A method and device for wiper control and a vehicle

Abstract

This invention relates to the field of vehicle control, specifically to a windshield wiper supplementary wiping control method, device, and vehicle. This application, upon triggering regular wiping with a valid raindrop, simultaneously opens a supplementary wiping detection window starting from the wiping moment, expanding the detection range from monitoring only valid raindrops to covering all raindrops in the range, providing a detection entry point for tiny raindrops that do not reach the effective threshold but affect visibility. Secondly, by setting graded perturbation thresholds, different intensities of raindrops are distinguished, enabling effective identification of tiny raindrops that do not reach the effective threshold but exceed the tiny raindrop threshold, fundamentally solving the problem of missed detection of tiny raindrops. Finally, differentiated supplementary wiping strategies are matched for different threshold ranges, ensuring visibility clarity in light rain while avoiding false triggers, solving the technical pain point of existing technologies that lack specific control for tiny raindrops, resulting in automatic wiping in light rain scenarios and requiring manual intervention.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, specifically to a method, device, and vehicle for supplementary wiping control of windshield wipers. Background Technology

[0002] Currently, most mainstream automatic wiper systems in the industry use rain sensors that operate based on optical reflection / refraction principles. These sensors can only identify valid raindrops that reach a preset threshold, thus triggering the wiping action. However, in actual natural rainfall scenarios, there are typical technical pain points in the industry: In light rain, the windshield is often covered with scattered tiny raindrops. Although these raindrops do not reach the effective raindrop detection threshold set by current technology and cannot trigger automatic wiping, they can still obstruct the driver's view and reduce visual clarity to some extent. This forces the driver to manually intervene and activate the wipers, which not only violates the original intention of intelligent control of automatic wiper systems but may also pose a driving safety hazard due to the distraction caused by manual operation. At the same time, existing automatic wiper systems lack specific detection and adaptation control logic for tiny raindrops, making it impossible to effectively handle these tiny raindrops that do not reach the threshold but affect the driver's vision. This makes it difficult to meet users' needs for intelligent and precise use of automatic wiper systems, thus limiting the adaptability and practicality of automatic wiper systems. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method, device and vehicle for supplementary wiping control of windshield wipers, in order to solve the problem that existing automatic windshield wiper systems can only identify valid raindrops that reach a preset threshold and trigger wiping, but lack specific detection and adaptation control for tiny raindrops that do not reach the threshold but affect the driver's visibility, resulting in tiny raindrops not being able to trigger automatic wiping in light rain.

[0004] In a first aspect, embodiments of the present invention provide a method for controlling supplementary wiping of a windshield wiper, the method comprising: After the wipers complete their wiping operation, the wipers are controlled to perform a supplementary wiping operation, and the raindrop disturbance value on the windshield of the vehicle is detected within the supplementary wiping detection window of the current round. The relationship between the raindrop perturbation value and at least one perturbation threshold is obtained, wherein the perturbation threshold is used to characterize the classification threshold of the raindrop under the degree of optical perturbation; The wipers are controlled to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship.

[0005] Furthermore, obtaining the magnitude relationship between the raindrop perturbation value and at least one perturbation threshold includes: The magnitude relationship is obtained by comparing the raindrop perturbation value with the first perturbation threshold and the second perturbation threshold, wherein the first perturbation threshold is the perturbation threshold for determining valid raindrops, the second perturbation threshold is the perturbation threshold for determining micro-level raindrops, and the first perturbation threshold is greater than the second perturbation threshold.

[0006] Furthermore, controlling the wipers to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship includes: If the size relationship is such that the raindrop disturbance value is greater than or equal to the first disturbance threshold, then the wipers are controlled to perform wiping and supplementary wiping operations in sequence, and the supplementary wiping detection window of the current round is closed and the supplementary wiping detection window of the next round is reopened. In the next round of the wiper detection window, based on the changes in the raindrop disturbance value on the windshield, the wipers are controlled to perform corresponding wiping operations.

[0007] Furthermore, controlling the wipers to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship includes: If the size relationship is such that the raindrop disturbance value is greater than or equal to the second disturbance threshold and the raindrop disturbance value is less than the second disturbance threshold, then it is determined that a micro-level raindrop has been detected, and the number of additional wipes adapted to the micro-level raindrop is obtained; Control the windshield wipers to perform additional wiping operations according to the specified number of additional wiping cycles.

[0008] Furthermore, obtaining the number of additional wipes adapted to the micro-level raindrops includes: The vehicle's real-time speed, the raindrop characteristics of the micro-level raindrops, and the wiper sensitivity are obtained. Based on the real-time vehicle speed, the raindrop characteristics, and the wiper sensitivity, a weighted calculation is performed to obtain the supplementary wiping adjustment coefficient corresponding to the micro-level raindrops; Obtain the basic number of additional wiping operations corresponding to the micro-level raindrops, and adjust the basic number of additional wiping operations using the additional wiping adjustment coefficient to obtain the desired number of additional wiping operations; The number of additional scraping operations is matched according to the target disturbance value range into which the raindrop disturbance value falls, wherein the target disturbance value range is located in any interval between the second disturbance threshold and the first disturbance threshold; The number of scraping operations is calculated based on the expected number of scraping operations and the additional number of scraping operations.

[0009] Furthermore, controlling the windshield wipers to perform supplementary wiping operations according to the specified number of supplementary wiping cycles includes: The target time when the raindrop perturbation value is greater than or equal to the second perturbation threshold is obtained; If the target time is during the process of the wipers sequentially performing wiping and supplementary wiping operations, then after the wipers have completed the wiping and supplementary wiping operations, supplementary wiping will be performed according to the number of supplementary wiping operations; or, if the target time is after the wipers have completed the wiping and supplementary wiping operations, then supplementary wiping will be performed directly according to the number of supplementary wiping operations.

