An intelligent wiper control method, device, system, storage medium and vehicle

Abstract

The application discloses an intelligent wiper control method, device, system, storage medium and vehicle. The method comprises the following steps: acquiring data from a visual sensing unit, a rainfall sensing unit and a posture sensing unit in real time; performing fusion operation on the acquired data, and outputting a comprehensive rainfall coefficient; determining target motion parameters of a wiper based on the comprehensive rainfall coefficient; and generating a driving instruction according to the target motion parameters to control the wiper action. The application overcomes the problem that a single sensor is greatly disturbed by the environment and has a high misjudgment rate by fusing multi-source data such as vision and optical rainfall, more accurately reflects the actual wiping demand, and improves the cleaning efficiency of the windshield.

Description

Technical Field

[0001] This application relates to the field of vehicle intelligent control technology, and in particular to an intelligent windshield wiper control method, device, system, storage medium, and vehicle. Background Technology

[0002] Currently, mainstream intelligent windshield wiper systems rely on single-type sensors or simple rule superposition to achieve automatic control. On the one hand, single sensors have a narrow sensing dimension and are easily affected by specific environmental factors. For example, traditional optical scattering rain sensors are not sensitive to small water droplets; visual sensors experience performance degradation in strong backlight, low-light conditions at night, or when the glass is dirty. On the other hand, simple superposition of multi-sensor signals cannot accurately perceive the impact of vehicle status on the adhesion and sliding characteristics of raindrops, resulting in ineffective windshield cleaning and creating safety hazards. Summary of the Invention

[0003] This application provides a smart wiper control method, device, system, storage medium, and vehicle for precise and intelligent control of wipers, improving the cleaning efficiency of the windshield.

[0004] This application provides an intelligent wiper control method, including: Real-time acquisition of data from the visual sensing unit, rainfall sensing unit, and attitude sensing unit; The acquired data is fused and processed to output a comprehensive rainfall coefficient. Based on the comprehensive rainfall coefficient, the target motion parameters of the windshield wiper are determined; Drive commands are generated based on the target motion parameters to control the wiper operation.

[0005] The beneficial effects of this application are as follows: By fusing multi-source data such as visual and optical rainfall data, a comprehensive rainfall coefficient is obtained, overcoming the problems of single sensors being greatly affected by environmental interference and having a high misjudgment rate. Furthermore, the comprehensive rainfall coefficient reflects the actual impact of raindrop adhesion and sliding characteristics on vehicle driving, more accurately reflecting actual wiping needs. Then, based on the comprehensive rainfall coefficient, the target motion parameters of the wipers are determined, and drive commands are generated to control the wiper action, improving the cleaning efficiency of the windshield.

[0006] In one embodiment, the real-time acquisition of data from the visual sensing unit, the rainfall sensing unit, and the attitude sensing unit includes: The visual sensing unit collects image information reflecting the condition of the windshield surface; Optical signals reflecting rainfall conditions on the windshield surface are collected by a rain sensor unit. The attitude sensing unit collects inertial measurement information that reflects the spatial attitude of the vehicle body in real time.

[0007] In one embodiment, before performing the fusion operation on the acquired data, the method further includes: Histogram equalization and / or gamma correction are performed on the image information to compensate for the effects of changes in lighting conditions; The optical signal is subjected to median filtering to suppress transient interference pulses caused by non-raindrop particles such as insects and dust. The inertial measurement information is subjected to moving average filtering and angular velocity integral correction to separate the continuous attitude changes caused by vehicle acceleration / deceleration and road slope.

[0008] In one embodiment, the acquired data is fused and processed to output a comprehensive rainfall coefficient, including: The image information is analyzed to extract the first feature value; The optical signal is analyzed to extract the second feature value; The comprehensive rainfall coefficient is calculated based on the first feature value and the second feature value.

[0009] In one embodiment, calculating the comprehensive rainfall coefficient based on the first feature value and the second feature value includes: Receive parameters characterizing the vehicle's speed; The result of weighted calculation of the first feature value and the second feature value based on the parameters is corrected to obtain the comprehensive rainfall coefficient.

[0010] In one embodiment, determining the target motion parameters of the windshield wiper based on the comprehensive rainfall coefficient includes: The initial motion parameters of the windshield wipers are determined based on the comprehensive rainfall coefficient. The initial motion parameters are compensated and corrected by combining the inertial measurement information to obtain the target motion parameters.

[0011] In one embodiment, determining the target motion parameters of the windshield wiper based on the comprehensive rainfall coefficient includes: The comprehensive rainfall coefficient is mapped to a preset frequency parameter range to obtain the brushing frequency value in the target motion parameters.

[0012] In one embodiment, the step of compensating and correcting the initial motion parameters by inertial measurement information to obtain the target motion parameters further includes: To obtain indicators reflecting the physical wear of wiper blades and / or the cleanliness of the windshield surface; The initial motion parameters are nonlinearly compensated based on the aforementioned indicators to determine the final target motion parameters.

[0013] In one embodiment, generating drive commands based on the target motion parameters to control wiper operation includes: Determine if the vehicle's current speed exceeds a set threshold; If the determination is yes, then while generating the drive command to control the wipers to operate with the target motion parameters, an additional command is generated, which is used to increase the contact pressure between the wiper blades and the windshield.

[0014] In one embodiment, the method further includes: Monitor the vehicle's tilt angle relative to the horizontal plane; When the tilt angle exceeds the predetermined range, the angle information used to define the initial position of the wiper arm in the drive command is adjusted.

[0015] In one embodiment, the method further includes: After determining that the ambient light level is below the standard threshold, the working cycle of the windshield wipers is coordinated with the working status of the vehicle's external lighting system so that the angle of the headlight beam is adjusted synchronously with the cyclic movement of the windshield wipers.

[0016] In one embodiment, generating the drive command based on the target motion parameters further includes: When the target motion parameters include low-frequency or intermittent wiping requirements, the wiper actuator is controlled to be driven using an S-shaped speed curve with soft start and soft stop characteristics; Based on ambient temperature and wiper blade usage time data, the duty cycle of the pulse width modulation waveform driving the wiper actuator is dynamically adjusted to compensate for changes in mechanical resistance caused by temperature or wear.

[0017] In one embodiment, the method further includes: Receive and parse weather forecast information from external networks; Based on the analysis results, if rainfall is predicted to occur, the windshield wiper system will be put into standby mode before the actual rainfall occurs.

[0018] In one embodiment, the method further includes: During system operation, operational data, including the comprehensive rainfall coefficient and the target motion parameters, are continuously collected and stored. Using the runtime data, update the computational weights in the algorithm model used for the fusion operation.

