Windscreen wiper control method, vehicle, vehicle controller and storage medium

Abstract

The invention relates to the field of vehicle control, in particular to a windscreen wiper control method, a vehicle, a vehicle controller and a storage medium. The windscreen wiper control method comprises the steps that face posture information of a driver, ambient light information in the driving environment of the vehicle and glass pollution state information are obtained, and the glass pollution state information is used for representing whether a liquid film exists on a windscreen of the vehicle or not; if it is confirmed that the ambient light of the vehicle meets the preset glare illumination condition based on the ambient light information, whether the driver has a glare stress behavior or not is determined through the face posture information, and a face detection result is obtained; and controlling the windscreen wiper to wipe the windshield based on the face detection result and the glass pollution state information. The liquid film on the windshield can be reduced in adverse effect on the sight of a driver, and the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a wiper control method, a vehicle, a vehicle controller and a storage medium. BACKGROUND

[0002] The wiper is a safety accessory installed on the vehicle, mainly used to remove rain, snow and dirt on the windshield to ensure clear driving vision.

[0003] The vehicle can automatically detect the amount of liquid through devices such as rain sensors, and control the wiper based on the amount of liquid to remove rainwater and the like on the windshield. For example, the rain sensor can detect whether the amount of liquid such as rainwater reaches a trigger threshold to determine whether to start the wiper.

[0004] In the above manner, when the amount of liquid does not reach the wiper trigger threshold, the vehicle will not start the wiper to remove the liquid on the windshield. However, a small amount of liquid may still affect the driver's vision and affect driving safety. SUMMARY

[0005] In view of the above, the embodiments of the present application provide a wiper control method, a vehicle, a vehicle controller and a computer readable storage medium, which can reduce the adverse effects of liquid film on the windshield on the driver's vision and improve driving safety.

[0006] In a first aspect, the embodiments of the present application provide a wiper control method applied to a vehicle controller, the vehicle controller being in communication connection with a wiper of a vehicle, and the wiper control method comprising: obtaining facial posture information of a driver, ambient light information in a driving environment of the vehicle and glass pollution state information, the glass pollution state information being used to indicate whether there is a liquid film on the windshield of the vehicle; if it is confirmed based on the ambient light information that the ambient light of the vehicle meets a preset glare illumination condition, determining whether the driver has a glare stress behavior through the facial posture information to obtain a facial detection result; controlling the wiper to wipe the windshield based on the facial detection result and the glass pollution state information.

[0007] In some embodiments, controlling the wiper to wipe the windshield based on the facial detection result and the glass pollution state information comprises: if there is a liquid film on the windshield of the vehicle, determining a target risk level in a preset glare aggravation risk level based on the facial detection result, the target risk level indicating a risk level of the liquid film on the windshield aggravating ambient glare; controlling the wiper to wipe the windshield based on the target risk level.

[0008] In some embodiments, the glare aggravation risk level includes a first risk level and a second risk level, the first risk level being higher than the second risk level; The determining of the target risk level from the preset glare aggravation risk levels based on the face detection result includes: If the driver has the glare stress behavior, the first risk level is taken as the target risk level; If the driver does not have the glare stress behavior, the second risk level is taken as the target risk level.

[0009] In some embodiments, the controlling of the wiper to wipe the windshield based on the target risk level includes: In the pre-stored candidate wiping mode, a target wiping mode matching the target risk level is determined; wherein the higher the target risk level is, the higher the wiping efficiency of the target wiping mode on the windshield is; The wiper is controlled to wipe the windshield based on the target wiping mode.

[0010] In some embodiments, the vehicle further includes a rain amount controller, which is communicatively connected with the vehicle controller, and the wiper control method further includes: If the ambient light information does not satisfy the glare illumination condition, a rain amount signal is obtained from the rain amount controller; The wiper is controlled to wipe the windshield based on the rain amount signal.

[0011] In some embodiments, the confirming of the ambient light of the vehicle satisfying the preset glare illumination condition based on the ambient light information includes: The brightness value change rate per unit time and the current ambient light brightness are determined based on the ambient light information; If the brightness value change rate exceeds a preset change rate threshold and the current ambient light brightness of the vehicle exceeds a preset brightness threshold, it is confirmed that the ambient light of the vehicle satisfies the glare illumination condition.

[0012] In some embodiments, the determining of whether the driver has the glare stress behavior based on the face posture information to obtain a face detection result includes: The face detection model is used to detect whether the face posture information has the glare stress behavior to obtain a face detection result.

[0013] In a second aspect, the embodiments of the present application further provide a vehicle controller, the vehicle controller comprising a processor and a memory, the memory being configured to store instructions, and the processor being configured to invoke the instructions in the memory, so that the vehicle controller performs the wiper control method according to the first aspect.

[0014] In a third aspect, the embodiments of the present application further provide a vehicle, the vehicle comprising the vehicle controller according to the second aspect.

[0015] In a fourth aspect, the embodiments of the present application further provide a computer-readable storage medium, the computer-readable storage medium storing computer instructions, when the computer instructions are executed on a vehicle controller, so that the vehicle controller performs the wiper control method according to the first aspect.

