaluate the influence of the target liquid on the driving field of view. For example, the above-mentioned characteristic information can include but is not limited to: geometric shape, luminosity characteristics, dynamic changes, distribution patterns and time sequence analysis.

[0041] Optionally, the above-mentioned geometric shape can be the shape of raindrops, such as a circle, an ellipse, or an irregular shape, as well as the size and distribution density of the above-mentioned raindrops, for identifying different intensities of rainfall, such as light rain, moderate rain, or heavy rain, and the shape of raindrops under each rainfall level will be significantly different. The above-mentioned photometric characteristics can be used to represent the brightness change of raindrops under light, including the effect of the top being darker and the bottom being brighter, or the light and shadow traces left by the splashing of raindrops. The above-mentioned photometric characteristics can reflect the material and thickness of the raindrops, helping the system to more accurately locate and quantify the raindrops. The above-mentioned dynamic changes can be used to detect the moving speed, direction, and dynamic trajectory of the raindrops, which are key indicators for judging the rain intensity. Dense raindrops moving at high speed often mean stronger rainfall, and vice versa, which can be light rain or post-rain residual drops. The above-mentioned distribution pattern can be used to observe the distribution of raindrops in the entire windshield area, and to identify whether there are local dense areas or specific distribution patterns. For example, the water splashed by the vehicle in front will form a concentrated area under the windshield, which needs to be quickly removed in a targeted manner. The above-mentioned time series analysis can be used to consider that the video stream is composed of consecutive frames, and the feature information also includes the study of the evolution law of raindrops in the time dimension, such as the frequency, duration, and periodic pattern of raindrop appearance.

[0042] In this embodiment, after obtaining the image information of the environment in which the vehicle is located, the feature information of the target liquid can be determined based on the image information.

[0043] Optionally, the front-view camera continuously captures a video stream. The continuous video stream is segmented into a series of independent image frames for frame-by-frame analysis. The image data is prepared for subsequent feature extraction and analysis. Frame segmentation of the video stream is completed. Pre-processing operations such as denoising, contrast enhancement, brightness correction, etc. are performed on each frame of image to improve image quality and ensure the accuracy of feature extraction. The image is optimized to be more suitable for processing by the feature recognition algorithm. In each frame of image, search for areas matching the features of the target liquid (such as raindrops), such as detecting circular-like contours or light reflection abnormal points. Locate and identify the raindrops or other liquids appearing in the image. Analyze the displacement, speed, and direction of the target liquid between consecutive frames, identify its motion trajectory, and determine whether it is a dynamic liquid (such as raindrops) or a static liquid (such as residual water marks). Master the motion law of the liquid on the windshield to distinguish between dynamic and static liquids.

[0044] Optionally, the motion state feature information extracted in each frame is summarized to form a comprehensive motion state description of the target liquid, including average speed, direction change trend, distribution density change over time, etc. A feature information library of the motion state of the target liquid is constructed to provide comprehensive data for subsequent analysis. Analyze the time series of the motion state feature information of the target liquid to identify the periodicity, trend, and abnormality of the liquid motion, and predict the future motion state of the liquid. Through time series analysis, the motion trend of the raindrops is predicted, and the adjustment strategy of the wiper is prepared in advance.

[0045] Optionally, the integrated target liquid motion state feature information is output to an environment information evaluation module as a basis for judging the environmental influence degree and formulating a control strategy. Providing accurate motion state feature information supports subsequent environment information evaluation and intelligent control decision-making.

[0046] In the embodiments of the present application, the motion state feature information of the target liquid is systematically determined through the steps of segmentation of continuous video stream, image preprocessing, target liquid recognition, motion state feature extraction, feature information integration, and time series analysis. Each step is to more accurately understand the dynamic behavior of the target liquid on the windshield. The finally output information provides a key real-time basis for the formulation of intelligent wiper control strategies, ensuring that the wiper can effectively cope with various rainy weather conditions, improving the clarity of the driving vision, and ensuring driving safety.

[0047] In step S106, environment information of an environment is determined based on the feature information.

[0048] In the technical solution of step S106 of the present application, the environment information can be used to represent the influence degree of the target liquid in the environment on the observation result.

[0049] Optionally, the environment information can refer to the specific influence degree of the current environmental condition evaluated based on the feature information of the target liquid (such as raindrops) on the observation result of the vehicle driver. In particular, when the target liquid is rainwater, the environment information can specifically represent the "current rain condition", which can comprehensively reflect the comprehensive evaluation of the influence of the rain amount, raindrop distribution density, raindrop motion speed and direction, and other factors on the driving vision. The current rain condition can include but is not limited to: rain amount level, raindrop distribution, raindrop dynamics, environmental light intensity influence, vision clarity evaluation, and safety risk evaluation.

[0050] Optionally, the above rain intensity level can be divided into different levels such as light rain, moderate rain, heavy rain, and even rainstorm according to the number, size, and density of raindrops to evaluate the size of the rainfall. Higher rain intensity level means more serious visual obstruction. The above raindrop distribution can be used to analyze the distribution pattern of raindrops on the windshield, such as uniform distribution or local concentration. The distribution pattern can reveal the influence of wind direction and vehicle speed on raindrop distribution, which helps to accurately locate the area that needs to be cleaned by the wiper. The above raindrop dynamics can be used to evaluate the motion state of raindrops by combining the speed, direction, and trend of raindrops over time. Raindrops moving at high speed may require higher frequency of wiper action to maintain clear vision. The above ambient light intensity influence can be used to consider the light attenuation and reflection effect caused by rain, and evaluate its indirect influence on the observation results. Low light intensity or strong reflected light may make it more difficult to identify raindrops, thereby affecting the regulation effect of the wiper. The above visual clarity evaluation can integrate the above factors to give a clarity score of the front view of the windshield affected by raindrops, which is a key parameter for determining whether the wiper is started and how to adjust. The above safety risk evaluation can evaluate the potential safety risk level according to the degree of visual obstruction caused by the current rain and the vehicle speed. At high speed or when the rainfall is extremely large, the increase of the safety risk level requires the wiper to work quickly and efficiently.

[0051] In this embodiment, after determining the feature information of the target liquid based on the image information, the environmental information of the environment can be determined based on the feature information.

[0052] Optionally, the feature recognition and analysis algorithm completes the extraction of the motion state characteristics of the target liquid (such as raindrops). The feature recognition module outputs various related target liquid forms, light intensity characteristics, motion trajectories, speeds, and distribution patterns, etc. It provides comprehensive data input for the calculation of environmental information. Feature information collection is completed. According to the importance of different features on the observation results, a weight value is assigned to each feature. For example, the area and density of raindrops may have the greatest influence on the degree of visual obstruction, so the weight is higher. Ensure that key features are given more attention and the influence of non-key features is appropriately considered when evaluating environmental information. Feature weight allocation is completed. Based on the feature information and its weight value, a mathematical model or machine learning model is established to quantify the influence of the target liquid on the observation results. Through model calculation, the automatic and accurate evaluation of environmental information is realized.

[0053] Optionally, the environmental impact model is ready. The feature information is input into the constructed model, and the comprehensive index or level of the current rain condition's impact on the driving field of view is calculated. A numerical value or level is obtained, which intuitively represents the degree of raindrop blocking the field of view, facilitating subsequent decision-making and control. The environmental information calculation is completed. The calculated environmental information is converted into specific behavior guidance, such as "light rain condition", "moderate rain condition" or "heavy rain" description, and corresponding warning or action suggestions are proposed according to the severity of the impact. The environmental information is more operational, providing direct guidance for the response strategy of the intelligent wiper system.

