A wiper control method and vehicle

Abstract

This application discloses a windshield wiper control method and a vehicle, relating to the field of vehicle control technology. By acquiring real-time windshield wiper operating status information and proactively determining whether the wipers are in or about to enter a vulnerable operating state based on this information, it achieves pre-identification and proactive intervention of potential wiper damage risks. Upon determining that the wipers are currently in or about to enter a vulnerable operating state, a damage prevention control command is generated and executed, preventing hardware damage problems such as motor overload burnout, linkage mechanism deformation and jamming, and dry wiping wear of the wiper blades from the source, significantly extending the service life of the wiper's core components. Furthermore, because the damage prevention mechanism is dynamically triggered based on real-time operating status, rather than relying on the driver's passive observation or external environmental perception, it effectively reduces the safety hazard of obstructed driving visibility due to sudden wiper malfunctions, improving driving safety.

Description

Technical Field

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

[0002] With the development of intelligent automotive technology, the application rate of automatic car wash scenarios is increasing, and the demand for windshield wiper management during the car wash process is also growing.

[0003] In vehicle washing scenarios, whether it's a fully automated tunnel car wash or a high-pressure manual car wash, the demands for automated vehicle management are becoming increasingly sophisticated and scenario-specific. As a key actuator ensuring driver visibility and driving safety, the rationality of the windshield wiper system's control logic in car washing scenarios directly impacts the integrity of the vehicle's hardware and maintenance costs.

[0004] Existing wiper control schemes are prone to causing damage to hardware structures such as wiper motors, linkages, or rubber strips, posing safety hazards. Summary of the Invention

[0005] In view of the above problems, this application provides a windshield wiper control method and vehicle to reduce the risk of hardware damage and safety hazards caused by accidental activation of the physical lever or mechanical interference in car wash scenarios, while ensuring the anti-sticking effect of the wipers. The specific solution is as follows:

[0006] The first aspect of this application provides a windshield wiper control method, comprising:

[0007] Obtain the operating status information of the windshield wipers;

[0008] Based on the operating status information, determine whether the wipers meet the damage prevention control activation conditions; the damage prevention control activation conditions indicate that the wipers are currently in or about to enter a vulnerable operating state.

[0009] If the conditions for triggering loss prevention control are met, a loss prevention control command is generated and sent to the windshield wipers.

[0010] In one possible implementation, determining whether the windshield wipers meet the damage prevention control activation conditions based on operational status information includes:

[0011] Based on the real-time attitude information and custom configuration information included in the operating status information, it is determined whether the motion trajectory of the windshield wiper meets the preset conditions for the operating trajectory.

[0012] In one possible implementation, determining whether the wiper's movement trajectory meets preset conditions includes:

[0013] Determine whether the windshield wipers are executing the preset operating trajectory within the preset range.

[0014] In one possible implementation, the operating status information of the windshield wipers is obtained, including:

[0015] Obtain real-time attitude information and custom configuration information of the windshield wipers.

[0016] In one possible implementation, real-time attitude information and custom configuration information of the windshield wipers are obtained, including:

[0017] Real-time posture information is obtained through data displayed on the human-computer interaction interface;

[0018] Responding to user interactions on the human-computer interface, custom configuration information is obtained based on the interactions.

[0019] In one possible implementation, real-time posture information is obtained through data displayed on the human-computer interaction interface, including:

[0020] Obtain the operating feedback signal of the wiper motor;

[0021] The operation feedback signal is processed to obtain the operating status parameter set of the wiper, which is the real-time attitude information; the operating status parameter set includes at least the wiper's position information, movement speed information, and stop status information.

[0022] In one possible implementation, custom configuration information is obtained based on interactive operations, including:

[0023] Generate interactive operation information based on the interactive operation;

[0024] Retrieve custom configuration information corresponding to interactive operation information at a preset frequency.

[0025] In one possible implementation, determining whether the windshield wipers are executing a preset trajectory within a preset range includes:

[0026] Based on the wiper position detection data acquired within a preset time window, the current motion mode of the wiper is determined;

[0027] Based on the preset damage prevention action feature information, a reference motion pattern matching the current state of the wiper is obtained. The reference motion pattern is used to characterize the expected motion features of the wiper as it moves from its current position to the safety boundary.

[0028] Determine the degree of matching between the current motion pattern and the reference motion pattern;

[0029] Determine whether the matching degree meets the preset judgment conditions;

[0030] If the matching degree meets the preset judgment conditions, it is determined that the wiper is executing the preset running trajectory within the preset range;

[0031] If the matching degree does not meet the preset judgment conditions, it is determined that the wiper has not executed the preset running trajectory within the preset range.

[0032] In one possible implementation, loss prevention control instructions are generated, including:

[0033] Obtain the real-time load parameters and preset load limits of the wiper drive motor;

[0034] The rate of change of configuration information is determined based on the user's operation rate through the human-computer interaction interface.

[0035] Based on the rate of change of configuration information, determine the action time required for the windshield wipers to move from their current position to the safety boundary;

[0036] Based on the action time, determine the drive control parameters required to adjust the wipers from the current operating state to the safe operating boundary state. The drive control parameters include at least: action trigger time, drive power level, and action duration.

[0037] Based on the drive control parameters, damage prevention control commands are generated.

[0038] A second aspect of this application provides a vehicle, including a central control screen, windshield wipers, and an in-vehicle controller;

[0039] The vehicle controller is used to implement the wiper control method of the first aspect or any implementation thereof.

[0040] By employing the aforementioned technical solution, the wiper control method and vehicle provided in this application, applied to an onboard controller, acquire real-time wiper operating status information and proactively determine whether the wipers are in or about to enter a vulnerable operating state based on this information. This achieves pre-identification and proactive intervention of potential wiper damage risks. Upon determining that the wipers are currently in or about to enter a vulnerable operating state, a damage prevention control command is generated and executed, preventing hardware damage issues such as motor overload burnout, linkage mechanism deformation and jamming, and dry wiping wear of the wiper blades from the source, significantly extending the service life of the wiper's core components. Furthermore, because the damage prevention mechanism is dynamically triggered based on real-time operating status, rather than relying on the driver's passive observation or external environmental perception, it effectively reduces the safety hazard of obstructed driving visibility due to sudden wiper malfunctions, improving driving safety. Attached Figure Description

[0041] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0042] Figure 1 This is a flowchart illustrating a wiper control method provided in this application. Detailed Implementation

[0043] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0044] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0045] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0046] Existing windshield wiper control methods are based on a physical interaction control mode. This mode uses a physical lever or rain sensor to collect operating commands or rain information, driving the wipers to oscillate according to a preset trajectory and frequency, thereby achieving a series of functions for wiping the windshield. This control mode has several problems: First, the high-pressure water jets or foam from car wash machines can easily trigger the rain sensor, causing the wipers to oscillate at full width, which in turn can cause mechanical interference with the rotating brushes of the car wash machine, resulting in the wiper linkage breaking or the motor burning out. Second, if the user accidentally touches the physical lever, the wipers will start when the car wash equipment is in contact with the windshield, causing serious hardware damage. Third, if the vehicle has not been washed for a long time, the wiper blades can easily stick to the glass. If the wiper operation is completely stopped during a car wash, it is impossible to remove the sticking by micro-motion; if it is started at full width, the blades will be torn.