[0016] In the wiper control method according to the embodiments of the present application, the vehicle controller can collect facial posture information, glass pollutant state information and ambient light information, the glass pollutant state information and the ambient light information can objectively reflect whether there is a risk of aggravating ambient glare in the external environment, and the facial posture information can reflect the state of the driver himself, which changes according to the individual tolerance difference of different drivers to ambient glare. Therefore, the vehicle controller can adaptively identify the scenario in which the liquid film may aggravate glare by combining external environmental factors and driver factors, so that the wiper can accurately respond to the actual visual needs of different drivers, effectively avoid the obstruction of the driving field of view caused by glare, improve the driving safety, and at the same time, can avoid unnecessary scratching in non-glare scenarios as much as possible, and reduce unnecessary wear and tear and noise of the wiper. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a structural schematic diagram of a wiper control system according to an embodiment of the present application.

[0018] Figure 2 FIG. 2 is a step flowchart of a wiper control method according to an embodiment of the present application.

[0019] Figure 3 FIG. 3 is a step flowchart of a wiper control method according to another embodiment of the present application.

[0020] Figure 4 FIG. 4 is a structural schematic diagram of a vehicle controller according to an embodiment of the present application.

[0021] Figure 5 FIG. 5 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable a clearer understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in detail below with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict, if necessary.

[0023] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The described embodiments are merely part of the embodiments of the present application, but not all the embodiments.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing specific embodiments only and is not intended to be limiting of the present application.

[0025] It is further noted that the terms "comprise", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0026] In the present application, "at least one" means one or more, and "multiple" means two or more than two. The "and / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0027] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Rather, the use of the words "exemplary" or "for example" is intended to present relevant concepts in a concrete manner.

[0028] In the case that the vehicle automatically controls the wiper through the rain sensor, if the liquid amount on the windshield does not reach the wiper triggering threshold, the vehicle will not start the wiper. In this case, the rain, oil stains and other pollutants attached to the surface of the windshield can intensify the scattering of light, significantly aggravate the glare effect of strong light such as sunlight and oncoming car lights, and cause the driver's visual comfort to decrease and the visibility to decrease, especially at night or in bad weather, the glare will seriously affect the driving safety.

[0029] As can be seen from the above, the micro liquid film on the windshield can aggravate the environmental glare, affect the driver's vision, and thus affect the driving safety.

[0030] In some embodiments, the wiper triggering threshold can be lowered to start the wiper in the presence of a micro water film or liquid film. However, if the micro liquid has little effect on environmental glare, this way will increase the number of invalid wiper wipes.

[0031] In view of the above, the embodiments of the present application provide a wiper control method, a vehicle, a wiper control device, a vehicle controller and a computer readable storage medium.

[0032] In the wiper control method of the embodiments of the present application, the vehicle controller can obtain the facial posture information of the driver, the environmental light information in the driving environment of the vehicle and the glass pollution state information, the glass pollution state information being used to indicate whether there is a liquid film on the windshield of the vehicle; if it is confirmed based on the environmental light information that the environmental light of the vehicle meets the preset glare illumination condition, whether the driver has a glare stress behavior is determined through the facial posture information to obtain a facial detection result; then, the wiper is controlled to wipe the windshield based on the facial detection result and the glass pollution state information.

[0033] The above glass pollution state information and environmental light information can objectively reflect the liquid film and environmental light in the external environment, and the facial posture information can reflect the state of the driver himself, which changes in view of the individual tolerance difference of different drivers to glare, therefore, the embodiments of the present application can adaptively identify the scenario in which the liquid film may aggravate the glare in combination with the external environment and the driver factors, so that the wiper can accurately respond to the actual visual needs of different drivers, effectively avoid the blocked driving vision caused by the glare, improve the driving safety, and also can avoid the invalid wiper in the non-glare scenario as much as possible, reduce the unnecessary wear and use noise of the wiper.

[0034] In order to better understand the wiper control method, the vehicle, the wiper control device, the vehicle controller and the computer readable storage medium provided by the embodiments of the present application, the wiper control system suitable for the embodiments of the present application will be described first.

[0035] Referring to Figure 1 as shown, Figure 1A structure diagram of a rain wiper control system provided by an embodiment of the present application. The rain wiper control system can be configured in a vehicle. The rain wiper control system can include a perception layer, a decision layer, and an execution layer.

[0036] The perception layer includes an environment perception module, a driver state perception module, and a glass state perception module, which are introduced as follows: (1) Environment perception module: The environment perception module is used to collect ambient light information in the driving environment of the vehicle. The ambient light information can reflect the brightness value of the driving environment in which the vehicle is located. The environment perception module can include a front-view camera and / or an ambient light sensor, but is not limited thereto.

[0037] When the environment perception module includes a front-view camera, the ambient light information can be a front-view image captured by the front-view camera. The front-view camera is used to capture a front-view image during vehicle driving and transmit the front-view image to the decision layer (such as a vehicle controller) of the vehicle.

[0038] The front-view image can reflect the brightness value in the driving environment. The identification principle of the front-view camera is that when the oncoming vehicle turns on the high beam or exits the tunnel, the pixel points in a specific area (such as the center or upper part of the picture) of the front-view camera picture will receive far more photons than the normal range, causing the pixel points in the corresponding area on the front-view camera to quickly reach saturation, and then the front-view camera will form a large area of white overexposure area on the generated front-view image. Therefore, the brightness value of the ambient light can be reflected through the front-view image.

[0039] When the environment perception module includes an ambient light sensor, the ambient light information can include an electrical signal value generated by the ambient light sensor based on the ambient light. The electrical signal value can reflect the brightness value of the ambient light.

