Windshield wiper control method and related equipment

Abstract

The embodiment of the invention provides a wiper control method and related equipment, and belongs to the technical field of vehicle-mounted electronic equipment. According to the scheme, the weight of each piece of rainfall data can be dynamically calculated by combining weather information, image recognition and sensor detection of rainfall data from three different sources, the system can automatically adjust the contribution degree of each piece of data according to the consistency and difference of the data, the limitation of a single detection mode is effectively overcome, and the detection efficiency is improved. The accuracy and reliability of rainfall detection are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle electronic equipment technology, and in particular to a windshield wiper control method and related equipment. Background Technology

[0002] Windshield wipers are a tool used on the front and rear windshields of motor vehicles to clean the view of rainwater and other dirt. Currently, the operation of windshield wipers often requires manual adjustment by the driver, which can easily distract the driver.

[0003] To improve the convenience of windshield wiper control and reduce extra actions required by drivers, vehicle manufacturers have been exploring various methods for automatically controlling wiper activation and operation. One such method involves using rain sensors to detect rainwater and automatically control the wipers. However, rain sensors typically employ principles such as infrared, capacitance, or thermocouples to detect water droplets, requiring additional hardware installation on each vehicle, thus increasing costs. Furthermore, rain sensors are generally installed near the windshield, and improper installation can obstruct the driver's view, potentially impacting driving safety. Summary of the Invention

[0004] The purpose of this invention is to provide a windshield wiper control method, medium, and system to solve the technical problem in the prior art where rain sensors obstruct the driver's view and may affect driving safety.

[0005] To achieve the above objectives, the present invention provides a windshield wiper control method, comprising the following steps: Obtain weather information for the vehicle's current location and extract the first rainfall amount; Acquire an image of the road in front of the vehicle, and extract the second rainfall amount on the road surface in front of the vehicle using a rainfall detection model; A third rainfall measurement is obtained through a vehicle rain sensor, which is mounted on the vehicle body outside the driver's field of vision; The first, second, and third rainfall amounts are weighted and summed to obtain the total rainfall. The oscillation speed of the windshield wiper is determined based on the total rainfall, and the windshield wiper is controlled to oscillate at the oscillation speed.

[0006] In some embodiments, the weighted summation of the first rainfall, the second rainfall, and the third rainfall to obtain the comprehensive rainfall includes: Sort the first, second, and third rainfall amounts from largest to smallest to obtain the maximum, middle, and minimum rainfall amounts; Calculate the difference between the maximum rainfall and the intermediate rainfall to obtain the first deviation; calculate the difference between the intermediate rainfall and the minimum rainfall to obtain the second deviation; calculate the difference between the maximum rainfall and the minimum rainfall to obtain the third deviation, and determine the sum of the third deviation and 1 as the benchmark value; The ratio of the first deviation to the benchmark value is used as the first weight, the ratio of the second deviation to the benchmark value is used as the second weight, and the ratio of 1 to the benchmark value is used as the third weight. The maximum rainfall, the intermediate rainfall, and the minimum rainfall, along with their corresponding first, second, and third weights, are weighted and summed to obtain the comprehensive rainfall.

[0007] In some embodiments, acquiring an image of the road ahead of the vehicle and extracting a second rainfall amount on the road surface ahead of the vehicle using a rainfall detection model includes: Acquire an image of the road ahead of the vehicle, and input the road image into the student model, which is generated by training the teacher model; Obtain the second rainfall amount on the road surface in front of the vehicle, as output by the student model.

[0008] In some embodiments, the student model is generated by knowledge distillation of the teacher model, and the loss function used in the knowledge distillation process includes a cross-entropy loss function and a mean squared error loss function.

[0009] In some embodiments, determining the wiper oscillation speed based on the comprehensive rainfall and controlling the wiper to oscillate at the oscillation speed includes: The windshield wipers are activated in response to at least one of the first rainfall amount, the second rainfall amount, and the third rainfall amount; The oscillation speed of the windshield wipers is determined based on the total rainfall, and the wipers are controlled to oscillate at the oscillation speed.