[0019] In one embodiment, the method further includes: Detect the operating status of the visual sensing unit and / or the rainfall sensing unit; When a fault is detected in any sensing unit, the degradation control logic is activated. Under the degradation control logic, the drive command is regenerated based on the data provided by the remaining normally functioning sensing units.

[0020] In one embodiment, the degradation control logic includes a modal adaptive switching strategy: If only the visual sensing unit fails, the sampling frequency of the optical signal is increased, and a rainfall intensity estimation algorithm based on time series prediction is started to compensate for the lack of spatial distribution information. If only the rainfall sensing unit malfunctions, the image information is dynamically analyzed by region, with a focus on monitoring specific areas that are usually covered by raindrops first, in order to accelerate the determination of the start of rainfall. At the same time, the update frequency of the integrated control parameters is immediately reduced, and a conservative control mode based on historical data smoothing is entered until the sensing unit recovers or the system restarts.

[0021] In one embodiment, the method further includes: The comprehensive rainfall coefficient and / or the signal representing the current working status of the windshield wipers are transmitted to the vehicle's driving assistance decision unit.

[0022] In one embodiment, the driving assistance decision unit transmitted to the vehicle further includes: The curve showing the change trend of the comprehensive rainfall coefficient over time is also transmitted as a characteristic parameter representing the continuous change in visibility ahead. Additionally, a "ground slipperiness correlation coefficient" estimated based on the current wiping frequency and the rain sensor data is transmitted to the driving assistance decision unit to correct the sensitivity parameters of following distance, lane keeping assist, and automatic emergency braking.

[0023] In one embodiment, the method further includes: Obtain the actual operating feedback current of the wiper actuator; Monitor the residual water film on the windshield surface and generate a cleanliness score based on this; Using the actual working feedback current and the cleanliness score as new optimization targets, the preset parameters in the mapping function that determines the brush frequency value are adjusted iteratively in reverse.

[0024] In one embodiment, the method further includes: High-precision future weather forecasts and real-time traffic information are obtained through vehicle-to-everything (V2X) modules. When it is predicted that the driving route will encounter rainfall within a specific time window, the self-check and preheating programs of the visual sensing unit and the rain sensing unit are started in advance, and the wiper blades are adjusted to the optimal pre-wetting angle. When real-time traffic information indicates that there is a water truck operating ahead or a large waterlogged section of road, the calculation weight of the comprehensive rainfall coefficient is tilted towards the sensor data source with stronger resistance to instantaneous interference in advance, and the instantaneous high-frequency wiping mode is prepared.

[0025] This application also provides an intelligent wiper control device, including: The acquisition module is used to acquire data from the visual sensing unit, the rain sensing unit, and the attitude sensing unit in real time. The fusion module is used to perform fusion calculations on the acquired data and output the comprehensive rainfall coefficient; The determination module is used to determine the target motion parameters of the windshield wiper based on the comprehensive rainfall coefficient; The control module is used to generate drive commands based on the target motion parameters to control the wiper operation.

[0026] In one embodiment, the acquisition module includes: The first acquisition submodule is used to acquire image information reflecting the surface condition of the windshield. The second acquisition submodule is used to acquire optical signals that reflect the rainfall conditions on the windshield surface; The third acquisition submodule is used to acquire inertial measurement information that reflects the spatial attitude of the vehicle body.

[0027] In one embodiment, the apparatus further includes a data preprocessing module for: Histogram equalization and / or gamma correction are performed on the image information to compensate for the effects of changes in lighting conditions; The optical signal is subjected to median filtering to suppress transient interference pulses caused by non-raindrop particles such as insects and dust. The inertial measurement information is subjected to moving average filtering and angular velocity integral correction to separate the continuous attitude changes caused by vehicle acceleration / deceleration and road slope.

[0028] In one embodiment, the fusion module includes: The first extraction submodule is used to analyze the image information and extract the first feature value; The second extraction submodule is used to analyze the optical signal and extract the second feature value; The calculation submodule is used to calculate the comprehensive rainfall coefficient based on the first feature value and the second feature value.

[0029] In one embodiment, the computing submodule is further configured to: Receive parameters characterizing the vehicle's speed; The result of weighted calculation of the first feature value and the second feature value based on the parameters is corrected to obtain the comprehensive rainfall coefficient.

[0030] In one embodiment, the determining module includes: The determination submodule is used to determine the initial motion parameters of the windshield wipers based on the comprehensive rainfall coefficient; The compensation submodule is used to compensate and correct the initial motion parameters by combining the inertial measurement information to obtain the target motion parameters.

[0031] In one embodiment, the determining module includes: The mapping submodule is used to map the comprehensive rainfall coefficient to a preset frequency parameter range to obtain the brushing frequency value in the target motion parameters.

[0032] In one embodiment, the compensation submodule is further configured to: To obtain indicators reflecting the physical wear of wiper blades and / or the cleanliness of the windshield surface; The initial motion parameters are nonlinearly compensated based on the aforementioned indicators to determine the final target motion parameters.

[0033] In one embodiment, the control module includes: The judgment submodule is used to determine whether the vehicle's current speed is higher than a set threshold. An additional submodule is used, if the determination is yes, to generate an additional instruction while generating a drive instruction to control the wipers to operate with the target motion parameters, the additional instruction being used to increase the contact pressure between the wiper blades and the windshield.

[0034] In one embodiment, the apparatus further includes: The monitoring module is used to monitor the tilt angle of the vehicle relative to the horizontal plane. The first adjustment module is used to adjust the angle information in the drive command that defines the initial position of the wiper arm when the tilt angle exceeds a predetermined range.

[0035] In one embodiment, the device further includes a second adjustment module for: After determining that the ambient light level is below the standard threshold, the working cycle of the windshield wipers is coordinated with the working status of the vehicle's external lighting system so that the angle of the headlight beam is adjusted synchronously with the cyclic movement of the windshield wipers.

[0036] In one embodiment, the control module further includes: The control submodule is used to control the wiper actuator to drive it using an S-shaped speed curve with soft start and soft stop characteristics when the target motion parameters include low frequency or intermittent wiping requirements. The adjustment submodule is used to dynamically adjust the duty cycle of the pulse width modulation waveform driving the wiper actuator based on ambient temperature and wiper blade usage time data, in order to compensate for changes in mechanical resistance caused by temperature or wear.

[0037] In one embodiment, the apparatus further includes: The receiving module is used to receive and parse weather forecast information from external networks; The prediction module, based on the analysis results, if it predicts that rainfall is about to occur, controls the windshield wiper system to enter standby mode before the actual rainfall occurs.