[0054] Optionally, the environmental conditions change, and new feature information is identified. Real-time update of environmental information, correction of evaluation results, and feedback of changed information to the vehicle control system to dynamically adjust the operation mode of the wiper. Ensure that the environmental information always reflects the latest observation conditions, so that the control strategy of the wiper can adapt to environmental changes in real time and continuously optimize the field of view clarity.

[0055] In the embodiments of the present application, the above-mentioned method starts from collecting the feature information of the target liquid, and through the allocation of weights, the construction of the environmental impact model, the calculation of the environmental information and the interpretation of the feedback, a closed-loop dynamic evaluation system is formed, which can monitor and quantify the impact of raindrops on the driving field of view in real time. This method not only improves the intelligent level of wiper control, but also enhances its response ability to environmental changes and driving safety. Through continuous updating of feature information and feedback of environmental information, the driver can enjoy the automatic adjustment of the actual rain condition and the clear field of view at all times, greatly improving the safety and comfort of driving in the rain.

[0056] Step S108, using the control strategy corresponding to the environmental information to control the vehicle to perform an adjustment operation.

[0057] In the technical scheme of step S108 of the present application, the adjustment operation can be used to adjust the impact degree. The adjusted impact degree is smaller than the impact degree before adjustment.

[0058] Optionally, the control strategy can refer to a set of action guidelines formulated by the data processing unit or the vehicle intelligent control system based on the given environmental information, aiming to minimize or eliminate the negative impact of the target liquid (such as raindrops) on the driving field of view by reasonably scheduling the auxiliary functions of the vehicle, such as wipers, defogging systems, etc. The specific content and execution mode of the control strategy will be dynamically adjusted according to the evaluation results of the environmental information to adapt to different weather and driving conditions. The adjustment operation can refer to a series of physical or electronic measures taken by the vehicle according to the instructions of the control strategy to reduce or eliminate the impact of the target liquid on the observation results, thereby improving the clarity and safety of the driving field of view. Different types of impact, such as raindrop blocking or interior fog, will trigger corresponding adjustment operations.

[0059] In this embodiment, after determining the environmental information of the environment based on the feature information, the vehicle can be controlled to perform the adjustment operation using the control strategy corresponding to the environmental information.

[0060] Optionally, the data processing unit receives the feature information output by the sensor module. According to the feature information such as the size, speed, and distribution density of raindrops, the influence degree of the current rain condition on the driving field of view is evaluated, and an environmental information report is generated. The specific level of the current driving field of view affected by the target liquid is determined to provide a basis for subsequent strategy making. The environmental information evaluation is completed. By comparing the environmental information with the preset control strategy library, the control strategy that best matches the current environmental information is selected. For example, for the environmental information of "heavy rain", the "high-frequency wiper + heating defogging" strategy is selected. The control strategy adopted ensures that it can effectively cope with the current environmental conditions and reduce the influence of the target liquid on the observation results.

[0061] Optionally, the strategy matching is determined. The selected control strategy is converted into specific control signals or instructions, such as "start the wiper and adjust to high-speed mode" or "start the defogging system and set to maximum power". The abstract strategy is implemented into executable instructions and is ready to be sent to the corresponding vehicle execution mechanism. The control signal or instruction is generated. After the execution mechanism receives the control signal, it immediately starts and adjusts to the specified working state to perform the adjustment operation, such as starting the wiper to remove raindrops on the windshield or heating the defogging system to remove fog on the glass. Through physical operation, the degree of obstruction of the target liquid to the driving field of view is directly reduced.

[0062] Optionally, after the adjustment operation is in progress or completed. The effect after performing the adjustment operation is monitored, i.e., the clarity of the driving field of view is re-evaluated. By comparing with the environmental information before adjustment, it is judged whether the adjustment operation is effective and the influence degree is reduced. The effectiveness of the control strategy is verified, and the real-time effect of the adjustment operation is monitored to provide data support for subsequent possible strategy adjustment.

[0063] Optionally, the effect monitoring shows that the influence degree does not reach the expected reduction target or the environmental conditions change. According to the new environmental information and effect monitoring data, the control strategy is re-matched or adjusted, such as adjusting the wiper from high-speed mode to medium-speed mode, or simultaneously starting the wiper and the defogging system. Ensure that the adjustment operation always adapts to the latest environmental conditions and continuously optimizes the clarity of the driving field of view until the influence degree is reduced to below the safety threshold.

[0064] In the embodiment of the present application, the above method realizes a closed-loop control system from the evaluation of environmental information, to the formulation and execution of control strategies, to the effect monitoring and feedback. Through accurate environmental information evaluation, intelligent matching of control strategies into specific adjustment operations, real-time monitoring of adjustment effects and dynamic adjustment of strategies, the effective management and continuous optimization of the influence degree of the target liquid on the driving field of view are ensured, and the safety and comfort of driving are improved. The automation and intelligence of the whole process reflect the advancement and practicality of the present application in the design of vehicle auxiliary systems.

[0065] In the above steps S102 to S108 of the present application, image information of the environment in which the vehicle is located is obtained, wherein the image content of the image information includes a target liquid in the environment, and the target liquid is used to affect the observation result of a driver or passenger in the vehicle with respect to the environment; based on the image information, characteristic information of the target liquid is determined, wherein the characteristic information is used to represent the motion state of the target liquid; based on the characteristic information, environmental information of the environment is determined, wherein the environmental information is used to represent the influence degree of the target liquid in the environment on the observation result; and a control strategy corresponding to the environmental information is used to control the vehicle to perform an adjustment operation, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is smaller than the unadjusted influence degree. That is, in this embodiment, by using the environmental image information obtained by the vehicle camera, the characteristics and motion state of the target liquid (such as rainwater) on the windshield are intelligently analyzed and determined, so as to accurately evaluate the influence degree of the target liquid on the driving field of view. Compared with the optical or sound wave reflection type rain sensor in the related art, the present application embodiment is not affected by external light and glass cleanliness, and can more accurately identify the rain condition. Based on the environmental information, the vehicle can automatically select the most suitable control strategy, intelligently adjust the working state of the wiper, and ensure a clear field of view under complex weather conditions, significantly improving the accuracy and timeliness of wiper control, effectively solving the technical problem of low control accuracy of the vehicle in rainy weather, and enhancing the driving safety and driving experience. The technical problem of low control accuracy of the vehicle is solved, and the technical effect of improving the control accuracy of the vehicle is achieved.

[0066] The above method of this embodiment will be further introduced below.

[0067] As an optional embodiment, the vehicle includes a video acquisition device and a circuit board. In step S102, the image information of the environment in which the vehicle is located is obtained, including: during the driving of the vehicle, the video acquisition device is used to obtain a video stream of the environment in which the vehicle is located; the video acquisition device is controlled to send the video stream to the circuit board; and the image processor in the circuit board is used to determine each frame of image in the video stream as the image information.

[0068] In this embodiment, the above-mentioned video acquisition device can be a hardware device installed on the vehicle for capturing video pictures of the surrounding environment, which can include but is not limited to components such as camera, lens, image sensor, etc. In the embodiments of the present application, the front-view camera module is particularly mentioned, which is used to capture video data in front of the vehicle and is an important part of the intelligent environment perception system. The video acquisition device is responsible for converting optical images into electrical signals, providing a source of raw data for subsequent digital image processing.

