Windshield wiper control methods, vehicles, and storage media

Abstract

This disclosure provides a windshield wiper control method, a vehicle, and a storage medium. The control method includes: acquiring a water droplet signal output by the wiper's sensor circuit; determining whether water droplets exist on the windshield based on the water droplet signal; when the determination result is yes, acquiring at least one auxiliary judgment signal; and determining a wiping decision based on the at least one auxiliary judgment signal and a preset wiping decision state machine. The auxiliary judgment signal includes a vehicle status signal and / or an external environment signal, used to characterize whether the vehicle is in a rainy environment. The wiping decision state machine is used to define the correlation between the at least one auxiliary judgment signal and the wiping decision, and the wiping decision is used to instruct the wiper to perform the wiping operation. By combining other auxiliary judgment signals and the state machine for comprehensive judgment, the problem of false triggering of the wipers is effectively avoided, significantly improving the accuracy and reliability of wiper control, and enhancing the user's driving experience and driving safety.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, specifically to a windshield wiper control method, a vehicle, and a storage medium. Background Technology

[0002] In the field of vehicle control technology, automatic windshield wiper systems detect raindrops on the windshield using rain and light sensors and automatically control the operation of the wipers accordingly.

[0003] However, the relevant technology suffers from imprecise wiper control, making it prone to false triggering. For example, when a vehicle drives under eaves or tree shade, residual water droplets on buildings or treetops can easily drip onto the windshield. The system might mistakenly interpret this as rain and trigger the wipers, resulting in a false trigger. Similarly, when a vehicle exits a tunnel or encounters lightning, the rain and light sensor receives a sudden, drastic change in light. The signal output at this time might be similar to the signal output when detecting raindrops, causing the system to misinterpret rain and trigger the wipers falsely. False wiper triggering at unexpected times can distract or startle the user, seriously affecting driving safety. Summary of the Invention

[0004] In view of this, the present disclosure aims to provide a windshield wiper control method, vehicle, and storage medium, with the goal of improving the accuracy and reliability of windshield wiper control.

[0005] In a first aspect, this disclosure provides a windshield wiper control method, which includes: acquiring a water droplet signal output by a sensor circuit of the windshield wiper; determining whether water droplets exist on the windshield based on the water droplet signal; when the determination result is yes, acquiring at least one auxiliary judgment signal; and determining a wiping decision based on the at least one auxiliary judgment signal and a preset wiping decision state machine, wherein the at least one auxiliary judgment signal includes at least one vehicle status signal and / or at least one external environment signal, used to characterize whether the vehicle is in a rainy environment, the wiping decision state machine is used to define the correlation between the at least one auxiliary judgment signal and the wiping decision, and the wiping decision is used to instruct the wiping operation of the windshield wiper.

[0006] In conjunction with the first aspect, in some implementations, at least one auxiliary judgment signal includes a wiper load signal, which is used to characterize the load state of the motor in the wiper. The wiping decision is determined based on at least one auxiliary judgment signal and a preset wiping decision state machine, including: judging whether the resistance of the window surface is abnormal based on the wiper load signal; when it is judged that the resistance of the window surface is abnormal, determining that the window is in a dry state, and determining the corresponding wiping decision as prohibiting wiping based on the wiping decision state machine.

[0007] In conjunction with the first aspect, in some implementations, at least one auxiliary judgment signal includes ambient temperature and ambient humidity, which are acquired by temperature and humidity sensors located outside the vehicle. The determination of a shaving decision based on at least one auxiliary judgment signal and a preset shaving decision state machine includes: determining that the window is in a frosted state when the ambient temperature is below a preset low-temperature threshold and the ambient humidity is above a preset saturation threshold; and determining, based on the shaving decision state machine, that the shaving decision corresponding to the frosted state is to prohibit shaving.

[0008] In conjunction with the first aspect, in some implementations, at least one auxiliary judgment signal includes a window image captured by a camera. The determination of a swiping decision based on at least one auxiliary judgment signal and a preset swiping decision state machine includes: inputting the window image into a visual analysis model for processing to obtain the judgment result of the visual analysis model for the window image; if the judgment result is that the window is in a dry state, then determining the corresponding swiping decision as prohibiting swiping based on the swiping decision state machine.