[0038] In one embodiment, the apparatus further includes: The storage module is used to continuously collect and store operational data, including the comprehensive rainfall coefficient and the target motion parameters, during system operation. An update module is used to update the computational weights in the algorithm model used for the fusion operation using the runtime data.

[0039] In one embodiment, the apparatus further includes: The detection module is used to detect the working status of the visual sensing unit and / or the rainfall sensing unit; The degradation module is used to enable degradation control logic when a failure is detected in any sensing unit; The generation module is used to regenerate the drive instructions based on the data provided by the remaining normally functioning sensing units under the degradation control logic.

[0040] In one embodiment, the degradation control logic includes a modal adaptive switching strategy: If only the visual sensing unit fails, the sampling frequency of the optical signal is increased, and a rainfall intensity estimation algorithm based on time series prediction is started to compensate for the lack of spatial distribution information. If only the rainfall sensing unit malfunctions, the image information is dynamically analyzed by region, with a focus on monitoring specific areas that are usually covered by raindrops first, in order to accelerate the determination of the start of rainfall. At the same time, the update frequency of the integrated control parameters is immediately reduced, and a conservative control mode based on historical data smoothing is entered until the sensing unit recovers or the system restarts.

[0041] In one embodiment, the apparatus further includes a transmission module for: The comprehensive rainfall coefficient and / or the signal representing the current working status of the windshield wipers are transmitted to the vehicle's driving assistance decision unit.

[0042] In one embodiment, the transmission module is further configured to: The curve showing the change trend of the comprehensive rainfall coefficient over time is also transmitted as a characteristic parameter representing the continuous change in visibility ahead. Additionally, a "ground slipperiness correlation coefficient" estimated based on the current wiping frequency and the rain sensor data is transmitted to the driving assistance decision unit to correct the sensitivity parameters of following distance, lane keeping assist and automatic emergency braking.

[0043] In one embodiment, the apparatus further includes: The acquisition module is also used to acquire the actual operating feedback current of the wiper actuator; The detection module is also used to monitor the residual water film on the windshield surface and generate a cleanliness score based on it. An iterative module is used to take the actual working feedback current and the cleanliness score as new optimization targets, and iteratively adjust the preset parameters in the mapping function that determines the brushing frequency value.

[0044] In one embodiment, the apparatus further includes: The acquisition module is used to obtain high-precision future weather forecasts and real-time traffic information through the vehicle networking module; The pre-start module is used to start the self-check and preheating program of the visual sensing unit and the rain sensing unit in advance when it is predicted that the driving route will encounter rainfall within a specific time window, and to adjust the wiper blades to the optimal pre-wetting angle. The pre-start module is also used to pre-shift the calculation weight of the comprehensive rainfall coefficient to the sensor data source with stronger anti-instantaneous interference capability when real-time traffic information indicates that there is a water truck operation or a large waterlogged section ahead, and to prepare for the instantaneous high-frequency wiping mode.

[0045] This application also provides an intelligent wiper control system, including: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to implement the intelligent wiper control method as described in any of the above embodiments.

[0046] This application also provides a computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor corresponding to the intelligent wiper control system, enables the intelligent wiper control system to implement the intelligent wiper control method as described in any of the above embodiments.

[0047] This application also provides a vehicle, including: The intelligent wiper control device or intelligent wiper control system described in any of the above embodiments.

[0048] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0049] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the embodiments of the present application to explain the application and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of an intelligent wiper control method according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an intelligent wiper control device according to an embodiment of this application; Figure 3 This is a schematic diagram of the hardware structure of an intelligent wiper control system according to one embodiment of this application. Detailed Implementation

[0051] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0052] Figure 1 This is a flowchart of an intelligent wiper control method according to an embodiment of this application, such as... Figure 1 As shown, the method can be implemented as follows: S101-S104: In step S101, data from the visual sensing unit, the rain sensing unit, and the attitude sensing unit are acquired in real time. In step S102, the acquired data is fused and the comprehensive rainfall coefficient is output. In step S103, the target motion parameters of the windshield wiper are determined based on the comprehensive rainfall coefficient; In step S104, a drive command is generated based on the target motion parameters to control the wiper operation.

[0053] In this application, data is acquired in real time from a visual sensing unit, a rain sensing unit, and an attitude sensing unit. Specifically, the visual sensing unit, such as a camera installed inside the windshield, collects image information reflecting the surface condition of the windshield, including the distribution, density, and shape of raindrops. The rain sensing unit, such as an infrared scattering sensor, collects optical signals reflecting the rainfall conditions on the windshield surface, indicating the rainfall intensity. The attitude sensing unit, such as an inertial measurement unit (IMU), collects inertial measurement information reflecting the vehicle's spatial attitude in real time, such as pitch and yaw angles. Furthermore, auxiliary information such as vehicle speed, wiper blade wear status, ambient light level, and vehicle-to-everything (V2X) weather forecasts can also be acquired.

[0054] The acquired data is fused and processed to output a comprehensive rainfall coefficient.

[0055] To facilitate subsequent processing, the collected data can undergo preprocessing. For example, histogram equalization and / or gamma correction can be applied to the image information to compensate for the effects of changes in lighting conditions; median filtering can be applied to the optical signals to suppress transient interference pulses caused by non-raindrop particles such as insects and dust; and moving average filtering and angular velocity integral correction can be applied to the inertial measurement information to separate the continuous attitude changes caused by vehicle acceleration / deceleration and road slope. Then, feature values ​​of different data are extracted.

[0056] Specifically, the image information is analyzed to extract the first feature value; after preprocessing the image information from the visual sensing unit such as noise reduction, enhancement, and histogram equalization, the first feature value, such as raindrop coverage, is extracted by algorithms such as convolutional neural networks (CNN).

[0057] The optical signal is analyzed to extract a second feature value; the optical signal from the rain gauge unit is filtered (e.g., median filtering) to extract a second feature value, such as rainfall intensity.

[0058] The comprehensive rainfall coefficient is calculated based on the first and second eigenvalues. A weighted fusion model is used to calculate the weighted average of the first and second eigenvalues, yielding an initial coefficient, which can be directly used as the comprehensive rainfall coefficient.

[0059] Furthermore, to adapt to different working conditions, parameters representing vehicle speed can be received, and the initial coefficients can be corrected based on these parameters to obtain the final comprehensive rainfall coefficient. In one specific embodiment, parameters representing vehicle driving status, such as vehicle speed and pitch angle, are introduced to dynamically correct the initial coefficients, ultimately outputting a comprehensive rainfall coefficient that comprehensively reflects the actual cleaning needs.