[0010] In some embodiments, obtaining weather information at the vehicle's current location and extracting the first rainfall amount includes: Get the vehicle's current location; Based on the current location, obtain weather information from cloud weather services or nearby vehicle-shared data, and extract the first rainfall amount.

[0011] This application provides a wiper control system, the system comprising: Communication equipment used to determine vehicle location information and initial rainfall; A forward sensing device is used to determine road images and extract a second rainfall amount based on a rainfall detection model; Rain sensors, mounted on the vehicle body outside the driver's field of vision, are used to determine the amount of rainfall. The controller is connected to the communication device, the front-facing sensing device, and the rain sensor, respectively, and is used to acquire weather information of the vehicle's current location and extract the first rainfall amount; acquire an image of the road ahead of the vehicle and extract the second rainfall amount on the road surface ahead of the vehicle through a rainfall detection model; acquire the third rainfall amount through the vehicle's rain sensor; perform a weighted summation of the first, second, and third rainfall amounts to obtain a comprehensive rainfall amount; determine the oscillation speed of the windshield wipers based on the comprehensive rainfall amount, and control the windshield wipers to oscillate at the oscillation speed.

[0012] Another aspect of this application provides a windshield wiper control device, the device comprising: The first acquisition module is used to acquire weather information of the vehicle's current location and extract the first rainfall amount; The second acquisition module is used to acquire images of the road in front of the vehicle and extract the second rainfall amount on the road surface in front of the vehicle through a rainfall detection model. The third acquisition module is used to acquire the third rainfall amount through the vehicle rain sensor; The calculation module is used to perform a weighted summation of the first rainfall, the second rainfall, and the third rainfall to obtain the comprehensive rainfall. The control module is used to determine the oscillation speed of the windshield wipers based on the total rainfall, and to control the windshield wipers to oscillate at the oscillation speed.

[0013] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0014] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0015] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer program product, including a computer program that, when executed by a processor, implements the aforementioned method.

[0016] The embodiments of this application include at least the following beneficial effects: This application provides a windshield wiper control method, device, electronic device, storage medium, and program product. This solution acquires weather information at the vehicle's current location and extracts a first rainfall amount; acquires an image of the road ahead of the vehicle and extracts a second rainfall amount on the road surface ahead of the vehicle using a rainfall detection model; acquires a third rainfall amount using a vehicle rainfall sensor installed on the vehicle body outside the driver's field of vision; performs a weighted summation of the first, second, and third rainfall amounts to obtain a comprehensive rainfall amount; determines the wiper's oscillation speed based on the comprehensive rainfall amount, and controls the wipers to oscillate at the oscillation speed. This embodiment can dynamically calculate the weight of each rainfall data point by combining rainfall data from three different sources: weather information, image recognition, and sensor detection. The rainfall sensor can be installed outside the driver's field of vision. This application can automatically adjust the contribution of each data point based on data consistency and differences, effectively overcoming the limitations of a single detection method and greatly improving the accuracy and reliability of rainfall detection. Attached Figure Description

[0017] Figure 1 This is a flowchart of the wiper control method provided in the embodiments of this application; Figure 2 This is a flowchart of step S400 provided in the embodiments of this application; Figure 3 This is a schematic diagram of the wiper control system structure provided in an embodiment of this application; Figure 4 This is a schematic diagram of the wiper control device provided in the embodiments of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0019] 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 herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] This application provides a windshield wiper control method, relating to the field of vehicle electronic equipment technology. The windshield wiper control method provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited thereto; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application implementing a windshield wiper control method, but is not limited to the above forms.

[0021] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0022] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0023] Figure 1 This is an optional flowchart of the wiper control method provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S100 to S500.

[0024] Step S100: Obtain the weather information of the vehicle's current location and extract the first rainfall amount.