[0010] Furthermore, controlling the wipers to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship includes: If the size relationship is such that the raindrop disturbance value is less than the second disturbance threshold, then the current round of wiper detection window ends and enters the automatic wiper detection mode, wherein the automatic wiper detection mode is used to detect only whether the raindrop disturbance value reaches the first disturbance threshold.

[0011] Furthermore, the method also includes: Obtain the historical effective raindrop trigger frequency, the vehicle's real-time speed, and the current rainfall intensity level; The historical effective raindrop trigger frequency, the real-time vehicle speed, and the correction coefficient corresponding to the current rainfall intensity level are obtained respectively. The window duration of the scraping detection window for the current round is determined by the historical effective raindrop trigger frequency, the real-time vehicle speed, and the correction coefficient corresponding to the current rainfall intensity level.

[0012] Secondly, embodiments of the present invention provide a wiper supplementary wiping control device, the device comprising: The detection module is used to control the windshield wipers to perform a supplementary wiping operation after the wipers have completed the wiping operation, and to detect the raindrop disturbance value on the windshield of the vehicle within the supplementary wiping detection window of the current round. The acquisition module is used to acquire the magnitude relationship between the raindrop perturbation value and at least one perturbation threshold, wherein the perturbation threshold is used to characterize the classification judgment threshold of the raindrop under the degree of optical perturbation; The control module is used to control the windshield wipers to perform corresponding wiping operations according to the wiping strategy corresponding to the size relationship.

[0013] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0014] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0015] Fifthly, embodiments of the present invention provide a vehicle, including: a controller and a windshield wiper, the controller including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0016] This application simultaneously opens a supplementary wiping detection window, starting from the wiping moment, after a valid raindrop triggers regular wiping. This expands the detection range from monitoring only valid raindrops to covering all raindrops in the range, providing a detection entry point for tiny raindrops that do not reach the valid threshold but affect visibility. Secondly, by setting graded perturbation thresholds, it distinguishes raindrop states of different intensities, enabling effective identification of tiny raindrops that do not reach the valid threshold but are above the tiny raindrop threshold, fundamentally solving the problem of missed tiny raindrop detection. Finally, it matches differentiated supplementary wiping strategies for different threshold ranges, ensuring visibility clarity in light rain while avoiding false triggers. This addresses the technical pain point of existing technologies that lack specific control over tiny raindrops, resulting in automatic wiping in light rain scenarios and requiring manual intervention. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a wiper supplementary wiping control method according to some embodiments of the present invention; Figure 2 This is a schematic diagram of the timing sequence of wiper re-wiping according to some embodiments of the present invention; Figure 3 This is a timing diagram of a windshield wiper performing wiping according to some embodiments of the present invention; Figure 4 This is a flowchart illustrating another windshield wiper supplementary wiping control method according to some embodiments of the present invention; Figure 5 This is a structural block diagram of a windshield wiper supplementary wiping control device according to an embodiment of the present invention; Figure 6This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] According to embodiments of the present invention, a method, apparatus, and vehicle for supplementary wiping control of a windshield wiper are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0021] This embodiment provides a method for controlling the supplementary wiping of a windshield wiper. Figure 1 This is a flowchart of a windshield wiper supplementary wiping control according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S101: After the wipers have completed their wiping operation, control the wipers to perform a supplementary wiping operation and detect the raindrop disturbance value on the windshield of the vehicle within the supplementary wiping detection window of the current cycle.

[0022] In this embodiment, after the automatic wiper mode is activated, the rain sensor enters a continuous working state, collecting optical signals generated by raindrops on the windshield in real time. The collected analog optical signals are then digitized and output as a corresponding PWM jitter signal, which is fed back to the controller in the form of a raindrop disturbance value (INTV), thus achieving quantitative monitoring of the raindrop state. The controller receives this raindrop disturbance value in real time and compares it with a preset first disturbance threshold (i.e., threshold N) to determine whether the valid raindrop condition is met.

[0023] If the current INTV is not greater than the threshold N, it is determined that the effective rainfall standard has not been met, and the detection state continues without triggering any wiping action; when the INTV is detected to be greater than the threshold N, it is determined that the effective raindrop condition is met, and a wiping command is sent to the wiper actuator to trigger a regular single wiping operation.

[0024] After the wipers complete the wiping action triggered by a valid raindrop, the wipers are controlled to enter the preset valid raindrop supplementary wiping process. At the same time, the Tx valid raindrop supplementary wiping detection window for this round is started. The timing start of this window is strictly aligned with the moment when the wipers start to execute the wiping action triggered by this valid raindrop, so as to ensure that the detection sequence and the wiping action are accurately synchronized.

[0025] Throughout the entire rain wiping detection window, the rain sensor continuously collects optical signals from the windshield surface, converting changes in the light signal into quantified raindrop disturbance values ​​in real time. High-frequency sampling ensures real-time capture of raindrop signals while maintaining the execution of the rain wiping action. This not only completes the intended effective raindrop wiping task but also provides continuous and stable real-time data for subsequent raindrop level determination, avoiding misjudgments of raindrop status or errors in the rain wiping logic due to intermittent detection.

[0026] It should be noted that the detection window for the current round of additional wiping is triggered after the wiper operation detects valid raindrops. The start time of the detection window is the moment the wiper executes the wiping action. By synchronously opening the detection window based on the actual trigger point of valid rainfall, the changes in optical disturbance caused by residual raindrops during and after a single wiping operation are accurately captured, avoiding data miscollection caused by premature or delayed detection.