[0047] Specifically, in existing technologies, users primarily control the windshield wipers by operating a physical lever behind the steering wheel or by relying on the automatic sensing function of a rain sensor. For example, when entering an automatic car wash, users typically need to manually confirm that the wipers are off to avoid accidental activation during the wash process. However, considering that physical levers are prone to accidental activation when subjected to high-pressure water jets or brush contact during car washes, and that existing central control displays lack direct intervention authority and real-time attitude feedback for the wiper mechanism, there is a risk that the wipers may force full-range swing when the rubber strips are stuck or obstructed, potentially leading to motor burnout or mechanical linkage breakage.

[0048] For users in automatic car washes or high-pressure washing environments, the lack of awareness of the current adhesion status of the wiper blades and their real-time spatial relationship with the external car wash equipment can easily lead to accidental activation of the physical lever or forced full-range oscillation of the wipers due to the adhesion of the blades. This can result in potential damage to the wiper motor, linkage, or blades, posing a safety hazard. To address these issues, this application provides a wiper control method and a vehicle.

[0049] See Figure 1 This application provides a schematic flowchart of a windshield wiper control method.

[0050] The wiper control method provided in this application is applied to a vehicle controller, specifically an on-board controller in a wiper control system. The wiper control system also includes at least a central control screen and a wiper actuator.

[0051] The central control screen is an in-vehicle interactive terminal, such as a large-size touch screen or a smart cockpit display system.

[0052] Specifically, the vehicle's onboard controller can connect to the wiper motor controller via the vehicle's CAN (Controller Area Network) bus or vehicle Ethernet to achieve data communication, without being limited by physical lever positions. During communication, the encoder inside the wiper can send the absolute position information of the wiper arm (such as angular coordinates) to the onboard controller in real time, and the onboard controller can also send precise control commands to the wiper, such as anti-sticking micro-motion control commands.

[0053] For example, the vehicle controller analyzes historical data on wiper operation to summarize the resistance characteristics or movement patterns of the wipers under different car wash environments. For instance, in a low-temperature car wash scenario, the wiper blades will adhere to the glass near the stop position, significantly increasing the peak resistance. Each specific touch trajectory is mapped to a car wash environment; that is, the safe micro-motion range defined by the user on the central control screen is considered a car wash environment configuration. The user-defined swing amplitude in this configuration is used as the coordinate information of the safe activity area, and the touch dwell time or sliding speed is used as the anti-adhesion micro-motion frequency parameter, enabling precise control of the subsequent wiper posture. Based on this, at least one control strategy is derived from historical data, and the corresponding parameters of the control strategy, such as safe coordinates, micro-motion step size, and motor torque threshold, can be used as trigger parameters and stored in the vehicle controller's repository.

[0054] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0055] Based on this, before activating the anti-adhesion logic, the vehicle controller can ask the central control screen whether to enable the car wash mode management. If the vehicle controller receives confirmation from the central control screen, it acquires real-time sensor data and enters the car wash monitoring state. Furthermore, the central control screen uses a digital twin rendering engine, 3D modeling technology, and posture synchronization algorithms to display the relative positional relationship between the windshield wipers and the vehicle body to the user.

[0056] like Figure 1 As shown, the wiper control method includes the following steps:

[0057] Step 101: Obtain the operating status information of the windshield wipers.

[0058] It should be noted that the operating status information is a multi-dimensional data set reflecting the current physical behavior of the wipers and their interaction with the environment, rather than a single on / off signal. For example, this information may include real-time feedback parameters of the wiper motor, such as encoder position, operating current, and output torque; the movement speed and acceleration of the wiper arm; and environmental correlation data obtained through onboard sensors or human-machine interface.

[0059] Specifically, the windshield wiper operating status information includes real-time attitude information and custom configuration information, both of which need to be obtained from the central control screen.

[0060] The central control screen is the core control and safety monitoring terminal for the vehicle in car wash mode. It integrates three core functions: digital twin, real-time data visualization, and proactive safety warning. By creating a digital twin model that precisely corresponds to the physical entity of the windshield, also known as a 3D perspective model, it achieves transparent management of the status of the wiper control system and the external car wash equipment environment, thereby eliminating blind spots for users, preventing interference and damage, and ensuring the safety of the car wash process.

[0061] The real-time attitude information of the windshield wipers includes, but is not limited to, the real-time angle, stopping position, and movement trend of the wiper arms. This information is primarily determined based on the digital twin rendering data displayed on the central control screen at the current moment. This digital twin rendering data mainly includes the precise pose and motion state data of the wiper arms, visualization information on interference risks from the external environment, and core system operating parameters. Specifically, the precise pose and motion state data of the wiper arms are used to determine the real-time attitude information of the wipers. This data primarily originates from the wiper motor encoder. The rendering content on the central control screen is a real-time, precise drawing of the absolute angle and specific stopping position of the wiper arms on a 3D perspective model, as well as the instantaneous movement direction and trend clearly displayed through animated arrows or trajectories.

[0062] In addition, the visualization information on the external environment interference risk included in the digital twin rendering data on the central control screen at the current moment mainly comes from the real-time images of the forward-view camera. After being processed by machine vision algorithms, the rendering content on the central control screen can be: the outlines of car wash equipment such as high-pressure water gun nozzles and rotating roller brushes, which are identified by machine vision algorithms, are superimposed and registered on the corresponding spatial positions of the 3D perspective model in the form of bright and semi-transparent warning areas, intuitively indicating potential collision or interference areas with virtual wiper arms, etc.

[0063] The core operating parameters of the system included in the digital twin rendering data on the central control screen at the current moment mainly come from the motor controller, resistance estimation algorithm, and system timer. The rendering content on the central control screen can be: dynamically refreshed display of the current motor output torque value on the status parameter panel, the estimated resistance system between the wiper blade and the glass, and the countdown for the next wiper micro-adjustment calculated according to preset logic, etc.

[0064] In addition, one of the scenario triggering conditions in a specific embodiment of this application can be that the car wash mode is turned on.

[0065] Next, we will introduce the process of obtaining custom configuration information.

[0066] Optionally, in response to user interaction on the human-computer interaction interface, custom configuration information can be obtained based on the interaction.

[0067] Specifically, the system monitors user touch operations on the digital twin model rendered on the central control screen, generates interactive operation information in response to touch operations, and retrieves custom configuration information corresponding to the interactive operation information at a preset frequency when the touch operation meets preset interaction conditions.

[0068] It should be noted that the preset interaction conditions are used to determine whether the user has drawn a reasonable electronic fence on the central control screen, in order to prevent accidental touches that could cause the wipers to exceed the safe area. For example, if the area drawn by the user exceeds the mechanical limit of the wipers, then such movement is impossible.