[0069] Optionally, the circuit board is a carrier for integrating and connecting various electronic components. The circuit board not only carries key chips such as image processors and data processing units, but also is used for signal transmission, power management, and communication with other vehicle systems. The design of the circuit board needs to balance the requirements of high-performance computing, stability, and space efficiency to ensure the efficient operation of the vehicle-mounted system.

[0070] Optionally, the image processor can refer to an image signal processor, which is a microprocessor specially used for processing and optimizing image data. It is used to perform a series of operations such as pre-processing, color correction, noise reduction, contrast and sharpness enhancement on the raw image signals received from the image sensor, to generate high-quality image information suitable for human observation and system analysis. In the embodiments of the present application, the image processor is used to extract each frame of image from the video stream and perform necessary processing to meet the requirements of feature recognition algorithms.

[0071] Optionally, the video stream can be a dynamic image data stream composed of continuous image frames, continuously transmitting image data at certain time intervals. In the vehicle auxiliary system, the video stream is captured and generated in real time by the video acquisition device (such as the front-view camera), processed by the image processor in the circuit board, and provided to the data processing unit for analysis and decision-making. The quality and stability of the video stream directly affect the accuracy of environment perception and the response speed of vehicle auxiliary functions.

[0072] Optionally, in the process of obtaining image information of the environment in which the vehicle is located, the video acquisition device can be used to obtain the video stream of the environment in which the vehicle is located during the driving of the vehicle. The video stream can be sent from the video acquisition device to the circuit board. The image processor in the circuit board can determine each frame of image in the video stream as image information.

[0073] Optionally, the vehicle starts and enters the driving state. The camera module begins to work and captures real-time video information in front of the vehicle through the lens, forming a continuous video stream. The above process covers the physical layer operations such as light entering, image sensor receiving, and analog signal generation. It provides dynamic visual data input for vehicle environmental perception, ensuring that the system can respond to changes in the surrounding environment in real time. The video capture device captures the video stream. The video capture device transmits the generated video stream data to the vehicle's circuit board through internal cables or wireless means. The circuit board is equipped with a receiving port that can identify and receive the above video stream data. It ensures that video information can be transmitted to the central processing unit in a timely and complete manner, providing a data source for subsequent image analysis and decision-making.

[0074] Optionally, the video stream data is successfully transmitted to the circuit board. The image processor begins to process the received video stream and separates the continuous video frames into independent image frames. Each image frame is then pre-processed, such as denoising, contrast adjustment, etc., to improve image quality and facilitate subsequent feature extraction and analysis. The image processor converts each frame of video stream into clear and optimized image information, providing ready-to-use data for subsequent environmental assessment and intelligent control.

[0075] Optionally, the front-view camera module continuously captures video streams while the vehicle is driving and transmits these video stream data to the image processing unit through the connection of the circuit board. The image processor on the circuit board receives and processes the video stream, converting each frame of video into high-quality image information to provide a basis for subsequent feature recognition and environmental analysis. The image processor completes image processing. The data processing unit receives image information and runs pre-designed feature recognition algorithms to identify the target liquid (such as raindrops) and its motion state in the image. Based on these identified feature information, the influence of the current rain conditions on the driving field of view is evaluated, and environmental information is generated. By analyzing the processed image data, the environmental conditions are accurately evaluated to provide key information for the control strategy of the intelligent wiper system, ensuring that the system can respond appropriately according to actual environmental changes.

[0076] Optionally, the environmental information evaluation is completed. Based on the evaluated environmental information, the intelligent control system formulates corresponding control strategies, such as adjusting the working mode of the wiper. The control unit is responsible for converting the strategy into specific control instructions, which are then sent to the vehicle's execution mechanism, such as the wiper motor, through the circuit board. It ensures that the vehicle's auxiliary systems, such as the wiper, can make intelligent adjustments based on real-time environmental information, improving the clarity of the driving field of view and ensuring driving safety.

[0077] Optionally, the improvement of the driving field of view after the adjustment operation is continuously monitored. The video capture device continues to capture video streams, the image processor processes new image frames, the data processing unit analyzes the changes in environmental information, and the effect of the adjustment operation is evaluated. If necessary, the control strategy can be adjusted again, forming a closed-loop feedback control mechanism. Through real-time monitoring and feedback, it is ensured that the vehicle auxiliary system is always in good condition, and environmental changes are responded to in a timely manner, improving the driving experience and safety level.

[0078] In the embodiments of the present application, the video capture device, the circuit board, the image processor, and the video stream in the above method constitute the core chain of vehicle environment perception and auxiliary function control. From video data acquisition and transmission, to image information processing and feature recognition, to control strategy formulation and execution, and finally to effect monitoring and feedback, each step is closely connected and works together to improve driving safety and comfort.

[0079] As an optional embodiment, in step S104, based on the image information, the characteristic information of the target liquid is determined, including: in response to the image processor determining the image information, using the data processing unit in the circuit board to analyze the image information and determine the characteristic information, wherein the characteristic information includes but is not limited to at least one of the following: shape information of the target liquid, luminosity attribute of the target liquid, motion trajectory information of the target liquid, and shape information of the target liquid moving to the windshield of the vehicle.

[0080] In this embodiment, the characteristic information can include but is not limited to at least one of the following: shape information of the target liquid, luminosity attribute of the target liquid, motion trajectory information of the target liquid, and shape information of the target liquid moving to the windshield of the vehicle.

[0081] Optionally, the shape information can be used to describe the geometric profile of the target liquid such as raindrops, snowflakes or water droplets, especially their shape characteristics relative to the windshield of the vehicle. For example, the shape information can be a circular raindrop shape, reflecting the appearance characteristics of the raindrop at the moment of contact with the windshield. Shape information is used to distinguish different types of precipitation, because the shapes of raindrops, snowflakes or hailstones will be significantly different, and understanding the shape helps to accurately identify the type of precipitation.

[0082] Optionally, the luminosity attribute can be the brightness and color characteristics of the target liquid object, especially how it reflects or absorbs light under changing light conditions. The luminosity characteristics of the top being dark and the bottom being bright are common in raindrops. Luminosity attribute can help the algorithm more accurately locate and track the position and movement direction of the target liquid.

[0083] Optionally, the motion trajectory information records the moving path and pattern of the target liquid on the windshield, including the starting position, end position, and direction of travel of the target liquid. The streaks formed by the rainwater reflect the natural trajectory of the raindrops flowing along the glass surface under the influence of gravity. The motion trajectory information is used to predict the distribution and accumulation trend of the raindrops, so as to estimate the severity of the visual obstruction and guide the timely and effective operation of the wiper.

[0084] Optionally, the morphological information is used to describe the aggregation state or distribution state of the target liquid on the windshield, especially the irregular morphology when it covers or aggregates in a large area. The irregular morphology when covering a large area can refer to the formation of a non-uniformly distributed water film or water bead group by the dense aggregation of raindrops under heavy rain conditions. The morphological information can reflect the intensity of the rain and the uniformity of the distribution, and is used to determine the working mode (such as continuous wiping or intermittent wiping), wiping frequency, and coverage range of the wiper.