[0040] The ambient light sensor can be arranged at the inner rearview mirror, the front end of the instrument panel, or integrated at the rain sensor. The principle is photoelectric effect. The internal core element of the ambient light sensor is a photosensitive diode (or a phototransistor), which can directly convert the received light signal into a proportional electrical signal. The ambient light sensor is used to receive visible light in the driving environment and convert the light signal into a current signal. The stronger the light, the larger the current signal generated. Then, the current signal is converted into an electrical signal value that can be read by the vehicle controller through the amplifier and processing circuit inside the sensor, and the electrical signal value is transmitted to the decision layer.

[0041] (2) Driver state perception module: The driver state perception module is configured to collect facial posture information of the driver. The facial posture information is data capable of representing facial response behavior of the driver to the driving environment (e.g., strong light, blurred vision). The facial posture information can reflect the spatial posture of the head of the driver, the relative position and motion state of facial organs such as the eyelid and eyeball, but is not limited thereto.

[0042] The driver state perception module can be configured with a driver monitoring system camera (DMS camera).

[0043] The DMS camera can be an active infrared camera arranged in the vehicle. The DMS camera is configured to capture an image of the face of the driver to obtain a driver face image with uniform illumination and clear details. The driver face image is taken as the facial posture information, and the driver face image is transmitted to the decision layer. Alternatively, the DMS camera can extract text data from the driver face image. The text data is used to describe the facial response behavior of the driver to the driving environment. The text data of the driver is taken as the facial posture information, and the facial posture information is transmitted to the decision layer.

[0044] (3) Glass state perception module: The glass state perception module is configured to collect glass pollution state information. The glass pollution state information is used to indicate whether there is a liquid film on the windshield of the vehicle. The liquid film can be a water film or an oil film.

[0045] The glass state perception module can be configured with a rain sensor or a humidity sensor. The rain sensor or the humidity sensor can monitor the surface of the glass to determine whether there is a liquid film on the windshield of the vehicle. It can also identify the amount of rain and the degree of contamination, which is not limited in the embodiments of the application.

[0046] The rain sensor can be compactly arranged on the inner side of the front windshield of the vehicle. For example, the rain sensor can be located in the area where the rearview mirror base meets the front windshield. The rain sensor can identify whether there is a trace of liquid film on the front windshield. The identification principle is based on the theory of optical total reflection. In a dry state, the rain sensor emits a beam of infrared light at a specific angle to the front windshield. Due to the difference in refractive index between glass and air, the beam of light is totally reflected at the contact surface of the glass and the air, and is almost entirely received by a high-sensitivity photodetector. At this time, the system determines that there is no rain. When a liquid film appears on the outer surface of the glass, the refractive index of the liquid film changes the optical properties of the contact surface, causing part of the infrared light to scatter and be unable to be received by the photodetector. The light intensity received by the photodetector is weakened. The microprocessor inside the sensor monitors the change in light intensity attenuation in real time, and analyzes the rate and degree of signal attenuation to accurately perceive whether a liquid film exists and the amount of the liquid film.

[0047] As can be seen from the above, the perception layer can collect the corresponding glass pollution state information, ambient light information and driver state information through the above-mentioned glass state perception module, environment perception module and driver state perception module, and then the perception layer can also transmit the information to the decision layer.

[0048] The decision layer includes a central control unit, which can configure a vehicle controller, which can be a vehicle body controller or a special electronic control unit (ECU), etc., but is not limited thereto.

[0049] After receiving the driver's facial posture information, the vehicle's ambient light information and the glass pollution state information, if it is confirmed based on the ambient light information that the vehicle's ambient light meets the preset glare light condition, the vehicle controller determines whether the driver has a glare stress behavior through the facial posture information to obtain a facial detection result.

[0050] Next, the vehicle controller can determine a target risk level in the preset glare aggravation risk level based on the facial detection result and the glass pollution state information; wherein the glare aggravation risk level represents the risk level of the windshield aggravating the ambient glare.

[0051] Then, the vehicle controller can control the wiper to wipe the windshield based on the target risk level.

[0052] For example, the decision layer can determine a target wiping mode matching the target risk level, and control the wiper to wipe the windshield based on the target wiping mode, for example, the decision layer can send a wiper control instruction to the wiper motor and driving module in the execution layer to control the wiper.

[0053] The wiper control instruction can indicate the speed of the wiper motor, the wiping frequency, whether the wiper is in intermittent or continuous working mode, etc., but is not limited thereto.

[0054] The decision layer can also send a washing pump working instruction to the washing system in the execution layer. The washing system can receive the washing pump working instruction to control the washing pump to spray water to assist in cleaning the glass stains and dust. The washing pump working instruction can indicate the glass water spraying opportunity and spraying amount, etc., in cooperation with the wiper cleaning.

[0055] The above-mentioned wiper control system is only an example, and in actual application, the types of devices in the wiper control system and the connection relationship between the devices and the transmission signals can be changed, increased or reduced according to actual application requirements, and the embodiments of the present application do not limit this.

[0056] Reference Figure 2 As shown, Figure 2A step flowchart of a wiper control method provided by an embodiment of the present application is shown in FIG. 2. The wiper control method can be applied to the decision layer (i.e., the vehicle controller) of the wiper control system described above. The wiper control method will be described below in combination with Figure 2 A wiper control method related to an embodiment of the present application is introduced. The wiper control method includes the following steps. In step 201, facial posture information of a driver, ambient light information in a driving environment of a vehicle, and glass pollution state information are obtained.