[0069] The appropriate electronic fence is defined by the user through touch operation on a 3D perspective model rendered on the central control screen. Specifically, the user can drag the left and right boundary sliders on the 3D perspective model rendered on the central control screen, like pulling a curtain, or simply circle the area where the wipers are desired to operate with their finger. The appropriate electronic fence circled by the user will be displayed as a green area on the central control screen. This area will be recognized by the wiper control system as the only area where the wipers are allowed to move. All other areas outside this area will be locked as absolute no-go zones. Regardless of external interference, the wipers will not move outside the green zone. This control logic completely prevents the wipers from hitting the car wash nozzles or body parts.

[0070] The coordinate information of this reasonable electronic fence is the same as the coordinate information of the safe activity area included in the control strategy. Furthermore, the anti-adhesion micro-motion frequency parameters corresponding to the coordinate information of the safe activity area included in the control strategy are also determined based on the user's touch operations on the 3D perspective model rendered on the central control screen.

[0071] Specifically, users can slide the progress bar at the bottom of the screen left and right, similar to adjusting the volume, to change the anti-sticking micro-motion frequency parameters of the wipers in real time, such as the rest period and oscillation amplitude. These parameters can be flexibly customized according to the actual situation. For example, when the foam is thick, the frequency can be increased to prevent sticking, and when the temperature is low, the amplitude can be decreased to prevent freezing and tearing. The entire adjustment process is synchronized with the simulation animation played on the central control screen, allowing users to anticipate the wiper's movement rhythm before they even start adjusting.

[0072] Correspondingly, the custom configuration information generated by the central control screen includes the coordinate information of the safe activity area and the configuration information of the anti-adhesion micro-motion frequency parameters corresponding to the coordinate information of the safe activity area.

[0073] Next, we will continue to introduce the preset interaction conditions. In one possible implementation, the preset interaction conditions are set from the dimensions of pixel displacement and loop closure. The preset interaction conditions can be: the sliding displacement generated by the touch operation exceeds the first preset pixel value, or the closed loop area of ​​the touch operation does not exceed the second preset area value.

[0074] The first preset pixel value and the second preset area value can be determined based on the scaling ratio of the 3D perspective model. Optionally, a sliding displacement value generated by touch operation exceeding the first preset pixel value corresponds to a situation where the user has performed an effective flicking or marking operation on the virtual wiper; a closed loop area generated by touch operation not exceeding the second preset area value corresponds to a situation where the user-defined safe micro-motion range is within a controllable and non-full-range local area. Therefore, the two preset interaction conditions not only take into account the user's needs for cleaning different parts, but also do not necessarily require the wiper to remain in a fixed position, improving the interaction flexibility in car wash mode.

[0075] Specifically, the vehicle controller periodically polls the central control screen at preset time intervals to obtain currently active custom configuration information. This information includes the coordinates of the safe activity area defined by the user through the digital twin interface on the central control screen, and the corresponding anti-adhesion micro-motion frequency parameters. The preset time interval is 2 seconds. The vehicle controller sends a query command to the central control screen every 2 seconds. For example, if the user has defined the coordinates of a safe activity area from 30° to 120° on the digital twin interface by dragging a slider with their finger, and set the anti-adhesion micro-motion frequency parameter to activate once every 45 seconds, the controller obtains the data packet during the polling and controls the wipers to perform low-frequency micro-motions within the specified angle range based on this configuration information to prevent the wipers from sticking together.

[0076] In addition, if the current touch operation does not meet any of the above preset interaction conditions, it is proven that the current touch operation is a mis-touch or invalid setting, and the current control strategy is canceled. Specifically, the anti-sticking micro-motion corresponding to the control strategy can be canceled.

[0077] Under the condition that the preset interaction conditions are met, a micro-motion sequence can be initially generated. However, considering that the real-time interference position of the car wash brush is random, and even if the wiper is currently in a safe position, the subsequent sudden change in motor resistance may lead to errors in the execution judgment, resulting in problems such as wiper motor burnout or mechanical impact.

[0078] Based on the above considerations, this embodiment of the application, in addition to mode triggering and touch interaction, combines the real-time resistance feedback from the wiper actuator with the encoder trajectory to jointly determine whether to drive the wiper to perform micro-motion. It is understood that the encoder uploads position pulses at a certain frequency, and in car wash mode, the wiper displacement is extremely subtle. Therefore, it is necessary to acquire a large amount of position information in a short time to identify the real-time movement trajectory of the wiper and determine whether the wiper is operating safely within a preset electronic fence. Based on this, the vehicle controller can also respond to the detection of the car wash mode being activated by increasing the frequency of reading encoder data from the CAN bus, enabling control feedback to be completed within milliseconds.

[0079] In summary, this embodiment, by comprehensively collecting the above information, breaks through the limitations of traditional control that relies solely on rain sensors or lever settings, providing a detailed data foundation for subsequent accurate identification of potential risks, and enabling the system to perceive the actual force state and movement trend of the wipers.

[0080] Step 102: Determine whether the wipers meet the damage prevention control activation conditions based on the operating status information; the damage prevention control activation conditions indicate that the wipers are currently in or about to enter a vulnerable operating state.

[0081] It should be noted that the damage prevention control activation condition is a functional overarching concept designed to cover all risk situations that may lead to mechanical damage to the wipers or motor overload, rather than being limited to a specific trigger source.

[0082] For example, vulnerable operating conditions may include, but are not limited to: adhesive strips sticking to the glass due to dried car wash foam or freezing at low temperatures; mechanical jamming caused by obstruction by foreign objects or deformation of connecting rods; and unexpected high-speed oscillation caused by high-pressure water jet impact or accidental human intervention. This condition also includes a predictive assessment of risk; that is, when an abnormal movement trend is detected, such as a sudden change in acceleration but no change in position, it is determined that the device is about to enter a vulnerable state, even if no substantial damage has yet occurred.

[0083] Optionally, based on real-time attitude information and custom configuration information, it can be determined whether the wiper's movement trajectory meets the damage prevention control activation conditions. Specifically, it can be determined whether the wiper's movement trajectory meets preset conditions, that is, whether the wiper executes a preset running trajectory within a preset range.

[0084] It should be noted that the motion trajectory that meets the preset conditions is used to characterize the wiper actuator performing anti-adhesion micro-motion within the preset range. The preset range can specifically be a preset electronic fence. For example, the coordinate points of the motion trajectory are all within the safe coordinate system defined by the user; the motion slope of the motion trajectory meets the motor current limiting law; the predicted running time determined based on the motion trajectory is within the safe cycle range, etc.

[0085] This step is mainly to determine whether there is a risk of the windshield wipers getting stuck by the car wash equipment or exceeding the safety boundary. If they are within the safe trajectory, the anti-sticking command is actually triggered, driving the motor; if there is a risk of interference, the execution is canceled to avoid the motor from stalling and burning out.