[0009] In conjunction with the first aspect, in some implementations, the water droplet signal is an optical signal collected by the sensor circuit for the car window. Determining whether there are water droplets on the car window based on the water droplet signal includes: acquiring the ambient light signal output by the ambient light detection channel; compensating the water droplet signal based on the ambient light signal to obtain an updated water droplet signal; and determining whether there are water droplets on the car window based on the updated water droplet signal.

[0010] In conjunction with the first aspect, in some implementations, determining whether there are water droplets on the car window based on the water droplet signal includes: determining that there are water droplets on the car window when the intensity of the water droplet signal is greater than a first threshold. The control method further includes: continuously acquiring the water droplet signal while the wipers are performing a wiping operation; and generating a wiping stop command when the intensity of the water droplet signal is greater than a second threshold to control the wipers to stop performing the wiping operation. The first threshold is less than the second threshold, and the intensity of the water droplet signal is negatively correlated with the probability of water droplets on the car window.

[0011] In conjunction with the first aspect, in some implementations, the windshield wiper control method further includes: modifying a first threshold according to a sensitivity adjustment command input by the user, wherein the sensitivity adjustment command is used to express the user's sensitivity requirement for the windshield wiper activation, and the magnitude of the first threshold is positively correlated with the sensitivity requirement.

[0012] In conjunction with the first aspect, in some implementations, the windshield wiper control method further includes: when it is determined from the water droplet signal that there are no water droplets on the windshield, determining the current water droplet signal as a no-rain signal; comparing the no-rain signal with a baseline signal, wherein the baseline signal is a reference signal for the water droplet signal collected by the sensor circuit in the no-rain state; and when the drift value of the no-rain signal relative to the baseline signal exceeds a preset drift threshold, calibrating the baseline signal based on the no-rain signal.

[0013] Secondly, this disclosure provides a windshield wiper control device, comprising: an acquisition module for acquiring water droplet signals output by the wiper's sensor circuit; a judgment module for judging whether water droplets exist on the windshield based on the water droplet signals, and acquiring at least one auxiliary judgment signal when the judgment result is yes; and a determination module for determining a wiping decision based on the at least one auxiliary judgment signal and a preset wiping decision state machine, wherein the at least one auxiliary judgment signal includes at least one vehicle status signal and / or at least one external environment signal, used to characterize whether the vehicle is in a rainy environment, the wiping decision state machine is used to define the correlation between the at least one auxiliary judgment signal and the wiping decision, and the wiping decision is used to instruct the wiper to perform the wiping operation.

[0014] Thirdly, this disclosure provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the wiper control method provided in the first aspect or any possible implementation of the first aspect.

[0015] Fourthly, this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wiper control method provided in the first aspect or any possible implementation thereof.

[0016] Through the above technical solution, the windshield wiper control method provided in this disclosure, after initially determining the presence of water droplets on the windshield based on the water droplet signal output by the sensor circuit, does not directly trigger the wiping action. Instead, it further introduces at least one vehicle status signal and / or at least one external environmental signal as auxiliary judgment signals. Based on the auxiliary judgment signals, it more accurately judges the vehicle or environmental state and determines a more accurate wiping decision based on a preset wiping decision state machine. Therefore, the solution of this disclosure does not rely on a single sensor signal to control the windshield wipers. Instead, it combines other auxiliary judgment signals to perform a comprehensive judgment based on a preset wiping decision state machine. Only after determining whether the vehicle is truly in a rainy environment does it output the corresponding wiping decision, thereby improving the accuracy of windshield wiper control and scene adaptability, effectively avoiding the problem of false triggering of windshield wipers in non-rainy scenarios, and improving the user's driving experience. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 The diagram shown is a schematic representation of an exemplary windshield wiper control system provided in an embodiment of this disclosure.

[0019] Figure 2 The diagram shown is a flowchart illustrating the windshield wiper control method provided in an embodiment of this disclosure.

[0020] Figure 3 The diagram shown is a schematic diagram of the auxiliary judgment signal in the windshield wiper control method provided in the embodiments of this disclosure.

[0021] Figure 4 The diagram shown is a structural schematic of the windshield wiper control device provided in an embodiment of this disclosure.