[0085] Optionally, the image processor receives the processed image information from the video acquisition device. The data processing unit is prepared to receive the image information extracted and preliminarily processed by the image processor, in preparation for feature analysis. The data processing unit is ready to receive the image information. The algorithm analyzes each frame of image information, extracting the shape information, luminosity attributes, motion trajectory information, and morphological information of the target liquid. By carefully analyzing the image details, the characteristics of the target liquid are accurately identified, providing key data for subsequent environmental impact assessment. Feature information extraction is complete. The extracted various feature information is integrated, and a preset evaluation model or algorithm is used to determine the specific characteristics of the target liquid affecting the driver's field of view, such as the number, size, moving speed, and distribution of the raindrops. Through comprehensive evaluation of the feature information, the degree of obstruction of the target liquid to the field of view is quantified, providing empirical evidence for the development of intelligent control strategies. Feature information integration and evaluation are complete. Based on the evaluated characteristics of the target liquid, the strategy algorithm matches or generates a corresponding control strategy, such as adjusting the speed, frequency, or coverage area of the wiper, to reduce the impact of raindrops on the field of view in the most effective way. Ensure that the adjustment operation taken can accurately respond to the current environmental conditions, improve the clarity and safety of the field of view during rainy driving.

[0086] Optionally, the control strategy is generated. The actuator executes the adjustment operation according to the control strategy, while the video acquisition device and data processing unit continue to monitor environmental changes and evaluate the effectiveness of the strategy execution, making necessary adjustments to the strategy. Form a closed-loop control, continuously optimize the response of the wiper, until a good field of view effect is achieved.

[0087] In the embodiments of the present application, the above method shows the whole process from vehicle environment perception to intelligent control, from video information collection, image data processing, to feature information extraction, environment impact assessment, to control strategy formulation and execution, each step is to more accurately and intelligently cope with the influence of target liquid such as raindrops on the driving field of view, so as to improve the driving experience and safety of the driver.

[0088] As an optional embodiment, the vehicle further comprises a liquid sensing unit, and the method further comprises: detecting the target liquid by using the liquid sensing unit to obtain a detection result; and determining the environment information of the environment based on the feature information, including: determining the environment information based on the feature information and the detection result.

[0089] In this embodiment, the above liquid sensing unit can be a sensor module for detecting the presence and properties of liquid, which can be various types of sensors such as capacitive, optical, ultrasonic or thermal sensors, etc., the specific selection depends on the characteristics of the liquid to be detected and the application scenario. In the embodiments of the present application, the above liquid sensing unit can be a rain sensing unit for detecting the presence, amount and distribution of raindrops. The above rain sensing unit works based on optical, capacitive change or sound wave reflection principle. For example, an optical rain sensor determines the presence and amount of raindrops by emitting infrared light and detecting the degree of reflection or blocking of the light by raindrops; a capacitive sensor detects the change in capacitance caused by raindrops contacting the windshield to sense the amount of rain. The liquid sensing unit can be installed on the inner side of the front windshield of the vehicle, closely attached to the glass and facing the external environment, so as to accurately detect the presence of rain or other liquids. Monitoring the appearance, amount, density and speed of raindrops provides real-time rainfall information for the vehicle to determine when to start the wiper or other auxiliary functions.

[0090] Optionally, the detection result can refer to the quantitative output of the liquid sensing unit on the presence or absence, characteristics and magnitude of the target liquid. In the embodiments of the present application, the detection result can refer to the judgment and measurement value of the current rainfall state by the rain sensing unit, and the above detection result can include but is not limited to: rainfall intensity, raindrop distribution and raindrop characteristics. The above rainfall intensity can be used to indicate the amount of current rainfall, which can be a level such as light, moderate or heavy, or a specific raindrop density and flow unit. The above raindrop distribution can be used to reflect the coverage range and uniformity of raindrops on the windshield of the vehicle, which helps to assess the degree of obstruction of the driving field of view. The above raindrop characteristics can include the size and shape of the raindrops (such as whether it is continuous rain or shower).

[0091] Optionally, the vehicle starts and enters the driving state. The video capture device begins to work and continuously captures the video stream of the environment in front of the vehicle, providing real-time visual data for intelligent environment perception. The video stream capture is completed. The video stream data is transmitted in real time to the image processor through the signal lines in the circuit board, preparing for image processing and feature extraction. The video stream data is successfully transmitted to the circuit board. The image processor extracts each frame of image from the video stream, performs preprocessing such as denoising, contrast enhancement, etc., and then runs feature recognition algorithm to identify the shape information, luminosity attribute, motion trajectory information and morphological information of the target liquid. High-quality image information is generated, from which feature information essential for intelligent control strategy formulation is extracted.

[0092] Optionally, the vehicle is driving, and the liquid sensing unit (such as a rain sensor) is in working state. The liquid sensing unit monitors and detects the physical existence of the target liquid (such as raindrops) in real time, including rain amount, raindrop density and speed, etc., and outputs these information in the form of detection results. Real-time physical sensing data is provided to supplement the possible missing environmental details in the image information, enhancing the comprehensiveness and accuracy of environment perception.

[0093] Optionally, the liquid sensing unit detects the target liquid and generates the detection results. The signal transmission mechanism between the liquid sensing unit and the circuit board. The detection results are sent in real time to the data processing unit through the corresponding interface on the circuit board, preparing for integration with the feature information. The image processor completes the feature information extraction, and the detection results of the liquid sensing unit are ready. The data processing unit receives the feature information and the detection results, compares and fuses them, analyzes through algorithm, and comprehensively evaluates the degree of obstruction of the target liquid to the driving field of view and the impact on vehicle safety. Ensure that the intelligent system can make more accurate and comprehensive environment information evaluation based on multi-source information.

[0094] Optionally, the data processing unit generates a comprehensive description of the current environment, i.e. environment information, based on the integrated information. This includes the type of target liquid, distribution state, degree of influence on the field of view, etc., forming a digital and intelligent description of the surrounding environment. Provide accurate environment assessment for subsequent intelligent control strategy, ensure that the vehicle auxiliary function can make reasonable response to specific environmental conditions.

[0095] Optionally, the data processing unit formulates intelligent control strategy according to the environment information, such as adjusting the working mode, frequency and speed of the wiper, etc. The strategy is then sent to the actuator of the vehicle, such as the wiper motor, to perform adjustment operation and reduce the influence of the target liquid on the driving field of view. Through intelligent control, the driving field of view is kept clear, and the driving safety and comfort are improved.

[0096] In the embodiments of the present application, the above method describes how the vehicle combines the visual information of the video acquisition device and the physical detection results of the liquid sensing unit, through the image processor and the data processing unit in the circuit board, to form accurate identification of the target liquid characteristics and comprehensive evaluation of the environmental information, and finally guide the formulation and execution of intelligent control strategies to deal with the problem of visual obstruction in complex driving conditions such as rainy days.

[0097] As an optional embodiment, the vehicle includes a main shell, the video acquisition device is arranged on a target surface of the main shell, and the liquid sensing unit is arranged on the target surface and in a close state with the windshield of the vehicle. The video acquisition device and the liquid sensing unit are respectively electrically connected with the circuit board.

[0098] In this embodiment, the main shell can be a physical shell of the integrated sensor module. The design of the main shell can consider functions such as space efficiency, thermal management, electromagnetic compatibility (EMC), and protection of internal components from external harsh environments. In the embodiments of the present application, the main shell is used to reduce space occupation and improve system reliability. The above target surface (A surface) can be a surface of the main shell facing the external environment of the vehicle, and can be closely attached to the windshield of the vehicle to ensure that the sensor can obtain the most direct and accurate environmental information. The above arrangement is conducive to improving the response speed and detection accuracy of the video acquisition device and the liquid sensing unit.