[0060] For example, the comprehensive rainfall coefficient can be calculated using the following formula: ; in, The comprehensive rainfall coefficient, Raindrop coverage, Here, v represents the rainfall intensity value, and v represents the current vehicle speed. Maximum speed limit for vehicles. Let α be the vehicle's pitch angle, and β and γ be adaptive weights.

[0061] Assuming the vehicle is traveling at 120 km / h, the camera detects water splashed by the vehicle in front, causing the windshield to C... rain A sudden increase. Simultaneously, the optical rain sensor I... rain The value remains at 0. The fusion algorithm combines high-speed information to determine that it is transient interference rather than actual rainfall, thus avoiding triggering high-frequency wipers and preventing driving interference caused by misjudgment.

[0062] The weighting coefficients used in the weighted calculation can be preset values, or more specifically, adaptive weighting coefficients that can be dynamically updated based on historical data such as comprehensive rainfall coefficients and brush feedback continuously collected during system operation, using technologies such as machine learning.

[0063] Based on the comprehensive rainfall coefficient, the target motion parameters of the windshield wiper are determined. These target motion parameters can include target wiping frequency, wiping area, etc. In a basic embodiment, the comprehensive rainfall coefficient is mapped to a preset motion parameter range using a pre-defined mapping relationship, such as linear interpolation, to obtain initial motion parameters. For example, the comprehensive rainfall coefficient is mapped to a preset frequency parameter range to obtain the wiping frequency value in the target motion parameters. The mapping function between the comprehensive rainfall coefficient and the initial motion parameters can be iteratively optimized based on historical cleaning performance data.

[0064] The initial motion parameters can be directly used as the target motion parameters. To further improve accuracy, this method can also combine the inertial measurement information to compensate and correct the initial motion parameters to obtain the target motion parameters. For example, attitude compensation correction can be performed on the calculated initial motion parameters (such as frequency and wiping area) based on inertial measurement information (such as pitch angle θ) to compensate for the wiping blind spots caused by different attitudes. In addition, nonlinear compensation factors such as wiper blade wear and the cleanliness of the glass surface can also be considered. Specifically, indicators reflecting the physical wear of the wiper blade and / or the cleanliness of the windshield surface are obtained; nonlinear compensation is performed on the initial motion parameters based on the indicators to determine the final target motion parameters to be executed. For example, the ECU obtains the operating current of the wiper motor as actuator load feedback, and dynamically adjusts the PWM duty cycle based on ambient temperature and wiper blade usage time data to compensate for changes in mechanical resistance caused by low-temperature rubber hardening or long-term wear.

[0065] Drive commands are generated based on the target motion parameters to control the wiper operation. Specific control commands (such as PWM signals) can be generated based on the target motion parameters to drive the wiper motor to perform actions. Furthermore, this method includes several scenario-based optimized control logics: (1) High-speed scenario: Determine whether the vehicle's current speed exceeds a set threshold; if so, while generating a drive command to control the wipers to operate with the target motion parameters, generate an additional command to increase the contact pressure between the wiper blades and the windshield. For example, when the vehicle speed exceeds a preset threshold (e.g., 80 km / h), while generating the regular frequency control command, an additional command to increase the contact pressure between the wiper blades and the windshield will be generated to counteract the wiper blade lifting caused by high-speed airflow and ensure wiping quality.

[0066] (2) Slope scenario: Monitor the vehicle's tilt angle relative to the horizontal plane; when the tilt angle exceeds a predetermined range, adjust the angle information used to define the initial position of the wiper arm in the drive command. Monitor the vehicle's tilt angle (pitch angle θ) relative to the horizontal plane, and when it exceeds a predetermined range (e.g., |θ|>5°), dynamically adjust the initial position of the wiper arm or the wiping angle in the command to eliminate blind spots caused by the slope.

[0067] (3) Nighttime Scene: After determining that the ambient light level is below the standard threshold, coordinate the wiper cycle with the vehicle's external lighting system to ensure that the headlight beam angle adjusts synchronously with the wiper cycle. In low-light conditions, in conjunction with the vehicle's external lighting system, such as automatic headlights, the beam angle is finely adjusted synchronously according to the wiper cycle to improve visual effect and reduce glare caused by raindrop scattering.

[0068] (4) Start-stop scenario: When the target motion parameters include low-frequency or intermittent wiping requirements, the wiper actuator is controlled to use an S-shaped speed curve with slow start and slow stop characteristics for driving; the duty cycle of the pulse width modulation waveform driving the wiper actuator is dynamically adjusted according to the ambient temperature and wiper blade usage time data to compensate for changes in mechanical resistance caused by temperature or wear. For example, when it is necessary to start or stop wiping at low frequency / intermittent times, the motor is controlled to execute an S-shaped speed curve with slow start and slow stop characteristics to reduce mechanical shock and noise.

[0069] For example, a vehicle traveling uphill at 60 km / h in a mountainous area at night, with a pitch angle θ > 5°, is identified as entering a "slope scenario". Due to poor lighting, the camera (C)... rain The calculations contain errors, but the optical sensor provides stable I0. rain During fusion computation, the system assigns higher confidence levels to optical data. The resulting K... fusion A medium frequency is mapped. While generating the control command for this frequency, the system adjusts the wiper starting angle based on θ to avoid blind spots in the lower field of vision caused by the front of the car lifting up. At the same time, "Night Assist" is activated in conjunction with ambient light information to ensure that the headlight beam avoids the water film in the wiper swing area, reducing glare.

[0070] For example, when a vehicle is driving in a dusty environment, the camera lens may be partially obscured by dirt, causing the system to detect a decrease in image confidence. In this case, degradation logic is triggered, reducing the optical sensor I... rain The system uses the signal as the primary basis and calls upon a pre-prepared control map optimized for single sensor input to maintain a stable wiper frequency, while simultaneously sending a "Vision sensor limited, please clean the glass" message to the driver's instrument panel.

[0071] In this application, the weights of each step can be self-learned and optimized. During system operation, operational data, including the comprehensive rainfall coefficient and the target motion parameters, is continuously collected and stored. This operational data is used to update the computational weights in the algorithm model used for the fusion operation. During system operation, operational data, including initial coefficients, comprehensive rainfall coefficients, initial motion parameters, target motion parameters, actuator feedback (such as operating current), and indirect cleanliness evaluation data of the wiped glass, is continuously collected and stored. Using this operational data, the weight coefficients of the algorithm model used for the fusion operation and the parameters of the mapping function are iteratively updated, enabling the system to adapt to different vehicles, driving habits, and environmental conditions. For example, to determine the cleaning effect, the actual operating feedback current of the wiper actuator is obtained; the residual water film on the windshield surface is monitored, and a cleanliness score is generated based on this; the actual operating feedback current and the cleanliness score are used as new optimization targets, and the preset parameters in the mapping function that determines the wiping frequency value are iteratively adjusted.