[0022] Figure 5 The diagram shown is a structural schematic of a vehicle provided in an embodiment of this disclosure. Detailed Implementation

[0023] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0024] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure. However, this disclosure may also be implemented in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this disclosure. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0026] In the field of vehicle control technology, automatic windshield wiper systems have become a standard feature in an increasing number of car models. To detect the amount of rain on the windshield and automatically control the wipers, the commonly used technology is to utilize infrared optical sensors as the core detection element. Specifically, this is achieved by integrating an optical system containing infrared emitting diodes and infrared receiving diodes on the inside of the windshield. The infrared emitting diode emits infrared light into the windshield, and the receiving diode receives the light reflected back from the outside of the glass. When the outer surface of the windshield is dry, most of the infrared light emitted by the emitting diode is reflected back, and the light signal received by the receiving diode is at a relatively stable level. When raindrops fall on the sensing area of ​​the windshield, the raindrops change the original optical reflection conditions, scattering some of the infrared light, and the light signal received by the receiving diode weakens accordingly. By capturing this change in light signal, the sensor circuit can determine whether raindrops are present and the approximate amount of rain, and then output corresponding control commands to drive the wipers to start wiping.

[0027] In practical applications, to improve detection coverage and anti-interference capabilities, this solution typically employs multiple infrared emitters (e.g., arranged in two alternating groups) working in conjunction with a single receiver. When the intensity of the reflected infrared light from the emitters is the same, the circuit voltage output by the receiver does not emit a signal. When raindrops fall on the sensitive area of ​​the windshield, the intensity of the reflected light from the emitters becomes unbalanced, and the receiver outputs a voltage pulse signal with the emitter's clock frequency. This pulse signal is processed and sent to the controller, which then controls the windshield wipers to perform the wiping action. This solution has a relatively simple structure and can provide usable rain detection functionality under most normal weather conditions.

[0028] However, the inventors discovered the following technical defects in the aforementioned automatic wiper system: On the one hand, when vehicles approach tunnel entrances / exits, under overpasses, or in the shade of trees, water droplets remaining on buildings or treetops can easily drip onto the vehicle's windows. If these droplets fall into the sensing area of ​​the rain and light sensor, the system may misinterpret it as rain, triggering the wipers to operate. However, at this time, there may only be a few water droplets remaining on the window, not actual rain, resulting in a false triggering of the wipers. This false triggering not only affects the driving experience but also reduces the lifespan of the wiper system.

[0029] On the other hand, in related technologies, the rain and light sensors have a small sensing area on the windshield. When it rains, if water droplets happen not to fall within this sensing area, the rain and light sensor cannot detect them, and the system may determine that there is no rain, failing to activate the wipers in time, resulting in missed wiper activation. However, water droplets falling on non-sensing areas can also obstruct the user's view, affecting driving safety. In this case, the user needs to manually toggle the wiper switch to activate it, impacting the driving experience.

[0030] It is evident that the accuracy of the rain light sensor in the relevant technology is limited, and the solution only relies on changes in optical signals to determine the amount of rain. When environmental interference such as sunlight, tree shadows, and building reflections cause fluctuations in the optical signal, the system cannot distinguish these fluctuations from real raindrops.

[0031] In view of this, the embodiments of this disclosure provide a new technical approach. The core concept is to further introduce auxiliary judgment signals based on the optical signals acquired by the sensors, and combine this with other information about the vehicle and its environment to perform comprehensive logical judgment, thereby more accurately determining weather conditions. This effectively avoids the problem of wiper malfunctions, significantly improves the accuracy and reliability of wiper control, and enhances the user's driving experience. The technical solution of this disclosure is illustrated below through specific embodiments.

[0032] Figure 1 This is a schematic diagram of an exemplary windshield wiper control system provided in an embodiment of this disclosure. Figure 1 As shown, the wiper control system 100 mainly includes the following components: a sensor integration module 110, a controller 120, a wiper actuator 130, and various signal sources 140 for communicating with other vehicle systems.

[0033] The sensor integration module 110 can be installed inside the vehicle window, for example, near the base of the rearview mirror. This module integrates multiple sensors, including a rain and light sensor, an ambient light sensor, a temperature and humidity sensor, and a camera.

[0034] Among them, the rain and light sensor is used to detect the amount of rain on the car windows; the ambient light sensor is used to detect the ambient light intensity around the vehicle, providing a basis for judging strong light interference; the temperature and humidity sensor is used to detect the temperature and humidity inside and outside the vehicle, which can be used to identify special working conditions such as frost; and the camera is used to take pictures of the car windows to collect images of the windows.

[0035] It should be noted that the specific uses of the above-mentioned sensors are for illustrative purposes only, and this disclosure does not limit their application. In practical applications, the sensor integration module 110 can add or remove appropriate sensors according to vehicle configuration requirements.