[0099] Optionally, the video acquisition device (such as a front camera module) is arranged on the A surface of the main shell, adjacent to or attached to the windshield of the vehicle, to obtain a high-definition video stream of the environment in front of the vehicle. The video acquisition device is electrically connected with the circuit board through a circuit line, ensuring that the collected video data can be quickly transmitted to the processor for analysis and processing. The liquid sensing unit (such as an infrared rain sensor) is also arranged on the A surface of the main shell, closely attached to the windshield of the vehicle, to facilitate direct monitoring of the rainfall state. Similar to the video acquisition device, the liquid sensing unit also establishes electrical connection with the circuit board through a circuit, so that its detection results can be timely delivered to the data processing unit for integrated analysis.

[0100] Optionally, through the video capture device and the liquid sensing unit integrated by the main housing, the vehicle can collect visual information and physical sensing data of the environment. The data of the two are summarized through the circuit board and comprehensively analyzed by the data processing unit to form a comprehensive assessment of the environmental conditions. Based on the integrated information, including the shape information, luminosity attributes, motion trajectory information and morphological information of the target liquid (such as raindrops), and the detection results (such as the size and distribution of the rain) provided by the liquid sensing unit, the data processing unit formulates an intelligent control strategy. The control strategy is sent to the corresponding actuators, such as the wiper and air conditioning system, through the circuit board to adapt to different driving scenarios, optimize the driver's field of view, and improve driving safety.

[0101] In the embodiments of the present application, by physically integrating the video capture device and the liquid sensing unit share the same main housing, the space occupation of the sensor components is significantly reduced, which is conducive to reducing the driving field of view obstacle angle and improving the driving field of view. The use of shared circuit boards and connectors reduces the need for additional parts, thereby reducing material costs and installation complexity. The integrated design simplifies the system structure, reduces interference between sensors, and improves the stability and reliability of the entire system. The cooperative work of multiple sensors makes the vehicle have stronger and more accurate environmental perception ability, which provides the possibility for the upgrade and expansion of intelligent auxiliary systems.

[0102] In summary, the integrated design of the main housing, the video capture device and the liquid sensing unit realizes the compact layout and efficient cooperation of the sensors, provides more accurate environmental information for the vehicle, thereby supporting the optimization of intelligent auxiliary functions, and improves the driving safety and comfort.

[0103] As an optional embodiment, the target surface is provided with an optical window, the optical window is in a state of adhesion with the windshield, and the optical window is used for the video capture device to obtain a video stream and is used for the liquid sensing unit to detect a target liquid.

[0104] In this embodiment, the optical window is a light-transmitting area designed in the integrated sensor module to ensure effective interaction between the sensor and the external environment. The above-mentioned optical window can be located on the A surface of the main housing, that is, the surface of the sensor module facing the external environment of the vehicle, and directly adheres to the windshield of the vehicle. The optical window is designed to provide a clear visual path for the video capture device (such as a front-view camera module) and a direct environmental detection channel for the liquid sensing unit (such as an infrared rain sensor) to ensure the normal functioning of the sensor and the accuracy of the data.

[0105] Optionally, the design of the optical window needs to consider factors such as optical properties, environmental adaptability, and material selection to ensure that the performance of the sensor is not affected. The optical window material should have high light transmittance, low reflectivity, and good optical stability to reduce light scattering and distortion, ensuring that the front-facing camera can capture high-definition images and the infrared rain sensor can accurately detect raindrop signals. The optical window can have dustproof, waterproof, ultraviolet-resistant, and temperature difference adaptation capabilities to ensure the reliability of the sensor function in various harsh environments. It can be made of high-transparency glass or plastic with certain hardness and wear resistance, while considering its refractive index and absorption characteristics to meet the optical needs of different sensors.

[0106] Optionally, the fit state of the optical window and the windshield reduces the multiple refraction and reflection of light between the glass and the sensor, improving the clarity of images and signals, and helping to improve the driver's forward view. The direct light transmission path reduces the physical obstacles between the sensor and the external environment, allowing the video capture device to capture environmental changes more directly and the liquid sensing unit to detect raindrop signals more accurately, thereby improving the accuracy of environmental perception data. The design and installation of the optical window enable the video capture device and the liquid sensing unit to work cooperatively on the same physical platform, improving the overall design efficiency and space utilization efficiency of the integrated sensor module.

[0107] Optionally, the front-facing camera module captures video streams of the road and environment in front through the optical window, and the high transparency of the optical window ensures the clarity and color accuracy of the images, which is beneficial for subsequent image processing and target detection. The infrared rain sensor emits and receives infrared signals through the optical window, and when raindrops fall on the windshield, the infrared signals will be blocked or reflected by the raindrops, and the sensor detects the change of the signal to determine the size and distribution of the rain.

[0108] Optionally, the fit of the optical window and the windshield needs to use special sealing materials and precise fit processes to ensure waterproof and dustproof performance, while ensuring that it will not damage the windshield or affect its original function. The material of the optical window needs to be strictly tested and selected to ensure that it will not degrade in performance or be physically damaged due to environmental factors (such as ultraviolet radiation, temperature changes) over a long period of use.

[0109] Optionally, the integrated design of the optical window helps to reduce the overall cost of the sensor, reduces the use of independent optical elements, and simplifies the assembly process. The optical window closely fitted with the windshield reduces the influence of external factors on the sensor's work, improving the overall reliability of the system. At the same time, integrated design is also conducive to later maintenance and upgrading, simplifying troubleshooting and replacement operations.

[0110] In the embodiments of the present application, the design of the optical window plays a core role in the integrated sensor module, not only optimizing the performance of the sensor, but also improving the integration and reliability of the system, which is an important part of realizing the intelligent and efficient vehicle environment perception system.

[0111] As an optional embodiment, the main shell comprises a heat dissipation structure, or the material of the main shell is a heat-conducting material or a heat-insulating material, wherein the heat dissipation structure, the heat-conducting material or the heat-insulating material are used to isolate the heat generated by the video acquisition device.

[0112] In this embodiment, the heat dissipation structure can refer to a specially designed structural component in the main shell for facilitating the dissipation of heat energy from the inside of the device to the external environment, such as heat dissipation fins, heat pipes, heat dissipation pads, etc. The heat dissipation structure accelerates the dissipation of heat generated by the video acquisition device (such as a front-view camera) by increasing the contact area with the environment, using the principles of heat conduction, convection or radiation, preventing its accumulation in the main shell, thereby avoiding excessive temperature and other effects on the performance of the sensor components. The heat dissipation fin can be one of the heat dissipation structures, which can be made of a high-thermal-conductivity metal material, such as aluminum or copper. The fin is designed as a thin sheet and arranged in parallel to increase the surface area exposed to the air, accelerating the dissipation of heat through natural convection or forced air cooling (such as fan assistance).