[0072] To prevent damage to components such as sensors, this application includes multiple fault-tolerant mechanisms. The operating status of the visual and rainfall sensing units is monitored in real time. When either or both fail, degradation control logic is activated. Specifically, the operating status of the visual sensing unit and / or the rainfall sensing unit is monitored; when a failure of either sensing unit is detected, degradation control logic is activated; under the degradation control logic, the driving command is regenerated based on data provided by the remaining normally functioning sensing units. The degradation control logic includes a modal adaptive switching strategy: if only the visual sensing unit fails, the sampling frequency of the optical signal is increased, and a rainfall intensity estimation algorithm based on time-series prediction is activated to compensate for the lack of spatial distribution information; if only the rainfall sensing unit fails, the image information is dynamically analyzed by region, focusing on monitoring specific areas that are typically covered by raindrops first to accelerate the determination of the onset of rainfall; simultaneously, the update frequency of the comprehensive control parameters is immediately reduced, and a conservative control mode based on historical data smoothing is entered until the sensing unit recovers or the system restarts.

[0073] To improve the overall intelligence level of the vehicle, comprehensive rainfall coefficient, target motion parameters and their changing trends, and current actuator state parameters are transmitted in real time to the vehicle's driver assistance decision-making unit (such as ADAS system). Specifically, the comprehensive rainfall coefficient and / or the signal representing the current working state of the windshield wipers are transmitted to the vehicle's driver assistance decision-making unit. The trend curve of the comprehensive rainfall coefficient over time is also transmitted as a characteristic parameter representing the continuous change in forward visibility. Additionally, a "ground slipperiness correlation coefficient" estimated based on the current wiping frequency and the data from the rainfall sensor unit is transmitted to allow the driver assistance decision-making unit to correct the sensitivity parameters and safety thresholds of following distance, lane keeping assist, and automatic emergency braking, thereby improving ADAS performance in rainy conditions.

[0074] For example, when the system determines that rainfall is continuously increasing based on fused data (such as K... fusion If the rate of change exceeds a threshold, this signal can be sent to the vehicle's automatic high beam and adaptive cruise control systems as input parameters to adjust the response strategies of related functions in advance to adapt to the decrease in visibility and changes in road surface adhesion coefficient caused by rainfall.

[0075] The intelligent wipers also include predictive control functionality, receiving and analyzing weather forecast information from external networks. Based on the analysis results, if rainfall is predicted, the wiper system is put into standby mode before the actual rainfall occurs. For example, high-precision weather forecasts and real-time road condition information can be obtained through a vehicle networking module. If rainfall is predicted in the next 15 minutes, or a water truck / flooded section is detected ahead of the path, the system can be pre-adjusted to standby or ready mode, such as pre-wetting the wiper blades, preheating the sensors, and weighting the system towards specific data sources, thus shortening the response delay or requiring manual adjustment when actual rain arrives and improving the intelligence of the wipers. For example, high-precision future weather forecasts and real-time traffic information can be obtained through the vehicle networking module; when it is predicted that the driving route will encounter rainfall within a specific time window, the self-check and preheating programs of the visual sensing unit and the rainfall sensing unit are started in advance, and the wiper blades are adjusted to the optimal pre-wetting angle; when the real-time traffic information indicates that there is a sprinkler truck operating ahead or a large waterlogged section, the calculation weight of the comprehensive rainfall coefficient is tilted towards the sensor data source with stronger anti-instantaneous interference capability in advance, and the instantaneous high-frequency wiping mode is prepared.

[0076] In one embodiment of this application, the intelligent windshield wiper system comprises the following components: a main control unit, for example, employing a high-performance 32-bit microprocessor as the ECU, responsible for data aggregation, processing, decision-making, and control command issuance; it integrates vehicle network communication interfaces such as CAN or FLEXRAY for interacting with other vehicle systems. Sensors, including at least a vision sensing unit, a rain sensing unit, and an attitude sensing unit. For example, the vision sensing unit can acquire images of the forward field of view at a rate of 30 frames per second (30fps) using a camera installed on the inside of the windshield. These images are input into a trained convolutional neural network for real-time identification and quantification of raindrop density and distribution on the windshield, outputting raindrop coverage parameters. The rain sensing unit is typically installed on the upper part of the windshield, operates based on the principle of infrared scattering, acquires rainfall intensity signals on the glass surface at a frequency of 100Hz, and outputs quantitative rainfall intensity parameters. The attitude sensing unit includes an inertial measurement unit for real-time monitoring of the vehicle's pitch and yaw angles to sense whether the vehicle is going uphill, downhill, or has completed a turn. Actuators, such as a wiper mechanism driven by a brushless motor, receive commands from the vehicle's infotainment system to achieve precise, stepless control of the wiper speed and angle. It may also include a communication unit, and optionally a vehicle networking module, for retrieving detailed weather forecast information for a specific period from a cloud server.

[0077] The beneficial effects of this application are as follows: By fusing multi-source data such as visual and optical rainfall data, a comprehensive rainfall coefficient is obtained, overcoming the problems of single sensors being greatly affected by environmental interference and having a high misjudgment rate. Furthermore, the comprehensive rainfall coefficient reflects the actual impact of raindrop adhesion and sliding characteristics on vehicle driving, more accurately reflecting actual wiping needs. Then, based on the comprehensive rainfall coefficient, the target motion parameters of the wipers are determined, and drive commands are generated to control the wiper action, improving the cleaning efficiency of the windshield.

[0078] In one embodiment, step S101 can be implemented as steps A1-A3: In step A1, image information reflecting the condition of the windshield surface is acquired through a visual sensing unit; In step A2, an optical signal reflecting the rainfall conditions on the windshield surface is collected by a rain sensor unit; In step A3, inertial measurement information reflecting the spatial attitude of the vehicle body is collected in real time through the attitude sensing unit.

[0079] In one embodiment, the method prior to performing the fusion operation on the acquired data may also be implemented as the following steps B1-B3: In step B1, histogram equalization and / or gamma correction are performed on the image information to compensate for the effects of changes in lighting conditions; In step B2, the optical signal is subjected to median filtering to suppress transient interference pulses caused by non-raindrop particles such as insects and dust. In step B3, the inertial measurement information is subjected to moving average filtering and angular velocity integral correction to separate the continuous attitude changes caused by vehicle acceleration / deceleration and road slope.