[0025] The vehicle's precise location information, including latitude and longitude coordinates, is obtained through its GPS positioning system. Then, an in-vehicle communication device (such as a 4G / 5G module) connects to a cloud-based weather service platform to obtain real-time weather information for that location. This weather information includes at least rainfall data, and may also include rainfall type, intensity, and other relevant information. The rainfall value is extracted from this weather information as the first rainfall measurement.

[0026] As another implementation method, weather information can also be shared with other nearby vehicles through vehicle-to-everything (V2X) technology. This point-to-point data sharing method can provide an effective supplementary data source when vehicles are in areas with poor network signal coverage.

[0027] S200: Acquire an image of the road ahead of the vehicle and extract the second rainfall amount on the road surface ahead of the vehicle using a rainfall detection model.

[0028] Images of the road ahead are captured by the vehicle's front-facing sensing devices (such as a front-facing camera or dashcam). These images are then fed into a pre-trained rainfall detection model, which outputs an estimate of the current rainfall on the road surface as a secondary rainfall estimate.

[0029] The rainfall detection model is a lightweight student model obtained through knowledge distillation. For example... Figure 3 As shown, the training process includes the following steps: First, a training dataset is constructed by collecting a large number of road images containing varying rainfall intensities. These images are then labeled by professionals, with annotations including rainfall levels or specific numerical values. The dataset should cover various weather conditions, lighting conditions, and road types to ensure the model's generalization ability. For example, a large number of road images are collected, covering various rainfall conditions: from drizzle to heavy rain, including different time periods (daytime, nighttime), different weather conditions (cloudy, foggy, etc.), and different road types (highways, urban roads, rural roads, etc.). Each image is labeled with a rainfall level by professionals, such as level 0 (no rain), level 1 (light rain), level 2 (moderate rain), level 3 (heavy rain), and level 4 (heavy rain), or with specific rainfall values ​​(mm / h).

[0030] Next, train the teacher model. Select a relatively complex but highly accurate deep learning model as the teacher model, such as ResNet or VGG. Train the teacher model using the training dataset until it achieves satisfactory accuracy on the validation set.

[0031] When training the teacher model, the standard cross-entropy loss function was used, the Adam optimizer was selected, and the initial learning rate was set to 0.001, decaying every 30 epochs. Data augmentation techniques, including random rotation, brightness adjustment, and contrast adjustment, were used during training to improve the model's robustness.

[0032] After training the teacher model, the knowledge distillation process begins. When designing the student model, a lightweight network architecture was chosen to account for the computational resource limitations of in-vehicle devices. These networks significantly reduce the number of parameters and computational cost through techniques such as depthwise separable convolutions.

[0033] The loss function in the knowledge distillation process consists of two parts: (1) in loss 1 is the standard cross-entropy loss function, which calculates the difference between the student model output and the true label; loss 2 is the distillation loss, which calculates the difference between the student model output and the teacher model's soft objective; α It is a hyperparameter used to balance the weights of the two parts of the loss, and its value is usually set to 0.5-0.7.

[0034] Through this training method, the student model learns both the true distribution of the training data and the rich knowledge of the teacher model, maintaining high recognition accuracy with a significantly reduced number of parameters. Using the student model trained by the teacher model to perform the recognition of the second rainfall event significantly reduces the number of parameters and computational load while maintaining high performance.

[0035] S300: Obtains third rainfall data through vehicle rain sensors.

[0036] Rain sensors installed on vehicles directly detect rainfall in the current environment. These sensors, based on principles such as infrared, capacitance, or thermocouples, can be installed in appropriate locations on the inside of the windshield or outside the vehicle. The sensors detect the presence and intensity of raindrops in real time, outputting corresponding electrical signals. After analog-to-digital conversion and signal processing, a third rainfall value is obtained.

[0037] In this embodiment, the rain sensor can be installed in multiple parts of the vehicle body. The installation location can be outside the driver's field of vision, so as not to obstruct the driver's driving vision and ensure driving safety.

[0038] S400: The first, second, and third rainfall amounts are weighted and summed to obtain the total rainfall.