[0086] Optionally, based on the wiper position detection data acquired within a preset time window, the current motion mode of the wiper is determined; according to preset damage prevention action characteristic information, a reference motion mode matching the current state of the wiper is acquired, the reference motion mode being used to characterize the expected motion characteristics corresponding to the wiper moving from its current position to the safety boundary; the degree of matching between the current motion mode and the reference motion mode is determined; it is determined whether the degree of matching meets preset judgment conditions; if the degree of matching meets the preset judgment conditions, it is determined that the wiper is executing a preset running trajectory within a preset range; if the degree of matching does not meet the preset judgment conditions, it is determined that the wiper is not executing a preset running trajectory within a preset range.

[0087] Specifically, based on the encoder's position information within a preset time range, the wiper's motion trajectory is determined. According to the defined safe activity area coordinates and real-time attitude information in the configuration information, a reference motion trajectory is obtained from historical data. This reference trajectory is the path of the wiper moving from its current stopping position to the boundary of the safe area. The similarity between the wiper's motion trajectory and the reference trajectory is determined, and it is judged whether the similarity meets a preset threshold. If the similarity meets the preset threshold, the wiper's motion trajectory is considered to meet the preset conditions; otherwise, it is considered to not meet the preset conditions.

[0088] Furthermore, the encoder continuously samples its positions within a preset time period, performs coordinate processing and smoothing, and generates a windshield wiper's actual motion trajectory curve composed of time-series position points. Based on the windshield wiper's current real-time stop position and the preset safe zone boundary coordinates, the historical trajectory marked as safe under the same starting position and target boundary conditions is retrieved from the historical operation database as a reference motion trajectory curve.

[0089] Then, the actual motion trajectory curve and the reference motion trajectory curve are normalized. A dynamic time warping algorithm can also be used to address the differences in time scale between the two curves. The shape similarity and directional trend similarity between the two trajectory curves are calculated, and these two similarities are weighted and fused to obtain a comprehensive similarity score ranging from [0,1].

[0090] The calculated overall similarity score is compared with a preset threshold. If it is greater than or equal to the preset threshold, the current actual movement trajectory curve of the wiper is determined to be a trajectory that meets the preset conditions, that is, the movement conforms to the expected safe mode. If it is less than the preset threshold, the current actual movement trajectory curve of the wiper is determined to be a trajectory that does not meet the preset conditions, which is an abnormal movement mode and may deviate from the safe path.

[0091] It should be noted that the trajectory determination here includes not only the determination of spatial overlap, but also the determination of velocity vectors. For example, if the reference trajectory requires slow and uniform movement, but the actual trajectory detects violent displacement caused by external water flow, it is determined that the preset conditions are not met.

[0092] Step 103: If the conditions for starting the damage prevention control are met, generate a damage prevention control command and send the command to the windshield wipers.

[0093] It should be noted that the loss prevention control command is a control strategy dynamically generated based on the specific type and severity of the current vulnerability state, rather than a fixed shutdown command.

[0094] For example, to address a slight risk of sticking, the instruction could be to reduce the drive power and perform small reciprocating micro-motions to attempt to release the sticking; to address a severe risk of jamming or accidental activation, the instruction could be to immediately cut off the drive output or apply reverse braking torque; and to address a risk of impending overshoot, the instruction could be to adjust the target stop position or limit the maximum speed.

[0095] By encapsulating diverse protection strategies into standardized control commands and sending them to the wiper drive, this embodiment achieves differentiated and precise handling of different risk scenarios. This avoids the abrupt impact on the user's vision caused by a one-size-fits-all emergency stop, while ensuring the absolute safety of the device itself under extreme conditions.

[0096] Specifically, when it is determined that the wiper meets both the preset interaction conditions and the preset motion trajectory conditions, the anti-adhesion logic is triggered safely. Based on the micro-motion frequency defined by the user or the micro-motion step size recommended by the system based on historical data, a drive command for the wiper motor is generated and sent to the actuator.

[0097] Optionally, the real-time load parameters and preset load limits of the wiper drive motor are obtained; the rate of change of configuration information is determined based on the operation rate of the user through the human-machine interface; the action time required for the wiper to move from the current position to the safety boundary is determined based on the rate of change of configuration information; the drive control parameters required to adjust the wiper from the current operating state to the safe operating boundary state are determined based on the action time, and the drive control parameters include at least: action trigger time, drive power level and action duration; and damage prevention control commands are generated based on the drive control parameters.

[0098] Specifically, the process involves acquiring real-time motor torque and a preset torque threshold, determining the adjustment speed of the custom configuration information based on the swiping speed of the touch operation, determining the swing time for the wiper to move from its current stop position to the boundary of the safe zone based on the adjustment speed, determining the motor parameters that will adjust the wiper posture from the real-time posture information to the coordinate information of the safe activity zone within the swing time, and finally generating wiper control commands based on the motor parameters. The motor parameters include at least: micro-motion trigger time, motor current level, and rotation duration.

[0099] For example, the real-time torque value fed back by the motor driver is read and compared with a preset safe torque threshold. The user's sliding operation on the central control screen is captured, the sliding speed is calculated, and the sliding speed is converted into the adjustment speed of configuration information through a preset mapping relationship, wherein the adjustment speed is positively correlated with the sliding speed.

[0100] Based on the calculated adjustment speed, and combined with the angle difference between the current stop position of the wiper and the boundary of the target safe area, the theoretical swing time required for the wiper to complete this movement is calculated. The calculation formula can be: Swing time = Angle difference / Adjustment speed.

[0101] Within a defined swing time, plan how to smoothly drive the wipers from their real-time posture to a safe position, and calculate specific motor control parameters such as micro-motion trigger time, motor current setting, and rotation duration.

[0102] The micro-motion trigger time can be dynamically adjusted based on how close the real-time torque is to the threshold. If the real-time torque is close to the threshold, the micro-motion trigger time is extended to reduce the starting shock; otherwise, the default value is used.

[0103] The motor current setting can be derived from the required driving angle, load, and oscillation time to determine the required average torque and map it to the corresponding motor current setting. This setting must ensure that the operating torque is always below the safety threshold.

[0104] The rotation duration is calculated by subtracting the total micro-motion triggering time from the oscillation time, which is the duration for which the motor maintains an effective rotation state.

[0105] Finally, the calculated parameters such as micro-motion trigger time, motor current level, and rotation duration are encapsulated into specific wiper control commands according to a preset instruction format and sent to the motor control machine for execution.

[0106] In summary, the wiper control method provided in this application acquires the real-time operating status information of the wipers and proactively determines whether the wipers are in or about to enter a vulnerable operating state based on this information. This enables the pre-identification and proactive intervention of potential wiper damage risks. Upon determining that the wipers are currently in or about to enter a vulnerable operating state, a damage prevention control command is generated and executed. This prevents hardware damage problems such as motor overload burnout, linkage mechanism deformation and jamming, and dry wiping wear of the wiper blades from the source, significantly extending the service life of the wiper's core components. Furthermore, because the damage prevention mechanism is dynamically triggered based on real-time operating status, rather than relying on the driver's passive observation or external environmental perception, it effectively reduces the safety hazard of obstructed driving visibility due to sudden wiper malfunctions, thus improving driving safety.