[0080] In one embodiment, step S102 above can be implemented as steps C1-C3 as follows: In step C1, the image information is analyzed to extract the first feature value; In step C2, the optical signal is analyzed to extract the second feature value; In step C3, the comprehensive rainfall coefficient is calculated based on the first feature value and the second feature value.

[0081] In one embodiment, step C3 above can also be implemented as steps C31-C32: In step C31, a parameter characterizing the vehicle's speed is received; In step C32, the result obtained by weighting the first feature value and the second feature value according to the parameter is corrected to obtain the comprehensive rainfall coefficient.

[0082] In one embodiment, step S103 above can also be implemented as steps D1-D2 as follows: In step D1, the initial motion parameters of the windshield wipers are determined based on the comprehensive rainfall coefficient; In step D2, the initial motion parameters are compensated and corrected by combining the inertial measurement information to obtain the target motion parameters.

[0083] In one embodiment, step S103 above can also be implemented as step D3 as follows: In step D3, the comprehensive rainfall coefficient is mapped to a preset frequency parameter range to obtain the brushing frequency value in the target motion parameters.

[0084] In one embodiment, step D2 above can also be implemented as steps D21-D22: In step D21, indicators reflecting the physical wear of the wiper blades and / or the cleanliness of the windshield surface are obtained; In step D22, the initial motion parameters are nonlinearly compensated according to the index to determine the final target motion parameters to be executed.

[0085] In one embodiment, step S104 above can also be implemented as steps E1-E2: In step E1, it is determined whether the vehicle's current speed is higher than a set threshold. In step E2, if the determination is yes, then while generating the drive command to control the wipers to operate with the target motion parameters, an additional command is generated, which is used to increase the contact pressure between the wiper blades and the windshield.

[0086] In one embodiment, the method may also be implemented as steps F1-F2: In step F1, the tilt angle of the vehicle relative to the horizontal plane is monitored; In step F2, when the tilt angle exceeds a predetermined range, the angle information used to define the initial position of the wiper arm in the drive command is adjusted.

[0087] In one embodiment, the method may also be implemented as step F3: In step F3, after determining that the ambient light level is below the standard threshold, the working cycle of the wipers is coordinated with the working status of the vehicle's external lighting system so that the angle of the headlight beam is adjusted synchronously with the cyclic movement of the wipers.

[0088] In one embodiment, step S104 above can also be replaced by steps G1-G2: In step G1, when the target motion parameters include low-frequency or intermittent wiping requirements, the wiper actuator is controlled to be driven using an S-shaped speed curve with soft start and soft stop characteristics; In step G2, the duty cycle of the pulse width modulation waveform driving the wiper actuator is dynamically adjusted based on ambient temperature and wiper blade usage time data to compensate for changes in mechanical resistance caused by temperature or wear.

[0089] In one embodiment, the method may also be implemented as the following steps H1-H2: In step H1, weather forecast information from an external network is received and parsed; In step H2, based on the analysis results, if rainfall is predicted to occur, the wiper system is controlled to enter standby mode before the actual rainfall occurs.

[0090] In one embodiment, the method may also be implemented as follows: I1-I2: In step I1, during system operation, operational data, including the comprehensive rainfall coefficient and the target motion parameters, are continuously collected and stored; In step I2, the computational weights in the algorithm model used for the fusion operation are updated using the running data.

[0091] In one embodiment, the method may also be implemented as follows: JI-J3: In step J1, the operating status of the visual sensing unit and / or the rain sensing unit is detected; In step J2, when a fault is detected in any sensing unit, the degradation control logic is enabled; In step J3, under the degradation control logic, the drive command is regenerated based on the data provided by the remaining normally functioning sensing units.

[0092] In one embodiment, the degradation control logic includes a modal adaptive switching strategy: If only the visual sensing unit fails, the sampling frequency of the optical signal is increased, and a rainfall intensity estimation algorithm based on time series prediction is started to compensate for the lack of spatial distribution information. If only the rainfall sensing unit malfunctions, the image information is dynamically analyzed by region, with a focus on monitoring specific areas that are usually covered by raindrops first, in order to accelerate the determination of the start of rainfall. At the same time, the update frequency of the integrated control parameters is immediately reduced, and a conservative control mode based on historical data smoothing is entered until the sensing unit recovers or the system restarts.

[0093] In one embodiment, the method may also be implemented as follows: The comprehensive rainfall coefficient and / or the signal representing the current working status of the windshield wipers are transmitted to the vehicle's driving assistance decision unit.

[0094] In one embodiment, the method may also be implemented as the following steps K1-K2: In step K1, the curve of the variation trend of the comprehensive rainfall coefficient over time is also transmitted as a characteristic parameter representing the continuous change of visibility ahead. In step K2, an additional "ground slipperiness correlation coefficient" estimated based on the current brushing frequency and the rain sensor data is transmitted, so that the driving assistance decision unit can correct the sensitivity parameters of following distance, lane keeping assist and automatic emergency braking.

[0095] In one embodiment, the method may also be implemented as steps L1-L3: In step L1, the actual operating feedback current of the wiper actuator is obtained; In step L2, the residual water film on the windshield surface is monitored, and a cleanliness score is generated based on this. In step L3, the actual working feedback current and the cleanliness score are used as new optimization targets, and the preset parameters in the mapping function that determines the brushing frequency value are adjusted in reverse iteration.

[0096] In one embodiment, the method may also be implemented as steps M1-M3: In step M1, high-precision future weather forecasts and real-time traffic information are obtained through the vehicle-to-everything (V2X) module; In step M2, when it is predicted that the driving route will encounter rainfall within a specific time window, the self-check and preheating programs of the visual sensing unit and the rain sensing unit are started in advance, and the wiper blades are adjusted to the optimal pre-wetting angle. In step M3, when real-time traffic information indicates that there is a water truck operation or a large waterlogged section ahead, the calculation weight of the comprehensive rainfall coefficient is tilted towards the sensor data source with stronger anti-instantaneous interference capability in advance, and the instantaneous high-frequency wiping mode is prepared.

[0097] Figure 2 This is a schematic diagram of the structure of an intelligent wiper control device according to an embodiment of this application, as shown below. Figure 2 As shown, the device includes: The acquisition module 201 is used to acquire data from the visual sensing unit, the rain sensing unit, and the attitude sensing unit in real time. The fusion module 202 is used to perform fusion calculations on the acquired data and output the comprehensive rainfall coefficient; The determining module 203 is used to determine the target motion parameters of the windshield wiper based on the comprehensive rainfall coefficient; The control module 204 is used to generate drive commands based on the target motion parameters to control the wiper operation.