[0027] Step S102: Obtain the magnitude relationship between the raindrop perturbation value and at least one perturbation threshold, wherein the perturbation threshold is used to characterize the classification threshold of the raindrop under the degree of optical perturbation.

[0028] In this embodiment of the application, obtaining the magnitude relationship between the raindrop perturbation value and at least one perturbation threshold includes: comparing the raindrop perturbation value with a first perturbation threshold and a second perturbation threshold respectively to obtain the magnitude relationship, wherein the first perturbation threshold is the perturbation threshold for determining valid raindrops, the second perturbation threshold is the perturbation threshold for determining micro-level raindrops, and the first perturbation threshold is greater than the second perturbation threshold.

[0029] Specifically, after acquiring the raindrop perturbation value output by the rain sensor in real time, this value is compared with two preset judgment thresholds to determine the relationship between the three. The first perturbation threshold is a pre-calibrated critical value used to determine whether the current rainfall meets the standard for effective raindrops. When the perturbation value reaches or exceeds this threshold, it can be determined that there are effective raindrops that need to be wiped away. The second perturbation threshold is another critical value lower than the first perturbation threshold, used to identify rainfall conditions that are weaker and sparser in coverage.

[0030] By comparing the raindrop disturbance value with these two thresholds in turn, three operating conditions can be clearly distinguished: the raindrop disturbance value is greater than or equal to the first disturbance threshold, the raindrop disturbance value is between the first and second disturbance thresholds, and the raindrop disturbance value is less than the second disturbance threshold. This provides an accurate basis for subsequent implementation of differentiated wiping and re-wiping strategies.

[0031] It should be noted that micro-level raindrops refer to raindrops on the windshield surface that are small in size, sparsely distributed, and have a weak overall rainfall intensity. They only form a slight water film or a few scattered water droplets, which is insufficient to trigger the regular automatic wiping logic, but will still affect the driver's visibility of the rain to some extent. The corresponding raindrop disturbance value is between the second disturbance threshold and the first disturbance threshold. The optical signal disturbance amplitude is small, and the intensity of the converted PWM jitter signal is weak. It is neither considered to be a no-rain or interference signal, nor does it meet the standard of effective raindrops that need to be cleared by the main wiping action. It needs to be processed through refined supplementary wiping operations to improve the clarity of the driving vision.

[0032] Step S103: Control the wipers to perform the corresponding wiping operation according to the wiping strategy corresponding to the size relationship.

[0033] In this embodiment of the application, the wipers are controlled to perform corresponding wiping operations according to the wiping strategy corresponding to the size relationship, including: Step A1: If the size relationship is that the raindrop disturbance value is greater than or equal to the first disturbance threshold, then control the wipers to perform wiping and supplementary wiping operations in sequence, and end the supplementary wiping detection window of the current round, and reopen the supplementary wiping detection window of the next round.

[0034] Specifically, when the raindrop disturbance value is determined to be greater than or equal to the first disturbance threshold, it is determined that a new valid raindrop has been detected, triggering the high-priority control logic. First, the wipers are controlled to perform a complete normal wiping operation to clean the effective rainwater on the windshield. After the wiping is completed, the preset N1 and N2 effective raindrop wiping operations are performed to ensure the wiping effect.

[0035] At the same time, the current round of scraping detection window is actively closed and terminated, and the timing and detection logic of the original window are stopped to avoid timing conflicts. Then, the next round of Tx scraping detection window is reopened and the timing is reset, taking the moment when the effective raindrop triggers the scraping as the new starting point, in order to prepare for continuous monitoring of raindrop signals and ensure the continuity and stability of the control process in continuous rainfall scenarios.

[0036] Step A2: In the next round of the wiper detection window, based on the changes in the raindrop disturbance value on the windshield, control the wipers to perform the corresponding wiping operation.

[0037] Specifically, during the next round of windshield wiper detection when the window is reopened, the rain sensor continuously collects optical disturbance signals from the windshield at high frequency and converts them into raindrop disturbance values ​​in real time. It dynamically monitors the magnitude changes and fluctuation trends of these values ​​and activates the micro-raindrop detection mode.

[0038] If the disturbance value reaches or exceeds the first disturbance threshold again, the wiping and re-wiping process will be repeated and the window will be reset again. If the disturbance value is between the first and second disturbance thresholds, it is determined to be a micro-raindrop, and the number of re-wiping operations is dynamically calculated based on vehicle speed, raindrop characteristics, and sensitivity, and the corresponding re-wiping is performed in sequence. If the disturbance value is below the second disturbance threshold, the current state is maintained without additional action. After the window timer expires, the micro-raindrop detection mode is turned off and the normal detection logic is returned, realizing adaptive wiping control based on real-time changes in raindrops.

[0039] In this embodiment of the application, the wipers are controlled to perform corresponding wiping operations according to the wiping strategy corresponding to the size relationship, including: Step B1: If the size relationship is that the raindrop disturbance value is greater than or equal to the second disturbance threshold and the raindrop disturbance value is less than the first disturbance threshold, then it is determined that a micro-level raindrop has been detected, and the number of additional scraping times adapted to the micro-level raindrop is obtained.

[0040] When the raindrop disturbance value is determined to be greater than or equal to the second disturbance threshold and less than the first disturbance threshold, it is determined that there are trace amounts of raindrops on the windshield. These raindrops are weak but can still affect the driver's visibility, requiring the activation of a refined wiping strategy. After confirming the trace amount of raindrops, the dynamic calculation process for the number of wiping operations begins. This process involves sequentially acquiring real-time vehicle speed from the vehicle's CAN bus, analyzing characteristic parameters such as raindrop size and density from the rain sensor, reading the current automatic wiper sensitivity setting, calculating the wiping adjustment coefficient using a preset weighted model, correcting the base number of wiping operations M1 to obtain the desired number of wiping operations, and comparing the adjustment coefficient with an additional judgment threshold to determine whether to add M2 more wiping operations. Finally, a comprehensive calculation is performed to determine the number of wiping operations specifically for trace amounts of raindrops suitable for the current operating conditions.