[0036] The controller 120, as the core processing unit of the system, is communicatively connected to the sensor integration module 110, the wiper actuator 130, and various signal sources 140. The controller 120 receives optical rainfall signals (i.e., water droplet signals), ambient light signals, and temperature and humidity signals collected by the sensor integration module 110, as well as auxiliary judgment signals such as wiper load signals and vehicle speed signals obtained from the various signal sources 140. The controller comprehensively processes and judges the received signals, and sends a wiping command or a stop command to the wiper actuator based on the judgment result.

[0037] As an example, controller 120 may be a domain controller (Zone Control Unit, ZCU).

[0038] The wiper actuator 130 is part of the wiper system and is used to perform specific wiping actions. It typically includes a motor and a transmission mechanism linked to it, a wiper arm, and a wiper blade. It can communicate with the controller 120 to receive wiping or stop commands sent by the controller 120, and drive the wiper motor to rotate according to the commands, thereby driving the wiper arm and wiper blade to perform wiping or stop actions.

[0039] Multiple signal sources 140 include, but are not limited to: vehicle speed signal sources (such as those obtained from the transmission control unit or vehicle stability system via CAN bus), wiper load signal sources (such as Hall sensors built into the wiper motor), etc. These signal sources provide the controller 120 with auxiliary judgment criteria in addition to the optical rain signal, and are used to fuse with the optical rain signal to jointly determine whether to output a wiping command.

[0040] The sensor integration module 110 is connected to the controller 120, the controller 120 to the wiper actuator 130, and the controller 120 to various signal sources 140 via communication links. For example, the sensor integration module 110 and the controller 120 can communicate via a Local Interconnect Network (LIN) bus; the controller 120 can communicate with the wiper actuator 130 and the various signal sources 140 via a CAN bus, CAN-FD bus, or automotive Ethernet. Those skilled in the art should understand that other types of communication buses or communication methods are also applicable to the technical solutions of this disclosure.

[0041] In the embodiments of this disclosure, the optical rainfall signal collected by the sensor integration module 110 is transmitted to the controller 120 via a communication link. Simultaneously, the controller 120 acquires at least one auxiliary judgment signal from multiple signal sources 140. After comprehensively processing the above signals, the controller 120 determines whether wiping is currently required and sends a corresponding command to the wiper actuator 130 based on the judgment result. Upon receiving the command, the wiper actuator 130 either performs a wiping action or remains in a stopped state. It should be understood that... Figure 1 The vehicle system shown is only one example, and the windshield wiper control method provided in this disclosure can also be applied to other types or structures of vehicle systems.

[0042] Figure 2 The diagram shown is a schematic flowchart of a windshield wiper control method according to an embodiment of this disclosure. Figure 2 As shown, the windshield wiper control method may include the following steps: Step S210: Obtain the water droplet signal output by the wiper sensor circuit.

[0043] In this embodiment, the water droplet signal output by the wiper's sensor circuit is first acquired. Exemplarily, the sensor circuit can be integrated into, for example,... Figure 1 The sensor integration module 110 shown can be installed on the inside of a vehicle window, such as in the area near the base of a rearview mirror.

[0044] In some embodiments, the sensor circuit may include at least one infrared emitting tube, two infrared receiving tubes, and a differential circuit. The at least one infrared emitting tube is used to emit infrared light into the vehicle window; the two infrared receiving tubes are used to receive the infrared light reflected by the vehicle window and output a first initial optical signal and a second initial optical signal respectively; the differential circuit is used to receive the first initial optical signal and the second initial optical signal and perform differential amplification processing on them to obtain a difference signal.

[0045] Specifically, the infrared emitting diodes in the sensor circuit can be installed inside the vehicle window to emit infrared light towards the window. The number of infrared emitting diodes can be set according to the detection range and accuracy requirements; for example, multiple diodes can be used to increase the detection coverage area. In this embodiment, six infrared emitting diodes are provided, divided into two groups, A and B, with three infrared emitting diodes in each group. This disclosure does not limit the scope of the invention.