[0039] Because raindrops typically fall irregularly, rainfall data obtained from different sources often varies. To synthesize multiple data sources and determine the overall rainfall, this invention proposes a dynamic weighting calculation method based on data consistency. This method can determine the weights corresponding to multiple rainfall amounts separately, and then calculate the final overall rainfall based on the rainfall amount and its weights.

[0040] like Figure 2 As shown, the specific calculation steps for weighted summation are as follows: S410: Sort the first, second, and third rainfall amounts from largest to smallest to obtain the maximum rainfall amount A, the intermediate rainfall amount B, and the minimum rainfall amount C.

[0041] S420: Calculate the deviation between adjacent rainfall amounts. Calculate the difference between the maximum rainfall amount A and the intermediate rainfall amount B to obtain the first deviation D1 = A - B; calculate the difference between the intermediate rainfall amount B and the minimum rainfall amount C to obtain the second deviation D2 = B - C; calculate the difference between the maximum rainfall amount A and the minimum rainfall amount C to obtain the third deviation D3 = A - C.

[0042] S430: Calculate the baseline value. Add the third deviation D3 to 1 to obtain the baseline value Base = 1 + D3. The purpose of adding 1 here is to prevent a division-by-zero error when the three rainfall amounts are equal (D3=0), and at the same time, 1 acts as a smoothing factor to ensure the stability of the weight calculation.

[0043] S440: Calculate the weight values. The ratio of the first deviation D1 to the benchmark value Base is taken as the first weight W1 = D1 / Base; the ratio of the second deviation D2 to the benchmark value Base is taken as the second weight W2 = D2 / Base; and the ratio of 1 to the benchmark value Base is taken as the third weight W3 = 1 / Base.

[0044] S450: Weighted summation calculation. The total rainfall is calculated by weighting the three sorted rainfall amounts and their corresponding weights, resulting in the total rainfall R = A×W1 + B×W2 + C×W3.

[0045] The advantage of this weighting method is that it can automatically adjust the weights of the three rainfall data points based on their consistency. When the three data points are relatively consistent (with small deviations), the weights are relatively balanced; when a data point differs significantly from the others, its corresponding weight is automatically reduced, thereby minimizing the impact of outlier data on the overall result.

[0046] To better understand the weight calculation method of the present invention, a specific example is given below.

[0047] Assume the rainfall data obtained through the three methods are as follows: First rainfall (weather information): 8 mm / h; Second rainfall (image recognition): 5 mm / h; Third rainfall (sensor detection): 3 mm / h; Calculate the total rainfall according to the method of the present invention: (1) Sort the three rainfall amounts from largest to smallest, and we get A=8, B=5, C=3; (2) Calculate the deviations between the first, second, and third rainfall amounts: The first deviation D1 = A - B = 8 - 5 = 3; The second deviation D2 = B - C = 5 - 3 = 2; The third deviation D3 = A - C = 8 - 3 = 5.

[0048] (3) Calculate the baseline value: Base = 1 + D3 = 1 + 5 = 6 (4) Calculate the first weight, the second weight and the third weight.

[0049] The first weight W1 = D1 / Base = 3 / 6 = 0.5; The second weight W2 = D2 / Base = 2 / 6 ≈ 0.333; The third weight W3 = 1 / Base ≈ 0.167; (5) Use rainfall and weighted values ​​to calculate the weighted sum. Total rainfall R = A×W1 + B×W2 + C×W3 = 8×0.5 + 5×0.333 + 3×0.167 = 6.166 mm / h Based on the calculation process of the above embodiment, since the first rainfall (8 mm / h) is significantly higher than the other two data, the system automatically reduces its influence through weight calculation, while appropriately increasing the weight of the second and third rainfall, which are relatively close. The final comprehensive rainfall of 6.166 mm / h is a reasonable compromise value that does not overly rely on a single data point, but reflects the overall rainfall trend.

[0050] S500: Determines the oscillation speed of the wipers based on the total rainfall, and controls the oscillation speed of the wipers.