[0041] Specifically, obtaining the appropriate number of additional wipes for micro-droplets includes: acquiring the vehicle's real-time speed, the characteristics of the micro-droplets, and the wiper sensitivity; performing a weighted calculation based on the real-time speed, droplet characteristics, and wiper sensitivity to obtain the corresponding additional wipe adjustment coefficient for micro-droplets; obtaining the base number of additional wipes for micro-droplets and adjusting the base number of additional wipes using the additional wipe adjustment coefficient to obtain the desired number of additional wipes; matching the corresponding additional wipes based on the target disturbance value range into which the raindrop disturbance value falls, where the target disturbance value range is located in any interval between the second disturbance threshold and the first disturbance threshold; and calculating the total number of additional wipes based on the desired number of additional wipes and the additional wipes.

[0042] Specifically, during the micro-raindrop wiping control phase, the controller communicates in real time via the vehicle's CAN bus protocol, reading dynamic driving data and collecting real-time vehicle speed to fully capture the interference of airflow and wind pressure on the adhesion and diffusion of residual raindrops on the windshield at different driving speeds. Simultaneously, relying on the continuous operation of the optical detection module built into the rain sensor, and utilizing the dual-wavelength optical acquisition principle, it detects key raindrop characteristics such as particle size, distribution density, and adhesion uniformity of micro-raindrops on the windshield surface in real time, quantifying the actual coverage status of the light rainfall.

[0043] In addition, the controller synchronously retrieves the wiper sensitivity setting parameter preset by the driver in the vehicle system. This setting is directly related to the wiper operating frequency and response intensity. It integrates three core control parameters: vehicle speed, raindrop characteristics, and wiper sensitivity, to construct a full-dimensional operating condition input condition. This avoids the bias in judgment caused by single parameter detection and ensures the data integrity and authenticity of subsequent algorithm calculations.

[0044] After collecting multiple core parameters, the controller performs dimensionless standardization corrections on various heterogeneous parameters to eliminate calculation deviations caused by differences in units and numerical ranges, ensuring a unified data calculation benchmark. According to a preset weighting distribution rule, raindrop characteristics, as the core influencing parameter, have the highest weighting, while vehicle speed and wiper sensitivity, as condition-adaptive parameters, participate in the correction. Dynamic values ​​are assigned based on the real-time magnitude of various parameters; higher vehicle speeds, stronger raindrop residue, and higher wiper sensitivity levels result in correspondingly increased parameter correction amounts. Through multi-dimensional parameter weighted fusion calculations, a quantified wiping adjustment coefficient is finally output. This coefficient objectively represents the optimal wiping intensity under current driving conditions, residual rain conditions, and user-defined requirements, providing a precise quantitative correction indicator for dynamically adjusting the number of wiping cycles.

[0045] The controller pre-stores a standard parameter library corresponding to different rainfall levels. After determining that the current condition is under light rain, it actively retrieves the basic number of wipes for scenarios such as light residual rain, sporadic water stains, and drizzle. This basic value has been verified through extensive real-vehicle calibration tests and can meet the basic cleaning needs of light rain in normal environments, ensuring the rationality of the baseline for wipe control. A weighted calculation-generated wipe adjustment coefficient is used as a dynamic correction factor to proportionally and adaptively adjust the fixed basic number of wipes. When the wipe adjustment coefficient is greater than 1, it indicates an increased cleaning load under current high-speed conditions, high-density residual rain, or high sensitivity requirements, and the number of wipes is increased proportionally. When the wipe adjustment coefficient is less than 1, it indicates good conditions and less residual rain, and the number of wipes is appropriately reduced. Through this dynamic coefficient correction mode, the glass cleaning effect and wiper wear are balanced, accurately matching the current comprehensive operating conditions, and finally calculating and outputting the expected number of wipes that fits the actual needs.

[0046] Based on the calculation of the desired number of additional wipes, the rain sensor continuously outputs real-time raindrop disturbance values. This value quantifies the degree of optical disturbance of trace raindrops on the glass surface by relying on changes in optical signal jitter, and is a core indicator reflecting the instantaneous residual amount of raindrops. Multiple gradient target disturbance value sub-intervals are pre-defined between the second and first disturbance thresholds. Different intervals correspond to different residual rain levels, covering the entire intensity range of trace raindrops. The controller compares the collected raindrop disturbance values ​​with each interval threshold in real time, accurately determining the target interval to which the current disturbance value belongs. Combining this with the preset calibration rules for each interval, it matches the corresponding additional wipes at different levels. The closer the disturbance value is to the first disturbance threshold, the stronger the residual rain disturbance, and the more additional wipes are matched; conversely, the number of additional wipes is reduced. This targeted compensation compensates for stubborn trace water stains remaining after a single wipe, achieving refined secondary compensation control of the residual rain state.

[0047] The system separately acquires the expected number of additional wipes after adaptive correction for the driving conditions, and the additional number of wipes obtained by hierarchical matching based on the raindrop disturbance value range. These two parameters are then integrated and calculated using preset computational logic, merging the control requirements from both comprehensive driving condition needs and real-time residual rain status. The expected number of additional wipes focuses on covering the normalized wiping needs arising from vehicle speed, overall raindrop characteristics, and user sensitivity. The additional number of wipes focuses on local residual compensation for instantaneous residual rain disturbances. The two complement each other, eliminating issues of redundant parameter correction and logical conflicts. The total number of integrated wipes is obtained through numerical merging calculations and serves as the final execution basis for this round of micro-raindrop wiping control. This ensures that the wiper's wiping action adapts to overall driving conditions while accurately eliminating potential hazards from localized micro-residual rain, comprehensively improving the windshield cleaning effect and the precision of automatic wiper control.