[0057] For example, the vehicle controller can obtain the facial posture information of the driver, the ambient light information of the vehicle, and the glass pollution state information from the perception layer of the wiper control system.

[0058] The facial posture information can represent a facial response behavior of the driver in the driving environment. The facial posture information can be presented in the form of a facial image or in the form of text, which is not limited in the present application. The facial posture information can include a spatial posture of the head of the driver, relative positions and motion states of facial organs such as eyelids and eyeballs, but is not limited thereto.

[0059] The ambient light information can represent a brightness value of the driving environment in which the vehicle is located.

[0060] For example, the ambient light information can be a front view image captured by a front view camera of the vehicle. The brightness value of the ambient light can be extracted from the front view image.

[0061] For another example, the ambient light information can be an electrical signal value generated by an ambient light sensor based on the ambient light. The electrical signal value can reflect the brightness value of the ambient light.

[0062] The ambient light information described above can be set according to actual application requirements, which is not limited in the present application.

[0063] The glass pollution state information can represent whether there is a liquid film on the windshield of the vehicle.

[0064] In step 202, if it is confirmed based on the ambient light information that the ambient light of the vehicle satisfies a preset glare illumination condition, it is determined through the facial posture information whether the driver has a glare stress behavior, and a facial detection result is obtained.

[0065] The glare illumination condition is used to indicate a condition required to be satisfied by the ambient light in a driving environment in which glare is generated. For example, the glare illumination condition can include that a brightness value change rate exceeds a preset change rate threshold and / or a current ambient light brightness exceeds a preset brightness threshold, but is not limited thereto.

[0066] For example, in a driving environment where a vehicle in front of the host vehicle turns on high beam, or the host vehicle suddenly drives from a dark environment into a bright environment through a tunnel, the light intensity will change abruptly, and the light brightness value will also increase sharply, resulting in glare. Therefore, the glare illumination condition can be set according to the conditions met by the ambient light in the driving environment where the glare occurs.

[0067] In some embodiments, when the ambient light information is a front view image captured by a front view camera, the step of confirming, by the vehicle controller, that the ambient light of the vehicle meets the preset glare illumination condition based on the ambient light information includes: The vehicle controller can detect the brightness values of the front view images detected in the recent preset time period, obtain the brightness values of the front view images, calculate the brightness value change rate of each region (such as each position pixel) of the front view image per unit time based on the brightness values of the front view images, for example, the preset time period is t1, the brightness value of a region of the front view image collected at the 0th second is A1, and the brightness value of the corresponding region of the front view image collected at the t1th second is A2, then the brightness value change rate of the region is (A2-A1) / t1.

[0068] If the brightness value change rate exceeds the preset change rate threshold and the current ambient light brightness of the vehicle exceeds the preset brightness threshold, it indicates that the vehicle encounters strong light, and the vehicle controller can confirm that the ambient light of the vehicle meets the preset glare illumination condition.

[0069] The embodiments of the present application can confirm that the ambient light of the vehicle meets the preset glare illumination condition when the brightness value of a region of an image sharply increases and exceeds the preset brightness threshold in a very short time. In actual application, the glare illumination condition can also be configured according to actual application requirements, for example, the vehicle controller confirms that the ambient light of the vehicle meets the preset glare illumination condition when the brightness value change rate exceeds the preset change rate threshold or the current ambient light brightness exceeds the preset brightness threshold, which is not limited in the embodiments of the present application.

[0070] In other embodiments, when the ambient light information is an electrical signal value generated based on the ambient light, the step of confirming, by the vehicle controller, that the ambient light of the vehicle meets the preset glare illumination condition based on the ambient light information includes: The vehicle controller can determine the brightness value change rate per unit time based on the electrical signal value. If the brightness value change rate exceeds the preset change rate threshold and the current ambient light brightness of the vehicle exceeds the preset brightness threshold, it is confirmed that the ambient light of the vehicle meets the preset glare illumination condition. For example, when the electrical signal value sharply increases from low and exceeds the preset brightness threshold, it is judged that the vehicle drives out of a tunnel or enters a bright environment from a dark environment, which is prone to cause ambient glare.

[0071] The vehicle controller can determine whether the driver has a glare stress behavior through the facial posture information to obtain a facial detection result in a case where it is determined based on the ambient light information that the ambient light of the vehicle meets the preset glare illumination condition.

[0072] The glare stress behavior is an instinctive physiological response of the driver when facing the glare, and can be configured according to actual application requirements. For example, the glare stress behavior can include squinting, turning the head, and shielding with hands, etc.

[0073] The facial detection result is used to indicate whether the driver has the glare stress behavior.

[0074] In some embodiments, if the facial posture information is presented in a text form, it can be detected whether there is a keyword in the facial posture information, the keyword being a text describing the glare stress behavior; if the keyword exists in the facial posture information, it is determined that the driver has the glare stress behavior, and the facial detection result is obtained.

[0075] In other embodiments, the vehicle controller can detect whether there is the glare stress behavior in the facial posture information through a pre-trained glare stress behavior detection model to obtain the facial detection result.

[0076] The glare stress behavior detection model can be a large language model, and the vehicle controller can splice the facial posture information and a preset prompt word template to obtain a glare stress behavior detection prompt word; the glare stress behavior detection prompt word is input into the large language model to obtain the facial detection result.