[0046] The two infrared receivers in the sensor circuit can be, for example, a first infrared receiver and a second infrared receiver. These two receivers can be installed on the inside of the car window to receive infrared light reflected back from the window. When infrared light emitted by the infrared receivers strikes the car window, part of the light is reflected off the glass surface, and the rest passes through the glass. When the outer surface of the car window is dry, the reflected light intensity is at a relatively stable level. When water droplets are present on the outer surface of the car window, the droplets alter the original optical reflection conditions, causing a change in the reflected light intensity. The first and second infrared receivers respectively receive the infrared light reflected by the car window and output a first initial optical signal and a second initial optical signal, respectively. Both of these initial optical signals are analog electrical signals, and their amplitudes reflect the magnitude of the light intensity received.

[0047] It should be noted that the two infrared receivers can be matched devices, meaning they have similar photoelectric response characteristics, temperature characteristics, and aging characteristics. This allows the two infrared receivers to maintain consistent characteristics in the face of common-mode interference such as changes in ambient temperature and device aging, thus providing a good foundation for subsequent differential processing.

[0048] Accordingly, the differential circuit in the sensor circuit can be used to receive the first initial optical signal and the second initial optical signal, and perform differential amplification processing on these two initial optical signals, that is, subtract the second initial optical signal from the first initial optical signal, amplify the difference, and output the difference signal. In this embodiment, the difference signal can be used as the water droplet signal obtained in step S210.

[0049] Specifically, differential circuits can eliminate common-mode interference. Because the two infrared receivers have matched characteristics, when the ambient temperature or overall ambient light intensity changes, the output signals of both receivers will drift in the same direction. The differential circuit can cancel out common-mode interference caused by changes in ambient temperature by subtracting the output signals of the two receivers. Simultaneously, when a water droplet falls on a car window, the scattering of infrared light by the droplet causes different light intensities received by the two receivers. The differential circuit retains the different portions as the water droplet signal.

[0050] According to the control method provided in the embodiments of this disclosure, the differential compensation technology is used in the hardware aspect of the above-mentioned sensor circuit to expand the sensor detection range and further improve the accuracy of the sensor signal. This provides a reliable basis for subsequent comprehensive logic judgment, which is conducive to improving the accuracy of wiper control and enhancing the user's driving experience.

[0051] To further improve signal quality, in a preferred embodiment of this disclosure, the sensor circuit further includes a low-pass filter, which is used to perform low-pass filtering on the difference signal and output the difference signal after filtering out high-frequency interference as the water droplet signal.

[0052] The sensor circuit may also include a low-pass filter, which is placed after the differential circuit. The low-pass filter can be used to perform low-pass filtering on the difference signal and output the filtered difference signal (after removing high-frequency interference) as the water droplet signal. The low-pass filter can be an active low-pass filter constructed from discrete components such as resistors, capacitors, and operational amplifiers, and its cutoff frequency can be set according to actual needs. As an example, the cutoff frequency can be set to 100 Hz. It should be noted that this cutoff frequency value is only an example, and this disclosure does not limit it. In practical applications, it can be adjusted according to the specific electromagnetic environment of the vehicle and the sampling rate of the sensor.

[0053] Specifically, the low-pass filter is used to perform low-pass filtering on the difference signal. Its main function is to filter out high-frequency (e.g., cutoff frequency 100 Hz) interference components. These high-frequency interference components include, but are not limited to, electromagnetic pulses generated when the wiper motor reverses, high-frequency resonance of the vehicle's sheet metal, and high-frequency noise such as the flicker of the PWM dimming LED. After low-pass filtering, the low-pass filter outputs an optical signal with the high-frequency interference removed, which is the water droplet signal obtained in step S210.

[0054] According to the wiper control method provided in the above embodiments of this disclosure, by further setting a low-pass filter to perform low-pass filtering processing on the difference signal, the signal with a frequency greater than its cutoff frequency is filtered out, and the optical signal after filtering out high-frequency interference is output as the water droplet signal, which provides a basis for subsequent judgment.

[0055] In summary, through the processing of the differential circuit and low-pass filter described above, the water droplet signal output by the sensor circuit has initially eliminated common-mode interference such as changes in ambient temperature, changes in overall ambient light intensity, and high-frequency noise, laying the foundation for subsequent processing.

[0056] To further improve signal quality, in a preferred embodiment of this disclosure, after acquiring the water droplet signal, the signal is preprocessed to eliminate various noises and glitches.