[0098] In one embodiment, the acquisition module includes: The first acquisition submodule is used to acquire image information reflecting the surface condition of the windshield. The second acquisition submodule is used to acquire optical signals that reflect the rainfall conditions on the windshield surface; The third acquisition submodule is used to acquire inertial measurement information that reflects the spatial attitude of the vehicle body.

[0099] In one embodiment, the apparatus further includes a data preprocessing module for: Histogram equalization and / or gamma correction are performed on the image information to compensate for the effects of changes in lighting conditions; The optical signal is subjected to median filtering to suppress transient interference pulses caused by non-raindrop particles such as insects and dust. The inertial measurement information is subjected to moving average filtering and angular velocity integral correction to separate the continuous attitude changes caused by vehicle acceleration / deceleration and road slope.

[0100] In one embodiment, the fusion module includes: The first extraction submodule is used to analyze the image information and extract the first feature value; The second extraction submodule is used to analyze the optical signal and extract the second feature value; The calculation submodule is used to calculate the comprehensive rainfall coefficient based on the first feature value and the second feature value.

[0101] In one embodiment, the computing submodule is further configured to: Receive parameters characterizing the vehicle's speed; The result of weighted calculation of the first feature value and the second feature value based on the parameters is corrected to obtain the comprehensive rainfall coefficient.

[0102] In one embodiment, the determining module includes: The determination submodule is used to determine the initial motion parameters of the windshield wipers based on the comprehensive rainfall coefficient; The compensation submodule is used to compensate and correct the initial motion parameters by combining the inertial measurement information to obtain the target motion parameters.

[0103] In one embodiment, the determining module includes: The mapping submodule is used to map the comprehensive rainfall coefficient to a preset frequency parameter range to obtain the brushing frequency value in the target motion parameters.

[0104] In one embodiment, the compensation submodule is further configured to: To obtain indicators reflecting the physical wear of wiper blades and / or the cleanliness of the windshield surface; The initial motion parameters are nonlinearly compensated based on the aforementioned indicators to determine the final target motion parameters.

[0105] In one embodiment, the control module includes: The judgment submodule is used to determine whether the vehicle's current speed is higher than a set threshold. An additional submodule is used, if the determination is yes, to generate an additional instruction while generating a drive instruction to control the wipers to operate with the target motion parameters, the additional instruction being used to increase the contact pressure between the wiper blades and the windshield.

[0106] In one embodiment, the apparatus further includes: The monitoring module is used to monitor the tilt angle of the vehicle relative to the horizontal plane. The first adjustment module is used to adjust the angle information in the drive command that defines the initial position of the wiper arm when the tilt angle exceeds a predetermined range.

[0107] In one embodiment, the device further includes a second adjustment module for: After determining that the ambient light level is below the standard threshold, the working cycle of the windshield wipers is coordinated with the working status of the vehicle's external lighting system so that the angle of the headlight beam is adjusted synchronously with the cyclic movement of the windshield wipers.

[0108] In one embodiment, the control module further includes: The control submodule is used to control the wiper actuator to drive it using an S-shaped speed curve with soft start and soft stop characteristics when the target motion parameters include low frequency or intermittent wiping requirements. The adjustment submodule is used to dynamically adjust the duty cycle of the pulse width modulation waveform driving the wiper actuator based on ambient temperature and wiper blade usage time data, in order to compensate for changes in mechanical resistance caused by temperature or wear.

[0109] In one embodiment, the apparatus further includes: The receiving module is used to receive and parse weather forecast information from external networks; The prediction module, based on the analysis results, if it predicts that rainfall is about to occur, controls the windshield wiper system to enter standby mode before the actual rainfall occurs.

[0110] In one embodiment, the apparatus further includes: The storage module is used to continuously collect and store operational data, including the comprehensive rainfall coefficient and the target motion parameters, during system operation. An update module is used to update the computational weights in the algorithm model used for the fusion operation using the runtime data.

[0111] In one embodiment, the apparatus further includes: The detection module is used to detect the working status of the visual sensing unit and / or the rainfall sensing unit; The degradation module is used to enable degradation control logic when a failure is detected in any sensing unit; The generation module is used to regenerate the drive instructions based on the data provided by the remaining normally functioning sensing units under the degradation control logic.

[0112] In one embodiment, the degradation control logic includes a modal adaptive switching strategy: If only the visual sensing unit fails, the sampling frequency of the optical signal is increased, and a rainfall intensity estimation algorithm based on time series prediction is started to compensate for the lack of spatial distribution information. If only the rainfall sensing unit malfunctions, the image information is dynamically analyzed by region, with a focus on monitoring specific areas that are usually covered by raindrops first, in order to accelerate the determination of the start of rainfall. At the same time, the update frequency of the integrated control parameters is immediately reduced, and a conservative control mode based on historical data smoothing is entered until the sensing unit recovers or the system restarts.

[0113] In one embodiment, the apparatus further includes a transmission module for: The comprehensive rainfall coefficient and / or the signal representing the current working status of the windshield wipers are transmitted to the vehicle's driving assistance decision unit.

[0114] In one embodiment, the transmission module is further configured to: The curve showing the change trend of the comprehensive rainfall coefficient over time is also transmitted as a characteristic parameter representing the continuous change in visibility ahead. Additionally, a "ground slipperiness correlation coefficient" estimated based on the current wiping frequency and the rain sensor data is transmitted to the driving assistance decision unit to correct the sensitivity parameters of following distance, lane keeping assist and automatic emergency braking.

[0115] In one embodiment, the apparatus further includes: The acquisition module is also used to acquire the actual operating feedback current of the wiper actuator; The detection module is also used to monitor the residual water film on the windshield surface and generate a cleanliness score based on it. An iterative module is used to take the actual working feedback current and the cleanliness score as new optimization targets, and iteratively adjust the preset parameters in the mapping function that determines the brushing frequency value.

[0116] In one embodiment, the apparatus further includes: The acquisition module is used to obtain high-precision future weather forecasts and real-time traffic information through the vehicle networking module; The pre-start module is used to start the self-check and preheating program of the visual sensing unit and the rain sensing unit in advance when it is predicted that the driving route will encounter rainfall within a specific time window, and to adjust the wiper blades to the optimal pre-wetting angle. The pre-start module is also used to pre-shift the calculation weight of the comprehensive rainfall coefficient to the sensor data source with stronger anti-instantaneous interference capability when real-time traffic information indicates that there is a water truck operation or a large waterlogged section ahead, and to prepare for the instantaneous high-frequency wiping mode.