[0113] Optionally, the heat-conducting material has a high thermal conductivity and can quickly conduct the heat generated by the video acquisition device to the surface of the shell or the heat dissipation structure, such as graphene, heat-conducting silicone grease, metal heat-conducting pads, etc. The application of heat-conducting material aims to quickly dissipate the heat source and reduce the impact of local temperature rise on the sensor. In contrast to heat-conducting materials, the purpose of heat-insulating materials is to prevent the transfer of heat energy and protect sensitive components from high-temperature environments. For example, air gaps, ceramics, polyurethane foam, etc. have good heat-insulating properties. The use of heat-insulating materials in the main shell can effectively insulate the heat generated by the video acquisition device when it is working, avoiding performance degradation of temperature-sensitive sensors (such as temperature and humidity sensors).

[0114] Optionally, through the application of heat dissipation structures and heat-conducting / heat-insulating materials, the temperature inside the integrated sensor module can be effectively controlled, avoiding the aging of electronic components, signal distortion or sensor failure caused by high temperature, and improving the stability and long-term reliability of the system. Temperature is one of the important factors affecting the accuracy of the sensor, especially for temperature sensors and some types of rain sensors. The application of heat dissipation structures and materials helps to maintain the sensor within a good working temperature range, ensuring the accuracy and consistency of its measurement data. In the limited space of the main shell, good thermal management design helps to reduce the need for additional cooling equipment, reducing the complexity and cost of system integration, while providing a more compact and efficient working environment for the sensor components.

[0115] Optionally, the interior of the main housing or the exterior facing the heat dissipation direction is designed with heat dissipation fins that are in close contact with the heat generating components of the video capture device, accelerating heat dissipation through air convection or wind cooling caused by vehicle movement. Thin layer of heat-conductive silicone grease or metal heat-conductive pads are applied between the video capture device and the main housing or heat dissipation structure to improve heat conduction efficiency. Around temperature-sensitive sensors such as anti-fog sensors and temperature and humidity sensors, air gaps, ceramic heat insulation sheets, or polyurethane foam materials are used to form a heat insulation barrier, protecting these sensors from the high temperature of the video capture device.

[0116] In the embodiments of the present application, when designing the heat dissipation structure and selecting the heat-conductive / insulation materials, the heat generation characteristics, operating temperature range, temperature variation of the surrounding environment, and structural layout of the main housing of the sensors are considered comprehensively. In addition, the lightweight, durability, cost, and processing difficulty of the materials are also evaluated to ensure the feasibility and economic benefits of the heat dissipation scheme. Through the above detailed analysis, it can be seen that the heat dissipation structure and heat-conductive / insulation materials are important in the design of the integrated sensor module. Not only effectively manage the thermal energy of the video capture device, but also provide support for the performance optimization, space utilization and cost control of the entire system.

[0117] As an optional embodiment, the vehicle further comprises an anti-fog sensing unit arranged in the main housing, which is used to detect the temperature and humidity of the windshield and the temperature and humidity inside the vehicle.

[0118] In this embodiment, the anti-fog sensing unit mainly consists of a temperature sensor and a temperature and humidity sensor, which are used to monitor the temperature of the windshield and the temperature and humidity inside the vehicle. Inside the main housing, the temperature sensor is usually placed close to the A surface of the windshield to directly measure the temperature change of the glass surface, while the temperature and humidity sensor can be installed inside the housing or on the other side, i.e. B surface, of the target surface facing the vehicle cabin, to monitor the temperature and humidity of the air inside the vehicle.

[0119] Optionally, the temperature sensor, such as a thermistor or a thermocouple, can detect the temperature change of the windshield surface, which is one of the key data for the implementation of the anti-fog function. By monitoring the glass surface temperature, it can be determined whether the temperature is below the dew point, which is a prerequisite for the formation of fog on the glass surface. The physical integration of the temperature sensor reduces the additional installation space requirement, simplifies the wiring layout, reduces the system complexity and cost, while ensuring the directness and accuracy of temperature detection.

[0120] Optionally, the temperature and humidity sensor can measure both temperature and humidity parameters simultaneously. Humidity measurement is usually based on capacitive or resistive humidity sensors, while temperature measurement is similar to temperature sensors, using thermistors. The comparison of the temperature and humidity data inside the vehicle with the external environment is another important basis for predicting and determining whether the windshield will appear dewing. The integration of the temperature and humidity sensor not only saves space, but also reduces the direct interference of external environmental changes on the sensor, improving the stability and reliability of the measurement data.

[0121] Optionally, the data of the temperature sensor and the temperature and humidity sensor are transmitted to the data processing unit on the circuit board for comprehensive analysis. The system determines the need for anti-fogging by comparing the windshield surface temperature with the dew point temperature of the air inside the vehicle. Based on the integrated environmental information, the anti-fogging sensor unit cooperates with the air conditioning system or anti-fogging function of the vehicle to automatically adjust the temperature and humidity inside the vehicle to prevent fogging on the windshield surface and ensure a clear view for the driver. Before the temperature drops or the humidity rises to the dew point, the system begins to predict and take measures, such as adjusting the air outlet direction of the air conditioner, increasing the warm air output, and starting the dehumidification mode, thereby effectively preventing the windshield from fogging.

[0122] Optionally, when selecting temperature sensors and temperature and humidity sensors, their accuracy, response speed, operating temperature range, and anti-interference ability should be considered to ensure that accurate environmental information can be provided in various driving environments. The temperature sensor is placed on the A surface of the main housing close to the windshield to obtain direct measurement of the glass temperature. The temperature and humidity sensor is located inside the housing or on the B surface to avoid direct exposure to high temperature or extreme humidity environments, ensuring the reliability of the data. To avoid signal interference between sensors, the circuit board design should consider signal isolation measures, such as using multi-layer circuit boards, reasonable wiring, and adding electromagnetic shielding, to ensure the purity and independence of the signals of each sensor.

[0123] Optionally, the integrated anti-fogging sensor unit reduces the installation cost and maintenance difficulty of individual sensors, while also reducing the potential failure rate and improving the overall cost-effectiveness of the system. Through real-time monitoring and intelligent control, the windshield can maintain clear and fog-free in any weather conditions, greatly improving driving safety, especially in rainy and foggy weather.

[0124] In the embodiments of the present application, the integration of the anti-fogging sensor unit not only optimizes the use of space, but also realizes the automation and precision of the windshield anti-fogging function of the vehicle through intelligent data fusion and control strategies, providing a safer and more comfortable driving environment for drivers.

[0125] As an optional embodiment, the vehicle is controlled to perform the adjustment operation by using the control strategy corresponding to the environmental information, including: controlling a wiper device on the windshield of the vehicle to perform a wiping operation on the target liquid on the windshield by using the control strategy corresponding to the environmental information, so as to adjust the influence degree.

[0126] In this embodiment, the wiper device can be a wiper.

[0127] Optionally, in the process of controlling the vehicle to perform the adjustment operation by using the control strategy corresponding to the environmental information, the wiper device on the windshield of the vehicle can be controlled to perform a wiping operation on the target liquid on the windshield by using the control strategy corresponding to the environmental information, so as to adjust the influence degree on the observation result.

[0128] Optionally, the environmental information is collected by an integrated sensor module, including visual information provided by a video acquisition device, such as shape information, luminosity attribute, motion trajectory information and morphological information of the target liquid (such as raindrops); physical detection data output by a liquid sensing unit, such as rain amount and distribution; and temperature and humidity data provided by a defogging sensing unit, used for evaluating the possibility of fogging on the windshield. The above environmental information is transmitted to a data processing unit on the circuit board, and is comprehensively analyzed and processed by the built-in intelligent algorithm to form a comprehensive evaluation of the current driving environment, including key indicators such as rain amount level, raindrop density and windshield fogging risk.