[0107] In one possible implementation, the process of obtaining the control policy includes:

[0108] The system acquires historical operating data of the wiper actuator, which includes at least: real-time position information uploaded by the encoder at preset intervals, and the trigger time and resistance peak value for each high-resistance state detected. Events with identical trigger times and resistance peak values ​​are categorized as a resistance anomaly. The frequency of occurrence of resistance anomalies in the historical operating data is statistically analyzed. If the frequency exceeds a preset frequency, a reference motion trajectory of the wiper actuator before the high-resistance state is triggered is determined based on the real-time position information. A recommended micro-motion step size for the wiper actuator is determined based on the reference motion trajectory. The position information corresponding to the recommended micro-motion step size and the upload time of the position information are used as the coordinate information of the safe activity area and the corresponding anti-adhesion micro-motion frequency parameter in the control strategy, respectively.

[0109] The historical operating data can be specifically divided into position trajectory data and resistance current data. Position trajectory data can include at least: encoder feedback pulse coordinates, oscillation angular velocity, and historical stopping points; resistance current data can include at least: motor sampling current, Hall sensor output value, and torque feedback.

[0110] Each sudden current change caused by adhesive strip adhesion is considered a resistance event. Each event corresponds to a triggering position and a resistance value. For example, if the current reaches a threshold when the wiper is activated in the stopped position, this is considered an abnormal resistance state. In this embodiment, if the frequency of the same abnormal state exceeds a preset number, such as more than 10 times, the system considers that the position is prone to adhesion and includes it in the car wash protection strategy library. Furthermore, the reference motion trajectory before the abnormality is triggered is analyzed to deduce a minimum displacement that can break the adhesion without causing overload.

[0111] In another possible implementation, after generating the final strategy, the process further includes: sending the control strategy to the central control screen; in response to receiving confirmation information from the central control screen regarding the control strategy, storing the control strategy in the car wash mode parameter library; in response to receiving modification information from the central control screen regarding the control strategy, modifying the control strategy to obtain the modified control strategy, and storing the modified control strategy.

[0112] Understandably, while the historical analysis process is automated, the user retains the final decision-making power due to the varying geometries of car wash equipment (e.g., some car wash machines have lower swing arms). The system overlays recommended "safety activity fences" as a semi-transparent layer onto the digital twin wiper model, which the user can adjust by dragging with their finger. Based on the user's confirmation or modification, the adjusted parameters are confirmed as the production parameters for that specific car wash scenario, improving the user experience.

[0113] Based on the first embodiment described above, this embodiment further refines the specific logic for determining the activation conditions of loss prevention control, serving as the second embodiment.

[0114] Specifically, the system determines whether the windshield wipers meet the conditions for triggering damage prevention control based on operational status information, including:

[0115] Based on the real-time attitude information and custom configuration information included in the operating status information, it is determined whether the motion trajectory of the windshield wiper meets the preset conditions for the operating trajectory.

[0116] This implementation method integrates real-time attitude information reflecting the objective physical state of the windshield wipers with custom configuration information reflecting the user's subjective safety intentions, thus changing the limitation of traditional damage prevention logic that relies solely on fixed thresholds or single sensor data.

[0117] For example, real-time attitude information can be the current angle, angular velocity, and acceleration vector of the wiper arm obtained through feedback from the motor encoder, while custom configuration information is the safety boundary coordinates, maximum allowable swing amplitude, or prohibited area parameters manually set by the user based on the current location of the car wash equipment or environmental risks.

[0118] The vehicle controller can dynamically assess whether the actual movement of the windshield wipers matches the user's expected safety mode by mapping real-time attitude to a coordinate system defined by custom configuration.

[0119] In summary, this dual constraint mechanism enables loss prevention judgment to adapt to different scenarios, avoiding frequent false triggers caused by overly conservative fixed parameters, and preventing failure to cover specific risk points due to overly lenient parameters, thereby achieving precise protection through human-machine collaboration.

[0120] Furthermore, determining whether the wiper's movement trajectory meets the preset conditions includes:

[0121] Determine whether the windshield wipers are executing the preset operating trajectory within the preset range.

[0122] In this step, the preset range does not refer to the physical hard limit on the mechanical structure of the windshield wiper, but rather to a dynamically adjustable electronic fence built at the software level based on custom configuration information.

[0123] Specifically, the electronic fence can be defined in real time by the user through the human-machine interface by dragging a slider, selecting an area, or entering values. Its boundary coordinates are updated instantly with the user's operation and stored in the memory of the vehicle controller. When the system detects that the real-time position or predicted trajectory of the windshield wiper exceeds the boundary of the electronic fence, it is determined to be an operating trajectory that does not meet the preset conditions, thereby triggering damage prevention control.

[0124] It is understandable that although this embodiment uses an electronic fence as the preferred implementation of the preset range, in other embodiments, the preset range can also be a probabilistic safe zone automatically generated based on historical learning data, or an adaptive safe domain that dynamically shrinks based on the location of external obstacles identified by the camera, as long as it can represent a safe activity space relative to the current working conditions. This software-defined preset range has extremely high flexibility and can completely solve the problem of fixed limit failure caused by the changing positions of equipment such as car wash nozzles and roller brushes in car wash scenarios, actively isolating collision risks from a spatial dimension.

[0125] To illustrate the working process of the above dual constraint mechanism more clearly, the following explanation uses an automatic car wash scenario as an example.

[0126] In this scenario, after entering car wash mode, the user observes the relative positions of the windshield wiper model and the high-pressure nozzles of the car wash machine through a digital twin interface on the central control screen. The user drags the left and right boundary sliders on the screen to restrict the wiper's activity area to a safe sector that avoids the nozzles. The boundary coordinates generated by this operation are the preset range in the custom configuration information.

[0127] Meanwhile, the vehicle controller continuously receives real-time angle and speed feedback from the motor as real-time attitude information. During wiper operation, the controller compares the real-time attitude with the preset range in real time: if the wipers consistently oscillate within the user-defined safety sector at a preset micro-motion frequency, it is determined to be an operating trajectory that meets the preset conditions, and the system maintains the current control strategy; if external interference or control errors cause the wipers to tend to cross the safety sector boundary, or if the movement speed deviates abnormally from the preset micro-motion mode, it is immediately determined to be a failure to meet the preset conditions, and a damage prevention command is triggered to slow down, stop, or return the wipers to their original position.

[0128] In this way, this embodiment concretizes the abstract vulnerability state into perceptible and configurable spatial and behavioral constraints, which not only gives users the right to define the safety boundaries of the windshield wipers, but also ensures that the system can always adhere to the safety bottom line set by the user in the complex and ever-changing car wash environment, effectively improving the survivability of the equipment and the user's confidence in operation.

[0129] Based on the second embodiment described above, this embodiment further defines the specific algorithm logic for determining whether the motion trajectory of the windshield wiper meets the preset conditions, and serves as the third embodiment.