[0117] Figure 3 This is a schematic diagram of the hardware structure of an intelligent wiper control system according to an embodiment of this application, as shown below. Figure 3As shown, the intelligent wiper control system includes: At least one processor 320; and, Memory 304 communicatively connected to the at least one processor 320; wherein, The memory 304 stores instructions that can be executed by the at least one processor 320 to implement the intelligent wiper control method described in any of the above embodiments.

[0118] Reference Figure 3 The intelligent wiper control system 300 may include one or more of the following components: a processing component 302, a memory 304, a power supply component 306, an input / output (I / O) interface 308, a sensor component 310, and a communication component 312.

[0119] The processing component 302 typically controls the overall operation of the intelligent wiper control system 300. The processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the method described above. Furthermore, the processing component 302 may include one or more modules to facilitate interaction between the processing component 302 and other components. The processor 320 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0120] Memory 304 is configured to store various types of data to support the operation of the intelligent wiper control system 300. Examples of this data include instructions for any application or method operating on the intelligent wiper control system 300. Memory 304 can be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. Memory 304 can also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the terminal device. Memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Memory 304 is used to store programs and data required by this application. Memory 304 can also be used to temporarily store data that has been output or will be output.

[0121] The power supply assembly 306 provides power to the various components of the intelligent wiper control system 300. The power supply assembly 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the intelligent wiper control system 300.

[0122] I / O interface 308 provides an interface between processing component 302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc.

[0123] The sensor assembly 310 includes one or more sensors for providing status assessments of various aspects of the intelligent wiper control system 300. Additionally, the sensor assembly 310 can detect the on / off state of the intelligent wiper control system 300, the relative positioning of components, and the operational status of the intelligent wiper control system 300 or one of its components. In some embodiments, the sensor assembly 310 may include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor, etc.

[0124] Communication component 312 is configured to enable the intelligent wiper control system 300 to provide wired or wireless communication capabilities with other devices and cloud platforms. The intelligent wiper control system 300 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 312 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 312 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0125] In an exemplary embodiment, the intelligent wiper control system 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the intelligent wiper control method described in any of the above embodiments.

[0126] This application also provides a computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor corresponding to the intelligent wiper control system, enables the intelligent wiper control system to implement the intelligent wiper control method as described in any of the above embodiments.

[0127] This application also provides a vehicle including the intelligent wiper control device or intelligent wiper control system described in any of the above embodiments.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A smart wiper control method, characterized in that, include: Real-time acquisition of data from the visual sensing unit, rainfall sensing unit, and attitude sensing unit; The acquired data is fused and processed to output a comprehensive rainfall coefficient. Based on the comprehensive rainfall coefficient, the target motion parameters of the windshield wiper are determined; Drive commands are generated based on the target motion parameters to control the wiper operation.

2. The method according to claim 1, characterized in that, The real-time acquisition of data from the visual sensing unit, the rainfall sensing unit, and the attitude sensing unit includes: Collect image information reflecting the surface condition of the windshield; Collect optical signals reflecting rainfall conditions on the windshield surface; Collect inertial measurement information reflecting the spatial attitude of the vehicle.

3. The method according to claim 1, characterized in that, The acquired data is fused and processed to output a comprehensive rainfall coefficient, including: The image information is analyzed to extract the first feature value; The optical signal is analyzed to extract the second feature value; The comprehensive rainfall coefficient is calculated based on the first feature value and the second feature value.

4. The method according to claim 3, characterized in that, The calculation of the comprehensive rainfall coefficient based on the first feature value and the second feature value includes: Receive parameters characterizing the vehicle's speed; The result of weighted calculation of the first feature value and the second feature value based on the parameters is corrected to obtain the comprehensive rainfall coefficient.

5. The method according to claim 1, characterized in that, The determination of the target motion parameters of the windshield wipers based on the comprehensive rainfall coefficient includes: The comprehensive rainfall coefficient is mapped to a preset frequency parameter range to obtain the brushing frequency value in the target motion parameters.

6. The method according to claim 1, characterized in that, The step of generating drive commands based on the target motion parameters to control the wiper action includes: Determine if the vehicle's current speed exceeds a set threshold; If the determination is yes, then while generating the drive command to control the wipers to operate with the target motion parameters, an additional command is generated, which is used to increase the contact pressure between the wiper blades and the windshield.

7. The method according to claim 1, characterized in that, The method further includes: Monitor the vehicle's tilt angle relative to the horizontal plane; When the tilt angle exceeds the predetermined range, the angle information used to define the initial position of the wiper arm in the drive command is adjusted.

8. The method according to claim 1, characterized in that, The method further includes: After determining that the ambient light level is below the standard threshold, the working cycle of the windshield wipers is coordinated with the working status of the vehicle's external lighting system so that the angle of the headlight beam is adjusted synchronously with the cyclic movement of the windshield wipers.

9. The method according to claim 1, characterized in that, The method further includes: Receive and parse weather forecast information from external networks; Based on the analysis results, if rainfall is predicted to occur, the windshield wiper system will be put into standby mode before the actual rainfall occurs.

10. The method according to claim 1, characterized in that, The method further includes: During system operation, operational data, including the comprehensive rainfall coefficient and the target motion parameters, are continuously collected and stored. Using the runtime data, update the computational weights in the algorithm model used for the fusion operation.

11. The method according to claim 1, characterized in that, The method further includes: Detect the operating status of the visual sensing unit and / or the rainfall sensing unit; When a fault is detected in any sensing unit, the degradation control logic is activated. Under the degradation control logic, the drive command is regenerated based on the data provided by the remaining normally functioning sensing units.

12. A smart wiper control device, characterized in that, include: The acquisition module is used to acquire data from the visual sensing unit, the rain sensing unit, and the attitude sensing unit in real time. The fusion module is used to perform fusion calculations on the acquired data and output the comprehensive rainfall coefficient; The determination module is used to determine the target motion parameters of the windshield wiper based on the comprehensive rainfall coefficient; The control module is used to generate drive commands based on the target motion parameters to control the wiper operation.

13. An intelligent wiper control system, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to implement the intelligent wiper control method as described in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor corresponding to the intelligent wiper control system, the intelligent wiper control system is able to implement the intelligent wiper control method as described in any one of claims 1-11.

15. A vehicle, characterized in that, include: The intelligent wiper control device as described in claim 12; or The intelligent wiper control system as described in claim 13.

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