[0057] A crucial aspect of signal preprocessing is anti-aliasing filtering. According to the Nyquist sampling theorem, the sampling frequency must be at least twice the highest frequency of the signal. If interference signals above this frequency (such as high-frequency vibrations or electromagnetic noise) are not suppressed before sampling, aliasing will occur during analog-to-digital conversion. Once aliasing occurs, subsequent software filtering (such as moving averages) will be unable to distinguish between real raindrops and spurious signals, meaning they will be incorrectly applied to the effective low-frequency signal band, forming false low-frequency signals. Therefore, the core purpose of anti-aliasing filtering is to physically eliminate these high-frequency interference components before analog-to-digital conversion, preventing them from being misidentified as useful signals representing rainfall.

[0058] Due to water surface fluctuations or vibrations from moving vehicles, the water droplet signal may be mixed with other signals. To eliminate this noise, this embodiment uses a moving average filtering algorithm to smooth the water droplet signal.

[0059] Specifically, a data queue of length N (e.g., N=10) is established. Each time a new water droplet signal value is sampled, it is placed at the end of the queue, while the oldest value is discarded. Then, the arithmetic mean of the N values ​​in the queue is calculated, and this average is used as the filtered water droplet signal at the current moment.

[0060] The choice of the moving average filter window length needs to strike a balance between response speed and smoothing effect. As an example, this embodiment selects a window length of 10 and a sampling interval of 10 s, corresponding to a time window of 100 s, which can effectively filter out vibration noise and respond to the actual rainfall changes within 100 s.

[0061] According to the windshield wiper control method provided in the above embodiments of this disclosure, by employing a moving average filtering algorithm, signal glitches caused by water surface fluctuations, vehicle bumps, etc., can be effectively suppressed, thus avoiding false triggering of the windshield wipers caused by these factors.

[0062] Based on the moving average filtering, this embodiment also includes a mutation suppression method to eliminate severe interference factors such as lightning and poor line contact.

[0063] Specifically, a signal change rate threshold can be set, representing the maximum allowable change in the water droplet signal per unit time. The change rate between the current water droplet signal and the previous signal is calculated every sampling period (e.g., 10 ms). When the calculated change rate exceeds the preset change rate threshold (e.g., the signal drops from 100 to 0 within 1 ms), it can be determined that the change is not caused by the water droplet (because the signal change rate generated by the water droplet hitting the car window is below this threshold). Therefore, this change is classified as interference and not responded to; the output value remains the value from the previous sampling time.

[0064] According to the windshield wiper control method provided in the above embodiments of this disclosure, by suppressing sudden changes, it is possible to effectively resist severe interference such as lightning and electromagnetic pulses, and avoid false triggering of the windshield wipers.

[0065] Step S220: Determine whether there are water droplets on the car window based on the water droplet signal. When the determination result is yes, acquire at least one auxiliary determination signal.

[0066] After acquiring the water droplet signal output by the sensor circuit, the system determines whether there are water droplets on the car window based on the water droplet signal. If the initial judgment result indicates that there are water droplets, at least one auxiliary judgment signal is further acquired.

[0067] The auxiliary judgment signal is a signal that is independent of the water droplet signal. The purpose of introducing the auxiliary judgment signal is to double-confirm the preliminary judgment result in order to prevent misjudgment caused by the physical limitations of a single optical signal (such as the inability to distinguish between real rain and being splashed with water).

[0068] Step S230: Determine the scraping decision based on at least one auxiliary judgment signal and a preset scraping decision state machine.

[0069] The at least one auxiliary judgment signal includes at least one vehicle status signal and / or at least one external environment signal, used to characterize whether the vehicle is in a rainy environment. The wiper decision state machine is used to define the correlation between at least one auxiliary judgment signal and the wiper decision, and the wiper decision is used to instruct the wiper operation.

[0070] According to the windshield wiper control method provided in the above embodiments of this disclosure, after initially determining the presence of water droplets on the windshield based on the water droplet signal output by the sensor circuit, the wipers are not directly triggered. Instead, at least one vehicle status signal and / or at least one external environment signal are further introduced as auxiliary judgment signals. The vehicle or environmental status is more accurately determined based on the auxiliary judgment signals, and a more accurate wiper decision is made based on a preset wiper decision state machine. Therefore, the solution of this disclosure does not rely on a single sensor signal to control the windshield wipers. Instead, it combines other auxiliary judgment signals to make a comprehensive judgment based on a preset wiper decision state machine. Only after determining whether the vehicle is truly in a rainy environment is the corresponding wiper decision output, thereby improving the accuracy of windshield wiper control and scene adaptability, effectively avoiding the problem of false triggering of windshield wipers in non-rainy scenarios, and improving the user's driving experience.