[0077] The glare stress behavior detection model can also be trained based on a facial posture sample and a basic artificial intelligence model. In this case, the vehicle controller can input the facial posture information into the glare stress behavior detection model to obtain the facial detection result.

[0078] The facial posture sample can include a facial image sample and a labeled label of the glare stress behavior, such as a squinting label, a head turning label, and a hand shielding label. The model structure of the basic artificial intelligence model can adopt a deep convolutional neural network, a YOLO model, etc., but is not limited thereto.

[0079] The training process can be as follows: the model training device can input the face image sample into the basic artificial intelligence model to obtain a prediction result of the glare stress behavior; the model parameters of the basic artificial intelligence model are updated based on the prediction result and the labeled label, if the training completion condition is not reached, the face posture sample used for the next round of training is obtained, and the basic artificial intelligence model is continuously updated until the training completion condition is reached, and the glare stress behavior detection model is obtained. The training completion condition can be according to the actual application requirement, for example, the training completion condition can be that the maximum iteration number is reached, or the loss function converges, but is not limited thereto, and the embodiments of the present application do not limit the same.

[0080] In step 203, the windshield wiper is controlled based on the face detection result and the glass pollution state information.

[0081] In some embodiments, the vehicle controller can input the face detection result and the glass pollution state information into a pre-trained wiper control parameter generation model to obtain the wiper control parameter.

[0082] The wiper control parameter can include the number of wiper strokes, the wiper frequency, the wiper interval time, and the detergent spraying control signal, but is not limited thereto.

[0083] The wiper control parameter generation model can be fine-tuned by a large language model to adapt to the wiper wiping scene. For example, the face detection result sample, the glass pollution state information sample, and the wiper control parameter sample can be used to fine-tune the large language model, so that the large language model learns the wiper control parameter under different face detection results and glass pollution states.

[0084] In other embodiments, the vehicle controller can also determine a target risk level in the preset glare aggravation risk level based on the face detection result when there is a liquid film on the windshield of the vehicle, and the target risk level represents the risk level of the liquid film on the windshield aggravating the environmental glare. Then, the windshield is controlled to be wiped by the wiper based on the target risk level.

[0085] If the glass pollution state information indicates that there is a liquid film on the windshield of the vehicle, it means that there may be a risk of glare aggravation in the driving environment under the action of the liquid film, so the target risk level can be further determined in the preset glare aggravation risk level based on the face detection result.

[0086] For example, assuming that the preset glare aggravation risk levels include a first risk level and a second risk level, the first risk level is higher than the second risk level; if the driver has glare stress behavior, the vehicle controller can take the first risk level (i.e., the high risk level) as the target risk level; if the driver does not have glare stress behavior, the vehicle controller can take the second risk level (the low risk level) as the target risk level.

[0087] Next, the vehicle controller can control the wiper to wipe the windshield based on the above target risk level.

[0088] In some embodiments, the vehicle controller can determine a target wiping mode matching the target risk level from the pre-stored candidate wiping modes; wherein the higher the target risk level, the higher the wiping efficiency of the target wiping mode on the windshield, for example, the higher the target risk level, the higher the wiping frequency, wiping frequency or wiping speed of the target wiping mode can be, and then control the wiper to wipe the windshield based on the target wiping mode. For example, when the ambient light meets the preset glare illumination condition, the driver has glare stress behavior, and the windshield has a liquid film, it means that the risk of aggravating environmental glare is high, the target risk level is the first risk level, and active intervention is needed, therefore, the first wiping mode can be taken as the target wiping mode, and the wiper can be controlled to wipe the windshield based on the first wiping mode. The first wiping mode can be a low-speed continuous wiping mode, but is not limited thereto. In addition, the vehicle controller can also control the washing system to spray washing liquid.

[0089] When the ambient light meets the preset glare illumination condition, the driver does not have glare stress behavior, and the windshield has a liquid film, it means that the driver is not sensitive to environmental glare, at this time, the target risk level can be the second risk level, the vehicle controller can take preventive intervention on the liquid film on the windshield, and the vehicle controller can take the second wiping mode as the target wiping mode; control the wiper to wipe the windshield based on the second wiping mode. The second wiping mode can be a single wiping mode or an intermittent wiping mode, but is not limited thereto. In addition, the vehicle controller can also control the washing system to spray washing liquid.

[0090] The above steps 202 to 205 illustrate the control mode of the wiper when the ambient light of the vehicle meets the preset glare illumination condition, while the ambient light of the vehicle does not meet the preset glare illumination condition, and there is no condition to aggravate environmental glare in the external environment, in this case, the vehicle controller can enter the conventional wiper control mode, i.e., the vehicle controller can control the wiper to wipe the windshield based on the rain amount controller. For example, the vehicle controller obtains a rain amount signal from the rain amount controller; controls the wiper to wipe the windshield based on the rain amount signal.

[0091] For example, referring to Figure 3, Figure 3 A step flow chart of another wiper control method provided for an embodiment of the present application is shown in FIG. 3. The wiper control method includes the following steps: Step 301, obtaining facial pose information of the driver, ambient light information in the driving environment of the vehicle, and glass pollution state information.

[0092] The facial pose information can represent the facial response behavior of the driver in response to the driving environment.

[0093] The ambient light information can represent the brightness value of the driving environment in which the vehicle is located.

[0094] The glass pollution state information can represent whether there is a liquid film on the windshield of the vehicle.

[0095] Step 302, determining whether the ambient light of the vehicle meets the preset glare illumination condition based on the ambient light information.