[0051] The system has a pre-defined relationship between total rainfall and wiper speed. For example, multiple rainfall threshold ranges can be set, each corresponding to a different wiper oscillation speed. When the total rainfall falls within a certain range, the system controls the wipers to operate at the corresponding speed.

[0052] In addition, the system has an automatic activation function. When at least one of the first, second, and third rainfall amounts is detected (i.e., the rainfall amount is greater than zero), the system automatically activates the windshield wipers and then precisely controls the oscillation speed based on the total rainfall.

[0053] The technical solution of this embodiment includes a windshield wiper activation strategy.

[0054] When at least one of the first, second, and third rainfall amounts is greater than zero, the system determines that rainfall is present and automatically activates the windshield wipers. This "OR" logic ensures the system's sensitivity; the system will activate as soon as any detection method detects rainfall.

[0055] After the wipers are turned on, the system sets the initial oscillation speed based on the current total rainfall. The system has preset multiple rainfall threshold ranges, for example: 0-2mm / h: Intermittent mode, oscillates once every 10 seconds; 2-5mm / h: Low speed mode, oscillates once every 3 seconds; 5-10mm / h: Medium speed mode, oscillates once per second; 10mm / h and above: High-speed mode, continuous oscillation; The system continuously monitors three rainfall data points and recalculates the total rainfall every 30 seconds. When the total rainfall changes by more than a certain threshold (e.g., 1 mm / h), the system adjusts the wiper speed accordingly. To avoid vibration caused by frequent switching, the system is set with a minimum hold time, maintaining the speed unchanged for at least one minute after each adjustment, unless there is a drastic change in rainfall.

[0056] Fourth layer: Anomaly handling mechanism. When there is a significant difference between the three rainfall data points (e.g., the maximum deviation exceeds 5 mm / h), the system will initiate an anomaly detection procedure. First, it checks the status of each sensor to confirm if any sensor is faulty. If an anomaly is confirmed in a particular sensor's data, the system will temporarily reduce the weight of that data point, relying primarily on the other two data points, while simultaneously issuing a sensor check prompt to the driver.

[0057] This tiered response mechanism ensures the system responds promptly to rainfall while avoiding frequent adjustments due to oversensitivity, providing a smooth and reliable user experience.

[0058] like Figure 3 As shown, this embodiment provides a wiper control system, including a communication device 31, a front sensing device 32, a rain sensor 33, and a controller 34.

[0059] Communication device 31 is used to determine vehicle location information and the first rainfall amount. The communication device can be a 2G / 3G / 4G / 5G communication module, WiFi module, Bluetooth module, etc., to realize data communication with cloud server or other vehicles.

[0060] The front-facing sensing device 32 is used to acquire road images and extract a second rainfall amount based on a rainfall detection model. The front-facing sensing device includes, but is not limited to, devices capable of capturing road surface scenes such as front-facing cameras and dashcams.

[0061] Rain sensor 33 is used to determine the third rainfall amount. The rain sensor can use principles such as infrared, capacitance, and thermocouple to detect the presence of water droplets and is installed at an appropriate location on the vehicle.

[0062] The controller 34 is connected to the communication device 401, the front sensing device 402, and the rain sensor 403, respectively, and is used to execute the wiper control method in Embodiment 1. The controller may be the vehicle's area controller, connected to the vehicle's central processing unit, and outputs corresponding control signals to the central processing unit to drive the wiper controller to control the operating speed of the wipers.

[0063] like Figure 4 As shown in the embodiment of this application, a wiper control device is also provided, which can implement the above method. The device includes: a first acquisition module 41, a second acquisition module 42, a third acquisition module 43, a calculation module 44, and a control module 45.

[0064] The first acquisition module 41 is used to acquire weather information of the vehicle's current location and extract the first rainfall amount.

[0065] The second acquisition module 42 is used to acquire an image of the road in front of the vehicle and extract the second rainfall amount on the road surface in front of the vehicle through a rainfall detection model.

[0066] The third acquisition module 43 is used to acquire the third rainfall amount through the vehicle rain sensor.