[0048] Step B2: Control the windshield wipers to perform additional wiping operations according to the number of additional wiping cycles.

[0049] In this embodiment of the application, controlling the windshield wipers to perform supplementary wiping operations according to the number of supplementary wiping operations includes: obtaining a target time when the raindrop disturbance value is greater than or equal to a second disturbance threshold; if the target time is during the process of the windshield wipers sequentially performing wiping and supplementary wiping operations, then waiting for the windshield wipers to complete the wiping and supplementary wiping operations sequentially before performing supplementary wiping according to the number of supplementary wiping operations; or, if the target time is after the windshield wipers have completed the wiping and supplementary wiping operations sequentially, then directly performing supplementary wiping according to the number of supplementary wiping operations.

[0050] It can be understood that when it is determined that the raindrop perturbation value is greater than or equal to the second perturbation threshold and the micro-level raindrop trigger condition is met, the target time corresponding to the valid determination result will be recorded synchronously through the internal clock of the controller. At the same time, the current operation status timing data of the windshield wiper will be retrieved in real time, including key information such as the start time of the wiping operation, the execution progress of the supplementary wiping operation, and the remaining action duration. The specific position of the target time in the entire windshield wiper action cycle will be determined through timestamp comparison, providing an accurate timing judgment basis for selecting the corresponding supplementary wiping execution strategy later, ensuring that the supplementary wiping action will not conflict or be executed repeatedly due to timing confusion.

[0051] After determining the recognition time of micro-level raindrops, logical judgment will be performed based on the timing relationship between this time and the normal wiping and supplementary wiping processes of the windshield wiper, and the corresponding control strategy will be executed: ① If the target time falls within the process interval of the main wiping operation triggered by valid raindrops being currently executed by the windshield wiper or the subsequent supporting supplementary wiping operation, the micro-level raindrop supplementary wiping instruction will be temporarily suspended, and the action status of the windshield wiper will be monitored in real time. After the main wiping and all supplementary wiping actions are completely executed and the wiper arm returns to the initial docking position, the micro-supplementary wiping will be started according to the previously calculated number of supplementary wipes.

[0052] ② If the target time is in the period when the windshield wiper has completed all wiping and supplementary wiping processes and is in the standby state, there is no need to wait, and the micro-supplementary wiping instruction will be directly sent to the actuator to perform the supplementary wiping operation according to the corresponding number of times, so as to ensure the orderly connection of the windshield wiper actions, avoid action superposition, jamming or interference, and improve the operation stability and wiping effect.

[0053] As an example, as Figure 2 shown, when the vehicle is traveling at 80 km / h and there are valid raindrops on the front windshield, the rain sensor detects that the PWM jitter amount exceeds the threshold N, triggering the start of wiping at N0, and at the same time starting a supplementary wiping monitoring window with a total duration of Tx starting from this time; according to the size A of the valid raindrops, the real-time vehicle speed of 80 km / h, and the windshield wiper sensitivity L (medium gear), the supplementary wiping intervals Ta = 2 s for N1 and Tb = 3 s for N2 are dynamically calculated. After the start of wiping at N0, the supplementary wiping at N1 is performed at an interval of Ta, and then the supplementary wiping at N2 is performed at an interval of Tb to complete the basic supplementary wiping of the valid raindrops.

[0054] Within the Tx window, discrete micro-rain drops appear on the front windshield, and their PWM jitter amount satisfies the threshold M < INTV < threshold N, activating the micro-rain drop detection mode. According to the size a of the micro-rain drops, the vehicle speed of 80 km / h, and the sensitivity L, the supplementary wiping interval Tc = 1.5 s for M1 is calculated. Since the supplementary wiping adjustment coefficient is greater than the additional determination threshold, it is determined to add M2 supplementary wiping, corresponding to Td = 2 s; because the micro-rain drops are recognized after the supplementary wiping at N1 and N2, starting from the recognition time, the supplementary wiping at M1 is performed, and the supplementary wiping at M2 is performed after an interval of Tc.

[0055] If a valid raindrop is detected again during the M1 and M2 wiping process, the current wiping is interrupted, and a new N0 wiping start is executed first. At the same time, the number of wiping attempts and the Tx timer are reset, and the wiping process is repeated from the new start time. If no new valid raindrops are detected in the Tx window, all wiping is stopped after the window ends, the micro-raindrop detection mode is turned off, and the normal automatic wiper logic is returned. If the subsequent rainfall reaches the continuous wiping threshold, the normal intermittent / continuous wiping mode is executed first. This achieves graded and priority-defined adaptive wiping control, completely solving the problem of missed detection of micro-raindrops and inability to automatically wipe in light rain scenarios.

[0056] In this embodiment of the application, the wipers are controlled to perform corresponding wiping operations according to the supplementary wiping strategy corresponding to the size relationship, including: if the size relationship is that the raindrop disturbance value is less than the second disturbance threshold, the supplementary wiping detection window of the current round is ended and the automatic wiper detection mode is entered, wherein the automatic wiper detection mode is used to detect only whether the raindrop disturbance value reaches the first disturbance threshold.