[0130] Specifically, determining whether the windshield wipers are executing a preset operating trajectory within a preset range includes:

[0131] Based on the wiper position detection data acquired within a preset time window, the current motion mode of the wipers is determined.

[0132] The preset time window is a sliding sampling interval with a specific duration, typically set between 200 and 500 milliseconds. The specific value can be calibrated based on the wiper motor's response characteristics and control cycle. Within this time window, the vehicle controller continuously collects wiper position detection data at a fixed frequency, such as 50Hz or 100Hz. These data points constitute a time series. By performing differential operations or curve fitting on this time series, a feature vector characterizing the wiper's dynamic behavior, i.e., the current motion mode, can be extracted.

[0133] This current motion pattern not only includes instantaneous position coordinates but also higher-order derivative information such as velocity vectors and acceleration trends. Compared to traditional methods that rely solely on position data at a single moment, introducing a time window effectively filters out instantaneous noise interference caused by sensor jitter or mechanical backlash, while preserving the continuous characteristics of wiper motion, thus providing a high-quality data foundation for subsequent trend prediction.

[0134] Based on the preset damage prevention action feature information, a reference motion pattern matching the current state of the wiper is obtained. The reference motion pattern is used to characterize the expected motion features of the wiper as it moves from its current position to the safety boundary.

[0135] Specifically, the reference motion mode is not a fixed standard curve, but an ideal motion model that is dynamically generated based on the current real-time position and speed of the wipers and the safety boundaries set by the user, namely the preset range mentioned above.

[0136] For example, when the wiper is in the center of the safe zone, the reference motion pattern can be a uniform oscillating curve; however, when the wiper approaches the safe boundary, the reference motion pattern automatically switches to a deceleration and stopping curve that conforms to S-shaped speed planning, ensuring that the wiper can stop smoothly and without impact inside the boundary. This dynamic generation mechanism ensures that the reference motion pattern always remains consistent with the current physical constraints and safety objectives, providing an adaptive benchmark for subsequent deviation calculations.

[0137] Determine the degree of matching between the current motion pattern and the reference motion pattern.

[0138] In this embodiment, the degree of matching can be calculated using various mathematical measurement methods.

[0139] As a preferred implementation, the feature vector of the current motion pattern and the feature vector of the reference motion pattern can be mapped into a high-dimensional feature space, and the Euclidean distance or Mahalanobis distance between them can be calculated. The smaller the distance value, the higher the matching degree.

[0140] As an alternative implementation, the Pearson correlation coefficient or dynamic time warping (DTW) distance between two motion pattern sequences can be calculated to assess their similarity in waveform morphology. This method is more robust to handling nonlinear distortions on the time axis.

[0141] Understandably, regardless of the specific calculation formula used, the essence is to transform the abstract question of whether a trajectory meets expectations into a quantifiable numerical indicator, thereby supporting the automated decision-making of computer programs.

[0142] The system determines whether the matching degree meets a preset judgment condition. If the matching degree meets the preset judgment condition, the wiper is determined to be executing a preset running trajectory within a preset range. If the matching degree does not meet the preset judgment condition, the wiper is determined not to be executing a preset running trajectory within a preset range. The preset judgment condition is usually expressed as a matching degree threshold or a distance threshold.

[0143] For example, when using Euclidean distance as the matching index, if the calculated distance value is less than a preset safety threshold, such as 0.5, it is determined that the condition is met; otherwise, it is determined that the condition is not met. The setting of this threshold takes into account factors such as system control accuracy, mechanical transmission error, and user experience tolerance.

[0144] Through the pattern matching algorithm described above, this embodiment achieves a deep semantic understanding of the windshield wiper's motion state. Its core technological advantage lies in its ability to identify potential risks where the current position remains within a safe range, but the motion trend has become abnormal.

[0145] For example, when the windshield wipers experience a sudden drop in acceleration due to a sudden increase in external resistance, or when the velocity vector points towards a restricted area due to accidental activation, even if the wipers have not yet crossed the boundary, the system can detect the risk in advance through the sharp decrease in matching accuracy and immediately trigger damage prevention control. This proactive risk identification mechanism completely overcomes the lag defect of the traditional position threshold comparison method, shifting the time point for safety protection forward and significantly reducing the probability of substantial collisions or overloads to the equipment, demonstrating the technical advantages of proactive safety control.

[0146] Based on the first embodiment, this embodiment further defines the specific implementation path for obtaining wiper operating status information, as the fourth embodiment.

[0147] Specifically, it obtains the operating status information of the windshield wipers, including real-time attitude information and custom configuration information of the wipers.

[0148] This implementation method clarifies the dual-source data structure of the operational status information, which consists of real-time attitude information reflecting the objective physical entity and custom configuration information reflecting the subjective interaction intention.

[0149] This includes acquiring real-time attitude information and custom configuration information of the windshield wipers, including acquiring real-time attitude information through data displayed on the human-machine interface, and acquiring custom configuration information based on user interaction operations on the human-machine interface.

[0150] It should be noted that although this application is formally described as obtaining data through the display data of the human-computer interaction interface, this does not mean that the source of real-time posture information is limited to the pixels of the interface layer or UI variables.

[0151] In essence, the human-computer interface here serves as a data transmission interface and visualization carrier between the underlying physical signals and the upper-level control logic. In other words, the displayed data such as the position and angle of the wiper model on the interface are directly mapped from the original feedback signals from the wiper motor drive end, and the two have the same data source. This design ensures that the attitude information used for damage prevention judgment has a definite physical basis, avoiding the uncertainty of the technical solution caused by simply relying on software simulation or virtual variables, and also provides reliable data support for the precise protection based on digital twins in subsequent embodiments.

[0152] Furthermore, in order to more clearly reveal the technical essence of the above data acquisition link, real-time attitude information is obtained through the display data of the human-computer interaction interface, which specifically includes the following sub-steps.

[0153] First, the operational feedback signal of the wiper motor is acquired. Specifically, the operational feedback signal refers to the electrical signal directly output by the motor driver or sensor, such as the AB phase pulse signal output by the Hall encoder, the phase current sampling value of the motor stator winding, or the sine and cosine analog quantities output by the resolver. These signals carry the most original physical characteristics of the wiper's mechanical motion and are the only objective basis for constructing real-time attitude information. Compared to the state information indirectly inferred from rain sensors or vehicle network, directly acquiring the motor feedback signal has higher time resolution and state fidelity, and can capture transient changes at the millisecond level.

[0154] Secondly, the operational feedback signals are processed to obtain a set of operating status parameters for the windshield wipers, which constitutes the real-time attitude information. This set includes at least the wiper's position information, movement speed information, and stop status information. Specifically, the signal processing unit inside the vehicle controller performs a series of algorithmic calculations on the acquired raw feedback signals. For example, by counting and determining the direction of encoder pulses and combining this with the transmission ratio of the reduction mechanism, the absolute angle of the wiper arm relative to the lower edge of the windshield is calculated as position information. By performing differential calculations on the position data at continuous intervals or using a phase-locked loop speed measurement algorithm, a smooth angular velocity is obtained as movement speed information. By detecting the zero-crossing point of the motor's back EMF or the encoder's zero-position mark, and combining this with a current threshold judgment, it is determined whether the wiper is at a mechanical return point or an abnormal stall point, providing stop status information.