[0096] If the ambient light of the vehicle does not meet the preset glare illumination condition, step 303 is performed, i.e., the wiper is controlled according to the rain controller. For example, the vehicle controller obtains a rain signal from the rain controller; and controls the wiper to wipe the windshield based on the rain signal.

[0097] If the ambient light of the vehicle meets the preset glare illumination condition, step 304 is performed.

[0098] Step 304, determining whether the driver has a glare stress behavior through the facial pose information.

[0099] The glare stress behavior is the instinctive physiological response of the driver when facing the glare.

[0100] If the driver does not have a glare stress behavior, step 310 is performed.

[0101] If the driver has a glare stress behavior, step 305 is performed.

[0102] Step 305, determining whether there is a liquid film on the windshield of the vehicle.

[0103] For example, the vehicle controller can determine whether there is a liquid film on the windshield of the vehicle through the glass pollution state information.

[0104] If there is no liquid film on the windshield of the vehicle, step 306 and step 314 are performed.

[0105] If there is a liquid film on the windshield of the vehicle, steps 307 to 309 are performed.

[0106] Step 306, confirming that there is no risk of aggravating the ambient glare.

[0107] Step 307, setting the first risk level as a target risk level.

[0108] That is, if the driver has the glare stress behavior, the windshield has the liquid film, and the ambient light of the vehicle meets the preset glare illumination condition, the vehicle controller can set the first risk level (i.e., the high risk level) as the target risk level.

[0109] Step 308, starting the first wiper mode.

[0110] That is, the candidate wiper mode matched with the first risk level can be the first wiper mode, and therefore, the vehicle controller can set the first wiper mode as the target wiper mode and control the wiper to wipe the windshield according to the target wiper mode. The first wiper mode can be the low-speed continuous wiper mode, but is not limited thereto. In addition, the vehicle controller can also control the washing liquid of the washing system to spray water.

[0111] Step 309, judging whether the windshield of the vehicle has the liquid film.

[0112] If the windshield of the vehicle does not have the liquid film, step 314 is executed.

[0113] If the windshield of the vehicle has the liquid film, step 308 is executed again until the windshield of the vehicle does not have the liquid film.

[0114] The above steps 307-309 illustrate that when the ambient light meets the preset glare illumination condition, the driver has the glare stress behavior, and the windshield has the liquid film, the risk of environmental glare is high, the target risk level can be set as the first risk level, the vehicle controller needs to actively intervene in the wiper to clean the windshield, and therefore, the vehicle controller sets the first wiper mode as the target wiper mode and controls the wiper to wipe the windshield based on the first wiper mode until there is no liquid film on the windshield. The first wiper mode can be the low-speed continuous wiper mode, but is not limited thereto. In addition, the vehicle controller can also control the washing liquid of the washing system to spray water.

[0115] The following steps 310-313 illustrate the execution steps of the vehicle controller when the ambient light meets the preset glare illumination condition and the driver does not have the glare stress behavior.

[0116] Step 310, judging whether the windshield of the vehicle has the liquid film.

[0117] If the windshield of the vehicle does not have the liquid film, step 303 is executed, i.e., the vehicle controller controls the wiper according to the rain amount controller.

[0118] If the windshield of the vehicle has the liquid film, steps 311-313 are executed.

[0119] Step 311, taking the second risk level as a target risk level.

[0120] That is, if the liquid film exists on the windshield, the driver does not have the glare stress behavior, and the ambient light of the vehicle meets the preset glare illumination condition, the vehicle controller can take the second risk level (low risk level) as the target risk level.

[0121] Step 312, starting the second wiping mode.

[0122] That is, the candidate wiping mode matched with the second risk level is the second wiping mode, so the vehicle controller can set the second wiping mode as the target wiping mode and control the windshield wiper to wipe the windshield according to the target wiping mode. The second wiping mode can be a single wiping mode or an intermittent wiping mode, but is not limited thereto.

[0123] Step 313, judging whether the liquid film exists on the windshield of the vehicle.

[0124] If the liquid film does not exist on the windshield of the vehicle, step 314 is performed.

[0125] If the liquid film exists on the windshield of the vehicle, step 312 is performed again until the liquid film does not exist on the windshield.

[0126] The above steps 311 to 313 illustrate that when the ambient light meets the preset glare illumination condition, the driver does not have the glare stress behavior, and the liquid film exists on the windshield, there is a risk of increasing the environmental glare in the driving environment, and the driver is not sensitive to the environmental glare. At this time, the target risk level can be set as the second risk level, the vehicle controller can make a preventive intervention on the liquid film on the windshield, the vehicle controller can take the second wiping mode as the target wiping mode, and control the windshield to be wiped according to the second wiping mode until the liquid film does not exist on the windshield. The second wiping mode can be a single wiping mode or an intermittent wiping mode, but is not limited thereto. In addition, the vehicle controller can also control the washing liquid of the washing system to spray water.

[0127] Step 314, the flow ends and reenters standby.

[0128] It can be understood that the flow ends and reenters standby in step 314 means that the current round of the rain wiper control method executed by the vehicle controller ends, and the vehicle controller can periodically collect the facial posture information of the driver, the ambient light information of the vehicle, and the glass pollution state information to execute the next round of the rain wiper control method.