[0057] Specifically, when the raindrop disturbance value is determined to be less than the second disturbance threshold, it indicates that no effective rainfall signal has formed on the windshield, and there are no trace raindrops affecting visibility; only interference signals or extremely weak water vapor remain. At this time, the controller executes the window closing logic, actively ending the current round of Tx effective raindrop supplementary wiping detection window, simultaneously stopping the micro-raindrop detection mode, and no longer performing supplementary wiping related judgments and actions to avoid invalid detection and false triggering. After closing the current round of supplementary wiping detection window, it automatically switches to and enters the basic automatic wiper detection mode. In this mode, the rain sensor retains only the core effective raindrop monitoring function, continuously converting the collected optical signals into raindrop disturbance values, and only comparing them with the first disturbance threshold. It no longer pays attention to the threshold related to trace raindrops. Only when the raindrop disturbance value reaches or exceeds the first disturbance threshold will the regular wiping action and subsequent supplementary wiping process be re-triggered. In other cases, it remains in standby mode, thereby simplifying the control logic, reducing the computational load, and ensuring that no unnecessary actions are performed when there is no effective rainfall.

[0058] As an example, such as Figure 3As shown, at time T0, an effective raindrop with INTV greater than the threshold N is detected, and the windshield wiper starts normal wiping. The Tx timer is not started, and the light raindrop detection mode is turned off; at time T1, the normal wiping is completed, and the first effective raindrop supplementary wiping is started. The Tx timer is started with T1 as the starting point, and the remaining number of supplementary wiping times is 1. The light raindrop detection is still turned off; at time T2, the first supplementary wiping is completed, and the second effective raindrop supplementary wiping is started. The Tx timer continues to count, and the remaining number of supplementary wiping times is 0; at time T3, the second effective raindrop supplementary wiping is completed, and the effective raindrop supplementary wiping is stopped. The Tx timer continues to count, and at the same time, the light raindrop detection mode is activated; at time T4, a light raindrop with M < INTV < N is detected, and the first light raindrop supplementary wiping is started. The remaining number of supplementary wiping times is updated to 1, and the detection mode remains activated; at time T5, the first light raindrop supplementary wiping is completed, and the second light raindrop supplementary wiping is started. The remaining number of supplementary wiping times is 0; at time T6, the second light raindrop supplementary wiping is completed, and the light raindrop supplementary wiping is stopped. The Tx timer is still counting, and the detection mode remains activated; until the Tx timing ends (Tx - T1 = x seconds), all windshield wiper actions are stopped, the Tx timer and the light raindrop detection mode are turned off, and the system returns to the conventional automatic windshield wiper detection state.

[0059] After the effective raindrop triggers the conventional wiping in this application, a supplementary wiping detection window starting from the wiping moment is synchronously opened, expanding the detection range from only monitoring effective raindrops to covering raindrops in the entire interval, providing a detection entry for light raindrops that do not reach the effective threshold but affect the vision; secondly, by setting multiple hierarchical disturbance thresholds to distinguish different intensities of raindrop states, effective identification of light raindrops that do not reach the effective threshold but are higher than the light raindrop threshold is achieved, fundamentally solving the problem of missed detection of light raindrops; finally, by matching different threshold intervals with differentiated supplementary wiping strategies, it ensures the vision clarity in rainy weather and avoids false triggering, solving the technical pain points of the prior art that the windshield cannot be automatically wiped in rainy scenarios and requires manual intervention due to the lack of special control for light raindrops.

[0060] In the embodiment of this application, as Figure 4 shown, the method further includes: Step S201, obtaining the historical effective raindrop trigger frequency, the real-time vehicle speed, and the current rainfall intensity level.

[0061] In the initial stage when the current round of supplementary wiping detection window is started, first, the controller retrieves the trigger records of effective raindrops within a preset time period from the internal storage area, counts the total number of effective raindrop triggers during this time period, and calculates the historical effective raindrop trigger frequency. This frequency can intuitively reflect the intensity and duration characteristics of recent rainfall.

[0062] Secondly, the vehicle speed signal transmitted by the power bus is read in real time through the vehicle's CAN bus. After filtering and precision processing, a stable and reliable real-time vehicle speed value is obtained. The vehicle speed directly affects the driver's visibility requirements and the wiper response requirements.

[0063] Meanwhile, the rain sensor continuously collects optical disturbance signals from the windshield, compares the real-time raindrop disturbance value with the preset level threshold, and classifies the rainfall intensity into levels such as weak, light, moderate, and strong. After combining the three parameters, a complete working condition dataset is formed to ensure that the subsequent correction coefficient matching and window duration adjustment are in line with the actual driving and rainfall environment.

[0064] Step S202: Obtain the historical effective raindrop trigger frequency, real-time vehicle speed, and correction coefficient corresponding to the current rainfall intensity level.

[0065] After collecting historical effective raindrop trigger frequencies, real-time vehicle speeds, and current rainfall intensity levels, an internally pre-calibrated multi-dimensional coefficient comparison table, validated through real-vehicle testing, is invoked. This table strictly distinguishes correction coefficients corresponding to different parameter ranges to ensure the accuracy and stability of the control logic. For historical effective raindrop trigger frequencies, a first correction coefficient is matched based on the high, medium, and low ranges the values ​​fall into; the higher the frequency, the larger the coefficient. For real-time vehicle speeds, a second correction coefficient is matched according to low, medium, and high speed ranges; the higher the speed, the more urgent the visibility requirement, and the larger the coefficient. For rainfall intensity levels, a third correction coefficient is matched sequentially according to weak, light, moderate, and strong levels; the greater the rainfall, the longer the detection window needs to last, hence the coefficient increases progressively.

[0066] The three correction coefficients are obtained by independent table lookup to avoid mutual interference between parameters and ensure that each coefficient can accurately reflect the degree of influence of the corresponding factor on the window duration.

[0067] Step S203: Adjust the window duration of the scraping detection window for the current round according to the historical effective raindrop trigger frequency, real-time vehicle speed, and the correction coefficient corresponding to the current rainfall intensity level.