[0129] Optionally, based on the analysis result of the above environmental information, the data processing unit can formulate a corresponding control strategy. For example, when high rain amount or raindrop density is detected, the system can automatically adjust the working mode and speed of the wiper device to improve the cleaning efficiency of the windshield; when the fogging risk is identified, the air conditioning dehumidification function can be started to prevent the windshield from being blurred. The design of the control strategy needs to have certain adaptability, which can flexibly adjust the control parameters of the wiper device according to different weather conditions and driving scenes, so as to ensure good visual clarity and driving safety.

[0130] Optionally, the wiper device is usually driven by a motor, through the swing of the wiper arm and wiper blade, to remove the rain, snow or other liquid on the windshield, keeping the driving vision clear. The control strategy output by the integrated sensor module will be transmitted to the vehicle domain controller through the connector on the circuit board, and then control the motor driving strength, swing frequency and speed of the wiper device. When the rain amount is identified to increase, the system will speed up the wiper speed or increase the swing frequency; when the rain amount decreases, the wiper strength will be reduced accordingly to save energy and reduce mechanical wear. The execution result of the control strategy (i.e. the adjustment operation of the wiper device) can be monitored in real time and fed back to the data processing unit for further optimization of the control logic. For example, by monitoring the cleaning degree of the windshield through the camera, the system can dynamically adjust the working state of the wiper device to ensure good cleaning effect.

[0131] Optionally, adjusting the speed and frequency of the wiper device is directly related to the clarity of the driver's vision, and is a key indicator for evaluating driving safety and comfort. Through continuous monitoring and intelligent control, the integrated sensor module can dynamically optimize the adjustment operation of the wiper device to minimize the impact of raindrops on the vision. Under the premise of ensuring clear vision, the intelligent control strategy also considers the problems of energy efficiency and wear of mechanical parts. By precisely adjusting the operating parameters of the wiper device, unnecessary energy consumption and mechanical wear are avoided, prolonging the service life of the wiper system.

[0132] In the embodiments of the present application, the automatic wiper control function is intelligently adjusted according to real-time environmental information, reducing the distraction caused by manual adjustment of the wiper device by the driver, improving driving concentration and safety. Whether in rainy, foggy or large temperature difference environments, the integrated sensor module can ensure the cleaning and anti-fogging of the windshield, improving the adaptability of the vehicle to complex environments. The application of intelligent control strategy makes the adjustment of the wiper device more smooth and natural, avoiding the inconvenience of frequent manual adjustment, and providing a more comfortable and convenient driving experience for the driver. In summary, adjusting the wiper device using the corresponding control strategy based on environmental information is an important part of intelligent vehicle environmental perception and auxiliary driving functions. Not only does it improve the intelligent level of the vehicle, but also significantly enhances driving safety and user experience.

[0133] The technical solutions of the embodiments of the present application will be illustrated below in conjunction with preferred embodiments.

[0134] At present, with the development of automobile intelligence, the number of sensors integrated in the upper area of the front windshield of the vehicle is increasing, such as front camera, rain sensor, anti-fog sensor, etc. At present, most of these sensors are designed independently and installed separately, and are arranged together in the cover behind the rearview mirror.

[0135] The aforementioned technologies have significant drawbacks: 1) Excessive space occupation: The accumulation of individual sensors, their housings, and wiring harnesses results in a bulky overall cover assembly. For example, in one vehicle model, the cover's total width reaches 344.6mm, occupying an area of ​​approximately 804cm², creating an obstruction angle as high as 25.6°, severely impacting the driver's forward visibility. 2) High cost and complexity: Each sensor requires an independent housing, circuit board, and connectors, increasing the number of components, material costs, and wiring complexity, thus reducing system reliability. 3) Functional isolation: Each sensor performs only a single function; data is not effectively integrated, preventing the improvement of overall environmental perception accuracy and robustness through information complementarity.

[0136] Therefore, there is an urgent need in this field for a front-view sensor solution that can effectively reduce space occupation, lower costs, and improve system integration.

[0137] In the embodiments of this application, compared with the prior art, the present invention has the following significant advantages: Space optimization and improved field of vision: Through physical integration, the housing, circuit board, and connectors are shared, significantly reducing the volume of the sensor assembly. It is estimated that the coverage area can be reduced by approximately 15%-60%, effectively reducing the driver's field of vision obstruction angle and improving driving safety. Cost reduction: The number of parts, wiring harnesses, and connectors is reduced, lowering material costs and assembly complexity. If a vision-based solution is used to replace the rain sensor, the hardware cost of the sensor can be saved. Improved system reliability and integration: The modular design simplifies the system structure and improves overall reliability. Enhanced performance potential: It provides a hardware foundation for multi-sensor data fusion. In the future, through algorithm optimization, camera images can be used to assist in the calibration of other sensors, or multi-source information can be fused to achieve more accurate and reliable environmental perception.

[0138] The embodiments of the present invention will be further described below.

[0139] The purpose of this invention is to overcome the aforementioned deficiencies of the prior art and provide a highly integrated vehicle-mounted forward field-of-view sensor module and automobile. This invention aims to significantly reduce the space occupied by the sensor assembly, optimize the driver's field of vision, reduce system cost and complexity, and explore ways to improve perception accuracy through data fusion by physically integrating and functionally fusing the sensors.

[0140] To achieve the above objectives, the present invention adopts the following technical solution:

[0141] Scheme one, physical integrated module: a front view area sensor module based on functional integration, which can include: a common main housing; a circuit board integrated in the main housing; a front view camera module arranged on the A surface of the main housing for sensing the environment outside the vehicle; a rain sensor unit arranged on the A surface of the main housing and closely attached to the windshield, which includes an infrared transmitting end and a receiving end; a defogging sensor unit arranged in the main housing, which includes a temperature sensor for detecting the temperature of the windshield and a temperature and humidity sensor for detecting the temperature and humidity in the vehicle; and a common connector connected to the vehicle system. The front view camera module, rain sensor unit and defogging sensor unit are all electrically connected to the common circuit board. The A surface of the main housing is designed with an optical window that fits the windshield to ensure the normal detection of the front view camera and the rain sensor. Preferably, the main housing is also provided with a heat dissipation structure (such as heat dissipation fins), or uses heat-conducting / heat-insulating materials to isolate the heat generated by the front view camera during operation from affecting the accuracy of other sensors.

[0142] Scheme two, functional replacement and fusion module: based on scheme one, further optimization: the common circuit board is integrated with an image signal processor and a data processing unit, and the data processing unit is configured to perform the following steps: receiving real-time video stream from the front view camera module; performing raindrop feature analysis on the images in the video stream, including but not limited to: raindrop shape similar to a circle, light intensity characteristics of dark top and bright bottom, stripe-like formed by rainwater sliding, and irregular shape when covered by a large area; based on the analysis results of the raindrop features, determining the current rain condition and generating a wiper control signal, thereby realizing the replacement of the independent rain sensor function in a visual recognition manner. In this scheme, the physical rain sensor unit can be retained as a redundant backup, or omitted to further save space and cost.

[0143] Figure 2 is a schematic diagram of the arrangement position of each sensor in the integrated module according to an embodiment of the present application, as shown in Figure 2 Each sensor is integrated in the main housing, and the A surface of the main housing is integrated with the front view camera module and the rain sensor. The B surface is integrated with the defogging sensor.