[0067] The calculation module 44 is used to perform a weighted summation of the first rainfall, the second rainfall, and the third rainfall to obtain the comprehensive rainfall.

[0068] The control module 45 is used to determine the oscillation speed of the wipers based on the total rainfall and control the wipers to oscillate at the oscillation speed.

[0069] In some embodiments, the calculation module 44 is configured to: Sort the first, second, and third rainfall amounts from largest to smallest to obtain the maximum, middle, and minimum rainfall amounts; Calculate the difference between the maximum rainfall and the intermediate rainfall to obtain the first deviation; calculate the difference between the intermediate rainfall and the minimum rainfall to obtain the second deviation; calculate the difference between the maximum rainfall and the minimum rainfall to obtain the third deviation, and determine the sum of the third deviation and 1 as the benchmark value; The ratio of the first deviation to the benchmark value is used as the first weight, the ratio of the second deviation to the benchmark value is used as the second weight, and the ratio of 1 to the benchmark value is used as the third weight. The maximum rainfall, the intermediate rainfall, and the minimum rainfall, along with their corresponding first, second, and third weights, are weighted and summed to obtain the comprehensive rainfall.

[0070] In some embodiments, the second acquisition module 42 is configured to: Acquire an image of the road ahead of the vehicle, and input the road image into the student model, which is generated by training the teacher model; Obtain the second rainfall amount on the road surface in front of the vehicle, as output by the student model.

[0071] In some embodiments, the student model is generated by knowledge distillation of the teacher model, and the loss function used in the knowledge distillation process includes a cross-entropy loss function and a mean squared error loss function.

[0072] In some embodiments, the control module 45 is configured to: The windshield wipers are activated in response to at least one of the first rainfall amount, the second rainfall amount, and the third rainfall amount; The oscillation speed of the windshield wipers is determined based on the total rainfall, and the wipers are controlled to oscillate at the oscillation speed.

[0073] In some embodiments, the first acquisition module 41 is configured to: Get the vehicle's current location; Based on the current location, obtain weather information from cloud weather services or nearby vehicle-shared data, and extract the first rainfall amount.

[0074] This invention also provides a vehicle control device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the control method of the integrated braking control system described above.

[0075] Taking the example of a processor and memory in a vehicle controller being connected via a bus, the memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.

[0076] The non-transient software program and instructions required to implement the control method of the above embodiments are stored in memory. When executed by a processor, the control method of the above embodiments is executed. For example, executing... Figure 1 Method steps S100 to S500 Figure 2 The method steps S410 to S450, etc.

[0077] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] This invention also provides a vehicle, including the vehicle control device described in the above embodiments.

[0079] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle must have an electric motor capable of outputting power or acting as a generator to store mechanical energy. When the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0080] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0081] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for performing the above-described control method. Exemplarily, the above-described control method is performed... Figures 1 to 2 The methods and steps in the text.

[0082] It is worth noting that, since the computer-readable storage medium of the present invention is capable of executing the control method of any of the above embodiments, the specific implementation and technical effects of the computer-readable storage medium of the present invention can be referred to the specific implementation and technical effects of the control method of any of the above embodiments.

[0083] Furthermore, one embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the robot control method described above. Exemplarily, the above-described method is performed... Figures 1 to 2 The methods and steps in the text.

[0084] It is worth noting that, since the computer program product of the present invention can execute the control method of any of the above embodiments, the specific implementation method and technical effect of the computer program product of the present invention can refer to the specific implementation method and technical effect of the control method of any of the above embodiments.

[0085] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0086] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

Claims

1. A windshield wiper control method, characterized in that, include: Obtain weather information for the vehicle's current location and extract the first rainfall amount; Acquire an image of the road in front of the vehicle, and extract the second rainfall amount on the road surface in front of the vehicle using a rainfall detection model; A third rainfall measurement is obtained through a vehicle rain sensor, which is mounted on the vehicle body outside the driver's field of vision; The first, second, and third rainfall amounts are weighted and summed to obtain the total rainfall. The oscillation speed of the windshield wiper is determined based on the total rainfall, and the windshield wiper is controlled to oscillate at the oscillation speed.