[0155] Understandably, the set of operating status parameters can be expanded to include more parameters based on actual needs, such as estimated values ​​of motor output torque, predicted values ​​of winding temperature, or vibration spectrum characteristics, as long as these parameters can characterize the real-time physical behavior of the wiper.

[0156] Through the above processing method, this embodiment restores the abstract display data into a concrete set of physical parameters, and establishes a direct data link from the underlying hardware perception to the upper-level software decision-making.

[0157] Its core technological advantages are twofold: firstly, it enables the digital twin model on the human-machine interface to realistically and synchronously reproduce the physical state of the windshield wipers, providing users with a WYSIWYG experience; secondly, it ensures that the attitude information upon which the damage prevention control logic is based is a verified physical truth value, thereby significantly improving the system's robustness and safety under complex electromagnetic environments and high-load conditions. Furthermore, since real-time attitude information and custom configuration information are both obtained through the same human-machine interface channel, the system architecture is simplified and the risk of misjudgment is reduced.

[0158] Based on the fourth embodiment, this embodiment further defines another critical path for obtaining operational status information, namely, the mechanism for obtaining subjective configuration data, as the fifth embodiment.

[0159] Unlike the objective physical perception path based on motor feedback signals in the fourth embodiment, this embodiment focuses on the digital capture of human-computer interaction intentions.

[0160] Specifically, obtaining real-time wiper attitude information and custom configuration information also includes:

[0161] Responding to user interactions on the human-computer interface, custom configuration information is obtained based on the interactions.

[0162] This implementation establishes the user's subjective will as a legitimate input source for system control parameters, so that the wiper's damage prevention strategy no longer relies solely on the factory-preset fixed logic, but can be dynamically adjusted based on the user's actual observation and judgment at the car wash site.

[0163] For example, interactive operations can be actions such as touching, swiping, long pressing, or gesture recognition performed by the user on the digital twin interface of the central control screen. These actions are parsed by the vehicle controller and transformed into specific control constraints, thereby realizing the transformation of the control paradigm from human adaptation to machine to machine adaptation to human.

[0164] Furthermore, in order to ensure the reliability of interactive input and the stability of the control system, the process of obtaining custom configuration information based on interactive operation is not a simple real-time transparent transmission, but includes signal conditioning and synchronization mechanisms.

[0165] Specifically, it includes:

[0166] Generate interactive operation information based on interactive operations; retrieve custom configuration information corresponding to the interactive operation information at a preset frequency.

[0167] In this step, the interactive operation information refers to the raw touch data stream reported by the underlying driver of the human-computer interaction interface, such as the absolute coordinate sequence of touch points, contact area, pressure sensitivity value, or swipe speed vector. Although this data contains the user's operational intent, it also contains components of finger tremors, screen noise, or unexpected accidental touches. Directly mapping the high-frequency and irregular raw touch data to wiper control parameters can easily cause the actuator to oscillate or overreact.

[0168] Therefore, this application introduces the key technical means of acquiring data at a preset frequency.

[0169] Specifically, the preset frequency is a control sampling rate independent of the touchscreen hardware refresh rate, usually between 60Hz and 120Hz. Its value is usually set between 10Hz and 50Hz, matching or being an integer multiple of the update cycle of the wiper motor control circuit.

[0170] The vehicle controller uses this preset frequency as a beat to periodically sample and verify the validity of interactive operation information in the buffer. This mechanism essentially achieves a dual technical effect: on the one hand, it forms a digital low-pass filter, smoothing out high-frequency glitches and random jitter in the touch signal through downsampling, ensuring that the generated custom configuration information, such as safety boundary coordinates and micro-motion frequency settings, is continuous and stable; on the other hand, it achieves time synchronization between the human-machine interaction domain and the vehicle control domain, ensuring that every valid parameter adjustment by the user is absorbed and executed by the system within a defined control cycle, avoiding instruction backlog or loss due to asynchronous processing.

[0171] Understandably, the preset frequency can be a fixed system constant or a variable that is dynamically adjusted according to the current vehicle status. For example, when it is detected that the user is performing fine area delineation, the sampling rate is automatically increased to improve responsiveness, while the sampling rate is reduced after the parameters stabilize to save computing power.

[0172] Based on the first embodiment, this embodiment further defines the specific strategy for generating loss prevention and control instructions, upgrading the traditional static table lookup method to an adaptive generation mechanism based on multi-factor dynamic calculation, as the sixth embodiment.

[0173] Specifically, generating loss prevention and control instructions includes:

[0174] Obtain the real-time load parameters and preset load limits of the wiper drive motor.

[0175] Among them, real-time load parameters are a set of physical quantities that reflect the current working state and remaining capacity margin of the motor. Specifically, they may include the effective value of the motor phase current, bus voltage, winding temperature, and output torque estimated by the observer algorithm.

[0176] The preset load limit is a dynamic threshold determined by comprehensively considering the motor's thermal characteristic curve, the strength limit of mechanical transmission components, and the safety factor. This limit is not fixed but can be adjusted according to the ambient temperature or the duration of continuous operation.

[0177] By comparing load parameters and limits in real time, the system can accurately grasp the health boundary of the wiper drive system at the current moment, providing a physical constraint benchmark for subsequent command generation, and preventing secondary damage caused by forcibly executing high-power anti-damage actions when the motor is already overloaded or overheated.

[0178] The rate of change of configuration information is determined based on the user's operation rate through the human-computer interaction interface. The core of this step lies in capturing the dynamic characteristics of user interaction behavior and mapping them to the planning parameters of the control system.

[0179] Specifically, the operation rate refers to the speed of finger movement or the rate of change of touch pressure when a user adjusts the safety boundary slider or micro-motion frequency progress bar on the human-computer interaction interface. The rate of change of configuration information refers to the amount of change in the safety boundary coordinate value or frequency setting value per unit time.

[0180] This application establishes a connection between the two because the user's operating rate implicitly reflects their expectation of the urgency of the risk response or their psychological anticipation of the adjustment range. For example, when a user quickly drags the slider to shrink the safety zone, it indicates that they perceive an imminent collision risk and expect the system to quickly converge the activity range; conversely, slow, fine-tuning represents a refined comfort setting. By converting the operating rate into the rate of change of configuration information, the system can quantify abstract user intentions into specific motion planning inputs, making loss prevention control no longer a cold, mechanical execution, but rather possessing the ability to understand and follow human-centric interaction characteristics.

[0181] Based on the rate of change of the configuration information, determine the action time required for the wipers to move from the current position to the safety boundary.

[0182] In this stage, a kinematics planning algorithm runs internally within the vehicle controller. This algorithm uses the position and velocity from the current real-time attitude information as initial conditions, the updated safety boundary as the target endpoint, and the rate of change of the aforementioned configuration information as a process constraint or target velocity reference to calculate the optimal time trajectory required to complete this state transition.