[0129] In some other embodiments, the vehicle controller can also execute a normal wiper control mode, for example, control the wiper to wipe the windshield according to the wiper controller, when there is no risk of glare aggravation in the driving environment, that is, when there is no liquid film on the windshield of the vehicle and / or the ambient light of the vehicle does not meet the preset glare light condition. The embodiments of the present application not only work normally in ordinary rainfall, but also excellently cope with sudden, instantaneous, but extremely dangerous edge working conditions, greatly enhancing the driving safety of the vehicle in all-weather and all-scenarios.

[0130] The embodiment details of steps 301 to 314 described above can refer to the embodiment details of steps 201 to 204 shown in Figure 2 The embodiment details of steps 201 to 204 described above can refer to the embodiment details of steps 201 to 204 shown in

[0131] In the above embodiments, the vehicle controller can collect glass contamination state information and ambient light information, which can objectively reflect whether there is a risk of environmental glare aggravation in the external environment, and the vehicle controller can also collect facial posture information, which can reflect the state of the driver himself. It changes for the individual tolerance difference of different drivers to glare, so the embodiments of the present application can adaptively identify scenarios in which liquid film may aggravate glare in combination with external environmental factors and driver factors, so that the wiper can accurately respond to the actual visual needs of different drivers, effectively avoid the obstruction of driving vision caused by glare, improve driving safety, and also can avoid unnecessary wiper wiping in non-glare scenarios, reduce unnecessary wear and tear and noise of the wiper.

[0132] In addition, the embodiments of the present application determine the target risk level through the above-mentioned multi-dimensional information, and use the target risk level to match the corresponding target wiping mode, which can make the wiper operation more suitable for the actual risk of glare aggravation, improve the driving comfort and the rationality of the use of the wiper, fully play the advantages of multi-dimensional information fusion, and realize the intelligentization and precision of wiper control.

[0133] Based on the same idea as the wiper control method in the above embodiments, the present application also provides a wiper control device, which can be used to execute the above-mentioned wiper control method. For the convenience of description, only the part related to the embodiments of the present application is shown in the structure diagram of the wiper control device embodiment, and those skilled in the art can understand that the structure shown in the diagram does not constitute a limitation on the device, which can include more or fewer components than the diagram, or combine certain components, or different component arrangements.

[0134] As Figure 4As shown, the wiper control device includes an information sensing module 401, an information judging module 402, and a wiper control module 403. In some embodiments, the above modules can be programmable software instructions stored in a memory and executable by a processor. It can be understood that in other embodiments, the above modules can also be program instructions or firmware fixed in the processor.

[0135] The information sensing module 401 is configured to acquire facial posture information of a driver, ambient light information in a driving environment of the vehicle, and glass pollution state information, the glass pollution state information being used to indicate whether there is a liquid film on a windshield of the vehicle. The information judging module 402 is configured to determine, based on the facial posture information, whether the driver has a glare stress behavior if it is confirmed that the ambient light of the vehicle satisfies a preset glare light condition based on the ambient light information, to obtain a facial detection result. The wiper control module 403 is configured to control the wiper to wipe the windshield based on the facial detection result and the glass pollution state information.

[0136] In some embodiments, the control of the wiper to wipe the windshield based on the facial detection result and the glass pollution state information includes: If there is a liquid film on the windshield of the vehicle, a target risk level is determined in preset glare aggravation risk levels based on the facial detection result, the target risk level indicating a risk level of aggravating ambient glare by the liquid film on the windshield. The wiper is controlled to wipe the windshield based on the target risk level.

[0137] In some embodiments, the glare aggravation risk levels include a first risk level and a second risk level, the first risk level being higher than the second risk level. The determination of the target risk level in the preset glare aggravation risk levels based on the facial detection result includes: If the driver has the glare stress behavior, the first risk level is taken as the target risk level. If the driver does not have the glare stress behavior, the second risk level is taken as the target risk level.

[0138] In some embodiments, the control of the wiper to wipe the windshield based on the target risk level includes: A target wiping mode matching the target risk level is determined in prestored candidate wiping modes, wherein the higher the target risk level is, the higher the wiping efficiency of the target wiping mode on the windshield is. control the wiper to wipe the windshield based on the target wiper mode.

[0139] In some embodiments, the vehicle further comprises a rain amount controller, the rain amount controller being communicatively connected with the vehicle controller, and the wiper control method further comprises: if the ambient light information does not satisfy the glare illumination condition, obtaining a rain amount signal from the rain amount controller; controlling the wiper to wipe the windshield based on the rain amount signal.

[0140] In some embodiments, confirming that the ambient light of the vehicle satisfies a preset glare illumination condition based on the ambient light information comprises: determining a brightness value change rate per unit time and a current ambient light brightness based on the ambient light information; if the brightness value change rate exceeds a preset change rate threshold and the current ambient light brightness of the vehicle exceeds a preset brightness threshold, confirming that the ambient light of the vehicle satisfies the glare illumination condition.

[0141] In some embodiments, determining whether the driver has a glare stress behavior through the facial posture information comprises obtaining a facial detection result, comprising: detecting whether there is a glare stress behavior in the facial posture information through a pre-trained glare stress behavior detection model to obtain a facial detection result.

[0142] Figure 5 a schematic diagram of an embodiment of a vehicle controller of the present application.

[0143] The vehicle controller 100 comprises a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. The processor 30 implements the steps in the above method embodiments when executing the computer program 40, for example Figure 2 the steps 201 to 203 shown, or Figure 3 the steps 301 to 314 shown.