2. The method according to claim 1, characterized in that, The weighted summation of the first, second, and third rainfall amounts to obtain the comprehensive rainfall includes: Sort the first, second, and third rainfall amounts from largest to smallest to obtain the maximum, middle, and minimum rainfall amounts; Calculate the difference between the maximum rainfall and the intermediate rainfall to obtain the first deviation; calculate the difference between the intermediate rainfall and the minimum rainfall to obtain the second deviation; calculate the difference between the maximum rainfall and the minimum rainfall to obtain the third deviation, and determine the sum of the third deviation and 1 as the benchmark value; The ratio of the first deviation to the benchmark value is used as the first weight, the ratio of the second deviation to the benchmark value is used as the second weight, and the ratio of 1 to the benchmark value is used as the third weight. The maximum rainfall, the intermediate rainfall, and the minimum rainfall, along with their corresponding first, second, and third weights, are weighted and summed to obtain the comprehensive rainfall.

3. The method according to claim 1, characterized in that, The step of acquiring an image of the road ahead of the vehicle and extracting a second rainfall amount on the road surface ahead of the vehicle using a rainfall detection model includes: Acquire an image of the road ahead of the vehicle, and input the road image into the student model, which is generated by training the teacher model; Obtain the second rainfall amount on the road surface in front of the vehicle, as output by the student model.

4. The method according to claim 4, characterized in that, The student model is generated by knowledge distillation from the teacher model. During the knowledge distillation process, the loss function includes the cross-entropy loss function and the mean squared error loss function.

5. The method according to claim 1, characterized in that, The step of determining the wiper oscillation speed based on the comprehensive rainfall and controlling the wiper to oscillate at the oscillation speed includes: The windshield wipers are activated in response to at least one of the first rainfall amount, the second rainfall amount, and the third rainfall amount; The oscillation speed of the windshield wipers is determined based on the total rainfall, and the wipers are controlled to oscillate at the oscillation speed.

6. The method according to claim 1, characterized in that, The step of obtaining weather information for the vehicle's current location and extracting the first rainfall amount includes: Get the vehicle's current location; Based on the current location, obtain weather information from cloud weather services or nearby vehicle-shared data, and extract the first rainfall amount.

7. A wiper control system, characterized in that, include: Communication equipment used to determine vehicle location information and initial rainfall; A forward sensing device is used to determine road images and extract a second rainfall amount based on a rainfall detection model; Rain sensors, mounted on the vehicle body outside the driver's field of vision, are used to determine the amount of rainfall. The controller, connected to the communication device, the front-end sensing device, and the rain sensor, is used to execute the method as described in any one of claims 1-6, including acquiring weather information of the vehicle's current location and extracting a first rainfall amount; acquiring an image of the road ahead of the vehicle and extracting a second rainfall amount on the road surface ahead of the vehicle using a rainfall detection model; acquiring a third rainfall amount using the vehicle's rain sensor; performing a weighted summation of the first, second, and third rainfall amounts to obtain a comprehensive rainfall amount; determining the oscillation speed of the windshield wipers based on the comprehensive rainfall amount, and controlling the windshield wipers to oscillate at the oscillation speed.

8. A windshield wiper control device, characterized in that, include: The first acquisition module is used to acquire weather information of the vehicle's current location and extract the first rainfall amount; The second acquisition module is used to acquire images of the road in front of the vehicle and extract the second rainfall amount on the road surface in front of the vehicle through a rainfall detection model. The third acquisition module is used to acquire the third rainfall amount through the vehicle rain sensor; The calculation module is used to perform a weighted summation of the first rainfall, the second rainfall, and the third rainfall to obtain the comprehensive rainfall. The control module is used to determine the oscillation speed of the windshield wipers based on the total rainfall, and to control the windshield wipers to oscillate at the oscillation speed.

9. A vehicle, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the wiper control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the wiper control method as described in any one of claims 1 to 6.

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