[0144] Figure 3 is a schematic diagram of raindrop classification and features for visual recognition of raindrops according to an embodiment of the present application, as shown in Figure 3 The camera (front view camera module) can detect whether the environment where the vehicle is located is static or dynamic in real time. If it is static, it can be further determined whether it is rain or mist. If it is dynamic, it can be further determined whether it is rain or heavy rain. It can be further determined whether the raindrop stripe and the raindrop are focused.

[0145] According to an embodiment of the present application, a control device of a vehicle is also provided. It should be noted that the control device of the vehicle can be used to execute the control method of the vehicle in the above embodiments.

[0146] Figure 4 is a schematic diagram of a control device of a vehicle according to an embodiment of the present application. As shown in the figure, the control device 400 of the vehicle can include an acquisition unit 402, a first determination unit 404, a second determination unit 406 and a control unit 408. Figure 4

[0147] The acquisition unit 402 is configured to acquire image information of an environment in which the vehicle is located.

[0148] The first determination unit 404 is configured to determine feature information of a target liquid based on the image information.

[0149] The second determination unit 406 is configured to determine environment information of the environment based on the feature information.

[0150] The control unit 408 is configured to control the vehicle to perform an adjustment operation by using a control strategy corresponding to the environment information.

[0151] In the embodiment of the present application, the acquisition unit 402 acquires image information of an environment in which the vehicle is located. The first determination unit 404 determines feature information of a target liquid based on the image information. The second determination unit 406 determines environment information of the environment based on the feature information. The control unit 408 controls the vehicle to perform an adjustment operation by using a control strategy corresponding to the environment information, thereby solving the technical problem of low control accuracy of the vehicle and achieving the technical effect of improving the control accuracy of the vehicle.

[0152] According to an embodiment of the present application, a computer readable storage medium is also provided. The storage medium includes a stored program, wherein the program executes the above method in the embodiments of the present application.

[0153] According to an embodiment of the present application, a processor is also provided. The processor is configured to run a program, wherein the program runs to execute the above method in the embodiments of the present application.

[0154] According to another aspect of the embodiments of the present application, an electronic device is also provided. The electronic device includes a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to execute the above method in the embodiments of the present application.

[0155] According to another aspect of the embodiments of the present application, a computer program product is also provided. The computer program product includes a computer program, and the computer program implements the above method in the embodiments of the present application when executed by a processor.

[0156] ​According to another aspect of the embodiments of the present application, a vehicle is also provided. The vehicle includes a memory and a processor. The memory stores an executable program. The processor is configured to execute the program, and the program, when executed, implements the above method according to the embodiments of the present application.

[0157] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0158] In the several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit embodiment described above is only illustrative, and for example, the division of units can be 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 units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, which can be electrical or other forms.

[0159] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0160] In addition, each functional unit in each embodiment of the present application 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 in the form of software functional unit.

[0161] The integrated unit, if realized in the form of software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that makes a contribution to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0162] The above merely describes the preferred embodiments of the present application, and it should be pointed out that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as falling within the protection scope of the present application.

Claims

1. A control method of a vehicle, characterized by, The method comprises: acquiring image information of an environment in which the vehicle is located, wherein image content of the image information comprises a target liquid in the environment, the target liquid being used to affect observation results of a subject in the vehicle with respect to the environment; determining feature information of the target liquid based on the image information, wherein the feature information is used to represent a motion state of the target liquid; determining environment information of the environment based on the feature information, wherein the environment information is used to represent an influence degree of the target liquid in the environment on the observation results; controlling the vehicle to perform an adjustment operation by using a control strategy corresponding to the environment information, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is less than the influence degree before the adjustment.

2. The method of claim 1, wherein, The vehicle comprises a video acquisition device and a circuit board, and the acquisition of the image information of the environment in which the vehicle is located comprises: acquiring, by using the video acquisition device, a video stream of the environment in which the vehicle is located during driving of the vehicle; controlling the video acquisition device to send the video stream to the circuit board; determining, by using an image processor in the circuit board, each frame of image in the video stream as the image information.

3. The method of claim 2, wherein, The determination of the feature information of the target liquid based on the image information comprises: in response to the image information being determined by the image processor, analyzing, by using a data processing unit in the circuit board, the image information to determine the feature information, wherein the feature information comprises at least one of the following: shape information of the target liquid, luminosity attribute of the target liquid, motion trajectory information of the target liquid, and morphological information of the target liquid when moving to a windshield of the vehicle.

4. The method of claim 2, wherein, The vehicle further comprises a liquid sensing unit, and the method further comprises: detecting, by using the liquid sensing unit, the target liquid to obtain a detection result; determining the environment information of the environment based on the feature information comprises: determining the environment information based on the feature information and the detection result.

5. The method of claim 4, wherein, The vehicle comprises a main shell, the video acquisition device is arranged on a target surface of the main shell, the liquid sensing unit is arranged on the target surface and is in a bonded state with the windshield of the vehicle, and the video acquisition device and the liquid sensing unit are respectively electrically connected to the circuit board.

6. The method of claim 5, wherein, The target surface is provided with an optical window, the optical window is in the bonded state with the windshield, and the optical window is used for the video acquisition device to acquire the video stream and for the liquid sensing unit to detect the target liquid.

7. The method of claim 5, wherein, The main shell comprises a heat dissipation structure, or the material of the main shell is a heat-conducting material or a heat-insulating material, wherein the heat dissipation structure, the heat-conducting material or the heat-insulating material is used to isolate heat generated by the video acquisition device.

8. The method of claim 5, wherein, The vehicle further comprises an anti-fog sensing unit, the anti-fog sensing unit is arranged on the main shell, and the anti-fog sensing unit is used to detect temperature and humidity of the windshield and temperature and humidity inside the vehicle.

9. The method of claim 2, wherein, Control, by the control unit, the vehicle to perform an adjustment operation according to a control strategy corresponding to the environment information, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is less than the unadjusted influence degree. Control, by the control unit, the vehicle to perform an adjustment operation according to a control strategy corresponding to the environment information, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is less than the unadjusted influence degree.

10. A control device of a vehicle characterized by comprising: The device comprises: An acquisition unit configured to acquire image information of an environment in which the vehicle is located, wherein image content of the image information comprises a target liquid in the environment, and the target liquid is used to affect observation results of a subject in the vehicle with respect to the environment; A first determination unit configured to determine feature information of the target liquid based on the image information, wherein the feature information is used to represent a motion state of the target liquid; A second determination unit configured to determine environment information of the environment based on the feature information, wherein the environment information is used to represent an influence degree of the target liquid in the environment on the observation results; A control unit configured to control the vehicle to perform an adjustment operation according to a control strategy corresponding to the environment information, wherein the adjustment operation is used to adjust the influence degree, and the adjusted influence degree is less than the unadjusted influence degree.

11. A processor, comprising: The processor is configured to run a program, and the program is configured to perform the method in any one of claims 1 to 9 when the program is running.

12. An electronic device, comprising: The device comprises a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to perform the method in any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, and the program is configured to control a device in which the computer readable storage medium is located to perform the method in any one of claims 1 to 9 when the program is running.

14. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is configured to perform the method in any one of claims 1 to 9 when the computer program is executed by a processor.

15. A vehicle characterized by comprising: The device comprises: A memory configured to store an executable program; A processor configured to run the program, and the program is configured to perform the method in any one of claims 1 to 9 when the program is running.

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