[0068] After obtaining three independent correction coefficients, the baseline scraping detection window duration is used as the base value. A product fusion method is then used to dynamically correct the baseline duration to obtain the target window duration adapted to the current comprehensive operating conditions. First, the baseline duration is multiplied sequentially by the first, second, and third correction coefficients. Through continuous calculation, multi-factor coordinated adjustment is achieved. The higher the historical effective raindrop trigger frequency, the faster the vehicle speed, and the greater the rainfall intensity, the longer the final window duration will be. This extends the detection cycle in continuous rainfall or high-speed driving scenarios, improving the continuity and reliability of the scraping logic.

[0069] After the calculation is completed, the target window duration is written to the timer configuration register, the upper limit of the timing of the current round of wiper detection window is updated, and the micro-raindrop detection mode and effective raindrop monitoring logic are kept in sync. This allows the window duration to adapt to changes in external operating conditions, avoiding missed rainfall due to an excessively short window and preventing resource waste due to an excessively long window, thus improving the overall intelligence level and control accuracy of automatic wipers.

[0070] This application provides a windshield wiper supplementary wiping control system, including an optical rain sensor, a vehicle body domain controller, and a wiper actuator. The optical rain sensor is located on the inside of the windshield and can collect the optical signal changes caused by raindrop adhesion and convert them into PWM jitter signals to generate automatic wiper requests. The sensor serves as a computing unit to identify raindrop types, control the timing cycle, calculate the number of supplementary wipes and their timing, and dynamically correct the control logic based on wiper action feedback to output wiper drive commands.

[0071] The vehicle domain controller is responsible for signal relay and status verification. When the vehicle is in automatic wiper mode, it forwards the wiper drive commands from the optical rain sensor and simultaneously sends back the action completion signal of the wiper actuator to ensure stable and reliable wiping timing. The wiper actuator includes a wiper motor, wiper arm, and wiper blade. It completes regular wiping and supplementary wiping actions according to the vehicle control commands and provides real-time feedback on the execution status, forming a complete closed-loop control.

[0072] This embodiment also provides a windshield wiper supplementary wiping control device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0073] This embodiment provides a windshield wiper supplementary wiping control device, such as... Figure 5 As shown, it includes: The detection module 301 is used to control the windshield wipers to perform a supplementary wiping operation after the wipers have completed the wiping operation, and to detect the raindrop disturbance value on the windshield of the vehicle within the supplementary wiping detection window of the current round. The acquisition module 302 is used to acquire the magnitude relationship between the raindrop disturbance value and at least one disturbance threshold, wherein the disturbance threshold is used to characterize the classification judgment threshold of the raindrop under the degree of optical disturbance; The control module 303 is used to control the windshield wipers to perform corresponding wiping operations according to the wiping strategy corresponding to the size relationship.

[0074] In this embodiment of the application, the acquisition module 302 is used to compare the raindrop disturbance value with the first disturbance threshold and the second disturbance threshold to obtain the size relationship, wherein the first disturbance threshold is the disturbance threshold for determining valid raindrops, the second disturbance threshold is the disturbance threshold for determining micro-level raindrops, and the first disturbance threshold is greater than the second disturbance threshold.

[0075] In this embodiment, the control module 303 is used to control the windshield wipers to perform wiping and supplementary wiping operations sequentially if the raindrop disturbance value is greater than or equal to a first disturbance threshold, and to end the supplementary wiping detection window of the current round and reopen the supplementary wiping detection window of the next round; in the supplementary wiping detection window of the next round, the windshield wipers are controlled to perform corresponding wiping operations according to the changes in the raindrop disturbance value on the windshield.

[0076] In this embodiment of the application, the control module 303 is used to determine that a micro-level raindrop has been detected if the size relationship is that the raindrop disturbance value is greater than or equal to the second disturbance threshold and the raindrop disturbance value is less than the first disturbance threshold, and to obtain the number of additional wipes adapted to the micro-level raindrop; and to control the wipers to perform additional wipes according to the number of additional wipes.

[0077] In this embodiment, the control module 303 is used to acquire the vehicle's real-time speed, the raindrop characteristics of micro-level raindrops, and the wiper sensitivity; perform a weighted calculation based on the real-time speed, raindrop characteristics, and wiper sensitivity to obtain the supplementary wiping adjustment coefficient corresponding to the micro-level raindrops; acquire the basic number of supplementary wiping cycles corresponding to the micro-level raindrops, and adjust the basic number of supplementary wiping cycles using the supplementary wiping adjustment coefficient to obtain the desired number of supplementary wiping cycles; match the corresponding additional number of supplementary wiping cycles according to the target disturbance value range into which the raindrop disturbance value falls, wherein the target disturbance value range is located in any interval between the second disturbance threshold and the first disturbance threshold; and calculate the number of supplementary wiping cycles based on the desired number of supplementary wiping cycles and the additional number of supplementary wiping cycles.

[0078] In this embodiment of the application, the control module 303 is used to obtain the target time when the raindrop disturbance value is greater than or equal to the second disturbance threshold; if the target time is during the process of the wipers sequentially performing wiping and supplementary wiping operations, then wait for the wipers to complete the wiping and supplementary wiping operations sequentially, and then perform supplementary wiping according to the number of supplementary wiping operations; or, if the target time is after the wipers have completed the wiping and supplementary wiping operations sequentially, then directly perform supplementary wiping according to the number of supplementary wiping operations.

[0079] In this embodiment of the application, the control module 303 is used to end the current round of wiper detection window and enter the automatic wiper detection mode if the size relationship is that the raindrop disturbance value is less than the second disturbance threshold. The automatic wiper detection mode is used to detect only whether the raindrop disturbance value reaches the first disturbance threshold.