[0144] For example, the computer program 40 can also be divided into one or more modules / units, which are stored in the memory 20 and executed by the processor 30. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 40 in the vehicle controller 100.

[0145] Those skilled in the art can understand that the schematic diagram is only an example of the vehicle controller 100, and does not constitute a limitation on the vehicle controller 100, and can include more or less components than the diagram, or combine certain components, or different components, for example, the vehicle controller 100 can also include an input / output device, a network access device, a bus, etc.

[0146] The processor 30 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor, a single-chip processor or the processor 30 can also be any conventional processor.

[0147] The memory 20 can be used to store the computer program 40 and / or modules / units, and the processor 30 realizes various functions of the vehicle controller 100 by running or executing the computer program and / or modules / units stored in the memory 20, and calling the data stored in the memory 20. The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required for a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data (such as audio data) created according to the use of the vehicle controller 100, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0148] The modules / units integrated in the vehicle controller 100, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the computer readable medium can include appropriate additions or subtractions according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0149] In several embodiments provided in the present application, it should be understood that the disclosed vehicle controller and method can be implemented in other ways. For example, the above-described vehicle controller embodiments are only illustrative, for example, the division of the units is only a logical functional division, and actual implementation can have another division manner.

[0150] The embodiments of the present application also provide a vehicle, which includes the vehicle controller described in the above embodiments.

[0151] In some embodiments, the vehicle can also include a wiper control system as shown in Figure 1

[0152] In addition, each functional unit in each embodiment of the present application can be integrated in the same processing unit, or each unit can exist physically, or two or more units can be integrated in the same unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software function module.

[0153] ​It will be obvious to a person skilled in the art that the application is not limited to the details of the above-described exemplary embodiments, but that the application can be implemented in other embodiments without departing from the scope of the application. The embodiments are therefore to be seen as illustrative and not restrictive in any way. It is further apparent that the word "comprising" does not exclude other elements or steps and the singular does not exclude the plural. Multiple units or vehicle controllers stated in the vehicle controller claims can also be implemented by one and the same unit or vehicle controller by means of software or hardware. The words first, second etc. are used to indicate names and not any particular order.

[0154] Finally, it should be noted that the above embodiments are merely intended to illustrate the technical solutions of the present application, rather than limit the present application. Even though the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application.

Claims

1. A wiper control method characterized by, The application is applied to a vehicle controller which is in communication connection with a wiper of a vehicle, and the wiper control method comprises the following steps: Obtaining facial posture information of a driver, ambient light information in a driving environment of the vehicle, and glass pollution state information, wherein the glass pollution state information is used to indicate whether there is a liquid film on a windshield of the vehicle; If it is confirmed based on the ambient light information that ambient light of the vehicle meets a preset glare light condition, determining whether the driver has a glare stress behavior through the facial posture information to obtain a facial detection result; Controlling the wiper to wipe the windshield based on the facial detection result and the glass pollution state information.

2. The wiper control method according to claim 1, characterized by, The step of controlling the wiper to wipe the windshield based on the facial detection result and the glass pollution state information comprises the following steps: If there is a liquid film on the windshield of the vehicle, determining a target risk level in preset glare aggravation risk levels based on the facial detection result, wherein the target risk level indicates a risk level of aggravating ambient glare of the liquid film on the windshield; Controlling the wiper to wipe the windshield based on the target risk level.

3. The wiper control method according to claim 2, characterized by, The glare aggravation risk levels comprise a first risk level and a second risk level, wherein the first risk level is higher than the second risk level; The step of determining a target risk level in preset glare aggravation risk levels based on the facial detection result comprises the following steps: If the driver has the glare stress behavior, taking the first risk level as the target risk level; If the driver does not have the glare stress behavior, taking the second risk level as the target risk level.

4. The wiper control method of claim 2, wherein The step of controlling the wiper to wipe the windshield based on the target risk level comprises the following steps: In pre-stored candidate wiping modes, a target wiping mode matched with the target risk level is determined, wherein the higher the target risk level is, the higher the wiping efficiency of the target wiping mode on the windshield is; Controlling the wiper to wipe the windshield based on the target wiping mode.

5. The wiper control method of claim 1, wherein The vehicle further comprises a rain amount controller which is in communication connection with the vehicle controller, and the wiper control method further comprises the following steps: If the ambient light information does not meet the glare light condition, obtaining a rain amount signal from the rain amount controller; Controlling the wiper to wipe the windshield based on the rain amount signal.

6. The wiper control method of claim 1, wherein The step of confirming that ambient light of the vehicle meets a preset glare light condition based on the ambient light information comprises the following steps: Determining a brightness value change rate per unit time and a current ambient light brightness based on the ambient light information; If the brightness value change rate exceeds a preset change rate threshold value and the current ambient light brightness of the vehicle exceeds a preset brightness threshold value, it is confirmed that the ambient light of the vehicle meets the glare light condition.

7. The wiper control method of claim 1, wherein The step of determining whether the driver has a glare stress behavior through the facial posture information to obtain a facial detection result comprises the following steps: Detecting whether there is a glare stress behavior in the facial posture information through a pre-trained glare stress behavior detection model to obtain a facial detection result.

8. A vehicle controller comprising a processor and a memory, wherein, The memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory to cause the vehicle controller to perform the wiper control method of any one of claims 1-7.

9. A vehicle characterized by comprising: The vehicle includes the vehicle controller of claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a vehicle controller, cause the vehicle controller to perform the wiper control method of any one of claims 1-7.

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