[0183] It's understandable that the action time here isn't simply distance divided by speed, but rather a theoretical minimum safe time derived by comprehensively considering the motor's acceleration and deceleration performance, mechanical inertia, and the smoothness requirements to avoid impacts. If the configuration information changes rapidly, the system will plan a shorter action time within the motor's capabilities to match the user's urgent expectations; if the change rate is slow or the load is high, the action time will be automatically extended to ensure smooth movement. This time budget mechanism based on dynamic input ensures that the rhythm of the damage prevention actions is always synchronized with the user's interaction rhythm, eliminating the disjointed experience caused by traditional fixed-sequence control.

[0184] Based on the action time, determine the drive control parameters required to adjust the wipers from the current operating state to the safe operating boundary state. The drive control parameters include at least: action trigger time, drive power level, and action duration.

[0185] This is a typical reverse engineering process. Given the target action time and current load conditions, the system uses a pre-set motor dynamics model to deduce the energy output strategy required to achieve the time target. For example, if the calculated action time is sufficient and the real-time load is low, the system can select a lower drive power level and a longer action duration to smoothly complete the return or obstacle avoidance, reducing mechanical wear and noise. Conversely, if the action time is tight or adhesive resistance is detected causing the load to increase, the system will increase the drive power level and accurately calculate the action trigger time, provided it does not exceed the preset load limit, to ensure that the resistance is overcome and the system reaches a safe position within the specified time.

[0186] This parameter generation method completely abandons the one-size-fits-all fixed PWM duty cycle or relay on / off logic, and achieves precise matching between drive energy and operating condition requirements.

[0187] Based on the drive control parameters, damage prevention control commands are generated.

[0188] The final loss prevention control command is a set of structured data packets containing the trigger time, power level and duration mentioned above, which is directly sent to the motor drive unit for execution.

[0189] Through the aforementioned complete dynamic generation chain, this embodiment achieves dual adaptation of the loss prevention control strategy: on the one hand, it adapts to the physical state of the hardware, ensuring that any loss prevention action is performed within the safe tolerance range of the motor and mechanism, eliminating the risk of overload burnout; on the other hand, it adapts to the human-computer interaction intent, making the system's response speed and action force highly consistent with the user's operating rhythm, avoiding abrupt stops due to overly fast system response or anxious waiting due to overly slow response. Especially in the car wash scenario, when the user rapidly shrinks the safety zone due to discovering an abnormal nozzle position, the system can instantly sense this urgent operation and, within milliseconds, replan a safe parking trajectory that will neither collide with the nozzle nor cause the rubber strip to detach due to sudden braking, truly achieving a seamless integration of safety protection and interactive experience.

[0190] This application also provides a vehicle including a vehicle controller for implementing the wiper control method as described in any of the above embodiments.

[0191] Specifically, the vehicle controller, as the hardware execution entity of the technical solution in this application at the vehicle level, can be one or more combinations of a body control module, a vehicle controller, a smart cockpit domain controller, or a dedicated wiper control unit. This controller integrates a processor and a memory, with the memory storing computer programs or firmware instructions. When the processor executes these instructions, it is configured to perform a series of logical operations, such as acquiring operating status information, determining the activation conditions for damage prevention control, and generating and sending damage prevention control commands, as described in the aforementioned embodiments. In this way, this application solidifies the abstract control method into the specific internal structure and functional modules of the vehicle, enabling the vehicle to possess proactive damage prevention capabilities for complex scenarios such as car washing from the moment it leaves the factory.

Claims

1. A windshield wiper control method, characterized in that, include: Obtain the operating status information of the windshield wipers; Based on the operating status information, determine whether the windshield wipers meet the damage prevention control activation conditions; The damage prevention control activation condition indicates that the wiper is currently in or about to enter a vulnerable operating state. If the damage prevention control activation conditions are met, a damage prevention control command is generated and sent to the windshield wiper.

2. The wiper control method according to claim 1, characterized in that, The step of determining whether the windshield wipers meet the damage prevention control activation conditions based on the operating status information includes: Based on the real-time attitude information and custom configuration information included in the operating status information, it is determined whether the movement trajectory of the windshield wiper meets the preset conditions for the operating trajectory.

3. The wiper control method according to claim 2, characterized in that, The step of determining whether the movement trajectory of the windshield wiper meets the preset conditions includes: Determine whether the windshield wiper is executing a preset operating trajectory within a preset range.

4. The wiper control method according to claim 1, characterized in that, The acquisition of the windshield wiper operating status information includes: Obtain the real-time attitude information and custom configuration information of the windshield wipers.

5. The wiper control method according to claim 4, characterized in that, The process of obtaining the real-time attitude information and custom configuration information of the windshield wipers includes: The real-time posture information is obtained through the display data of the human-computer interaction interface; In response to user interaction on the human-computer interaction interface, the custom configuration information is obtained based on the interaction.

6. The wiper control method according to claim 5, characterized in that, The step of obtaining the real-time posture information through the display data of the human-computer interaction interface includes: Obtain the operating feedback signal of the wiper motor; The operation feedback signal is processed to obtain the operating status parameter set of the windshield wiper, which is the real-time attitude information; the operating status parameter set includes at least the position information, movement speed information and stop status information of the windshield wiper.

7. The wiper control method according to claim 5, characterized in that, The process of obtaining the custom configuration information based on the interactive operation includes: Generate interactive operation information based on the interactive operation; Custom configuration information corresponding to the interactive operation information is obtained at a preset frequency.

8. The wiper control method according to claim 3, characterized in that, The step of determining whether the windshield wiper is executing a preset operating trajectory within a preset range includes: Based on the wiper position detection data obtained within a preset time window, the current motion mode of the wiper is determined; Based on preset damage prevention action feature information, a reference motion pattern matching the current state of the wiper is obtained. The reference motion pattern is used to characterize the expected motion features of the wiper as it moves from its current position to the safety boundary. Determine the degree of matching between the current motion pattern and the reference motion pattern; Determine whether the matching degree meets the preset judgment conditions; If the matching degree meets the preset judgment condition, then it is determined that the windshield wiper executes a preset running trajectory within the preset range; If the matching degree does not meet the preset judgment condition, it is determined that the windshield wiper has not executed the preset running trajectory within the preset range.

9. The wiper control method according to claim 1, characterized in that, The generation of loss prevention control instructions includes: Obtain the real-time load parameters and preset load limits of the wiper drive motor; The rate of change of configuration information is determined based on the user's operation rate through the human-computer interaction interface. Based on the rate of change of the configuration information, determine the action time required for the windshield wiper to move from its current position to the safety boundary; Based on the action time, determine the drive control parameters required to adjust the wiper from the current operating state to the safe operating boundary state. The drive control parameters include at least: action trigger time, drive power level, and action duration. Based on the drive control parameters, the damage prevention control command is generated.

10. A vehicle, characterized in that, Including vehicle controllers; The vehicle controller is used to implement the wiper control method as described in any one of claims 1 to 9.

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