[0080] In this embodiment of the application, the device further includes: an update module, used to acquire the historical effective raindrop trigger frequency, the real-time vehicle speed, and the current rainfall intensity level; acquire the correction coefficients corresponding to the historical effective raindrop trigger frequency, the real-time vehicle speed, and the current rainfall intensity level respectively; and adjust the window duration of the scraping detection window for the current round according to the correction coefficients corresponding to the historical effective raindrop trigger frequency, the real-time vehicle speed, and the current rainfall intensity level.

[0081] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 6 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0082] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0083] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0084] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 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 alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0085] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0086] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0087] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0088] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling supplementary wiping in a windshield wiper, characterized in that, The method includes: After the wipers complete their wiping operation, the wipers are controlled to perform a supplementary wiping operation, and the raindrop disturbance value on the windshield of the vehicle is detected within the supplementary wiping detection window of the current round. The relationship between the raindrop perturbation value and at least one perturbation threshold is obtained, wherein the perturbation threshold is used to characterize the classification threshold of the raindrop under the degree of optical perturbation; The wipers are controlled to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship.

2. The method according to claim 1, characterized in that, The step of obtaining the magnitude relationship between the raindrop perturbation value and at least one perturbation threshold includes: The magnitude relationship is obtained by comparing the raindrop perturbation value with the first perturbation threshold and the second perturbation threshold, wherein the first perturbation threshold is the perturbation threshold for determining valid raindrops, the second perturbation threshold is the perturbation threshold for determining micro-level raindrops, and the first perturbation threshold is greater than the second perturbation threshold.

3. The method according to claim 2, characterized in that, The step of controlling the wipers to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship includes: If the size relationship is such that the raindrop disturbance value is greater than or equal to the first disturbance threshold, then the wipers are controlled to perform wiping and supplementary wiping operations in sequence, and the supplementary wiping detection window of the current round is closed and the supplementary wiping detection window of the next round is reopened. In the next round of the wiper detection window, based on the changes in the raindrop disturbance value on the windshield, the wipers are controlled to perform corresponding wiping operations.

4. The method according to claim 2, characterized in that, The step of controlling the wipers to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship includes: If the size relationship is such that the raindrop disturbance value is greater than or equal to the second disturbance threshold and the raindrop disturbance value is less than the first disturbance threshold, then it is determined that a micro-level raindrop has been detected, and the number of additional wipes adapted to the micro-level raindrop is obtained; Control the windshield wipers to perform additional wiping operations according to the specified number of additional wiping cycles.

5. The method according to claim 4, characterized in that, The step of obtaining the number of additional wipes adapted to the micro-level raindrops includes: The vehicle's real-time speed, the raindrop characteristics of the micro-level raindrops, and the wiper sensitivity are obtained. Based on the real-time vehicle speed, the raindrop characteristics, and the wiper sensitivity, a weighted calculation is performed to obtain the supplementary wiping adjustment coefficient corresponding to the micro-level raindrops; Obtain the basic number of additional wiping operations corresponding to the micro-level raindrops, and adjust the basic number of additional wiping operations using the additional wiping adjustment coefficient to obtain the desired number of additional wiping operations; The number of additional scraping operations is matched according to the target disturbance value range into which the raindrop disturbance value falls, wherein the target disturbance value range is located in any interval between the second disturbance threshold and the first disturbance threshold; The number of scraping operations is calculated based on the expected number of scraping operations and the additional number of scraping operations.

6. The method according to claim 4, characterized in that, The control of the windshield wipers to perform supplementary wiping operations according to the specified number of supplementary wiping operations includes: The target time when the raindrop perturbation value is greater than or equal to the second perturbation threshold is obtained; If the target time is during the process of the wipers sequentially performing wiping and supplementary wiping operations, then after the wipers have completed the wiping and supplementary wiping operations, supplementary wiping will be performed according to the number of supplementary wiping operations; or, if the target time is after the wipers have completed the wiping and supplementary wiping operations, then supplementary wiping will be performed directly according to the number of supplementary wiping operations.

7. The method according to claim 2, characterized in that, The step of controlling the wipers to perform corresponding wiping operations based on the wiping strategy corresponding to the size relationship includes: If the size relationship is such that the raindrop disturbance value is less than the second disturbance threshold, then the current round of wiper detection window ends and enters the automatic wiper detection mode, wherein the automatic wiper detection mode is used to detect only whether the raindrop disturbance value reaches the first disturbance threshold.

8. The method according to claim 1, characterized in that, The method further includes: Obtain the historical effective raindrop trigger frequency, the vehicle's real-time speed, and the current rainfall intensity level; The historical effective raindrop trigger frequency, the real-time vehicle speed, and the correction coefficient corresponding to the current rainfall intensity level are obtained respectively. The window duration of the scraping detection window for the current round is determined by the historical effective raindrop trigger frequency, the real-time vehicle speed, and the correction coefficient corresponding to the current rainfall intensity level.

9. A windshield wiper supplementary wiping control device, characterized in that, The device includes: The detection module is used to control the windshield wipers to perform a supplementary wiping operation after the wipers have completed the wiping operation, and to detect the raindrop disturbance value on the windshield of the vehicle within the supplementary wiping detection window of the current round. The acquisition module is used to acquire the magnitude relationship between the raindrop perturbation value and at least one perturbation threshold, wherein the perturbation threshold is used to characterize the classification judgment threshold of the raindrop under the degree of optical perturbation; The control module is used to control the windshield wipers to perform corresponding wiping operations according to the wiping strategy corresponding to the size relationship.

10. A vehicle, characterized in that, include: A controller and a windshield wiper, the controller comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 8.

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