[0071] In some embodiments, the auxiliary determination signal is used to characterize whether the vehicle is currently in a rainy environment where wiping is required. For example, such as Figure 3As shown, at least one auxiliary judgment signal may include one or more of the following: vehicle speed signal, wiper load signal, ambient light signal, ambient temperature, ambient humidity, and window images captured by a camera. The specific implementation methods for different auxiliary judgment signals will be described in detail below.

[0072] In a preferred embodiment, at least one auxiliary judgment signal includes a wiper load signal, which is used to characterize the load state of the motor in the wiper. The wiping decision is determined based on at least one auxiliary judgment signal and a preset wiping decision state machine, including: judging whether the resistance of the window surface is abnormal based on the wiper load signal; when it is judged that the resistance of the window surface is abnormal, determining that the window is in a dry state, and determining the corresponding wiping decision as prohibiting wiping based on the wiping decision state machine.

[0073] In this embodiment, the auxiliary judgment signal includes a wiper load signal. This signal is used to reflect the load status of the motor in the wiper in real time and is a key basis for determining whether the current wiping action is in a normal wiping state or an abnormal dry wiping state.

[0074] Wiper motors typically integrate Hall effect sensors or current sensing elements. When the wiper actuator is driven to perform the wiping action, it acquires the signals output by the sensor or current sensing element in real time and processes them into data that can characterize the current load state of the motor.

[0075] The current load status of the motor is used to characterize the resistance during the wiping action. Under normal wiping conditions, when there is sufficient rainwater on the windshield surface (e.g., the windshield), the friction between the wiper and the glass is low, the motor runs smoothly, and the load is within a preset normal load range. At this time, the algorithm monitors the motor's Hall signal pulse frequency as high and regular, and the motor operating current remains stable at a low level. Under abnormal dry wiping conditions, when the windshield surface is dry or there is insufficient rainwater, the wiper rubs directly against the glass, increasing friction and causing a significant increase in motor load. At this time, the Hall signal pulse frequency decreases, the waveform becomes irregular, and the motor operating current increases and exceeds the normal range.

[0076] Specifically, the wiper load signal is continuously monitored and compared with a preset upper threshold of the normal load range. When the load state represented by the wiper load signal is consistently higher than this upper threshold, it is determined that the resistance of the current window surface is abnormal, confirming that the window is in a dry state, which meets the characteristics of dry wiping. At this time, the abnormal state information is sent to the preset wiping decision state machine. The state machine, based on internally defined association rules, determines the wiping decision corresponding to the signal combination of water droplet signal indicating the presence of water droplets and wiper load signal indicating dry wiping abnormality as prohibiting wiping. Therefore, even if the current water droplet signal indicates rain, the state machine will reject other permissible conditions due to receiving the dry wiping signal, ultimately prohibiting the generation of wiping commands.

[0077] It should be noted that the preset normal load range and its corresponding upper limit threshold can be predetermined. For example, when there is sufficient rainwater on the windshield surface and the wipers are wiping at a medium speed (e.g., 45 times per minute), the statistically derived wiper motor load signal value usually falls within the range of [20, 50] (expressed as a normalized Hall signal duty cycle or current value). The right endpoint 50 of this range is set as the upper limit threshold of the normal load range. The above is only an example, and those skilled in the art can adjust it according to actual conditions.

[0078] When the real-time value of the wiper load signal is consistently higher than 50 (e.g., stable above 80), it is determined that the load state is higher than the normal range, which meets the characteristics of dry wiping, and thus wiping is prohibited.

[0079] Preferably, after the wipers are deemed dry and thus prohibited from wiping, a baseline calibration trigger signal can be generated. This signal is used to initiate a recalibration process for the water droplet signal judgment baseline, thereby correcting potential misjudgments of water droplet signals due to obstruction by foreign objects or sensor aging.

[0080] According to the wiper control method provided in the above embodiments of this disclosure, by introducing a wiper load signal as an auxiliary judgment signal, when an abnormality in the surface resistance of the windshield is detected, it is determined that the windshield is dry (i.e., the vehicle is not in the rain), and the corresponding wiping decision is determined to be prohibiting wiping based on the wiping decision state machine. Thus, by using the motor load to confirm the dryness of the windshield, the wipers are prevented from spinning freely on dry glass due to false sensor alarms, avoiding damage caused by the wipers spinning freely on dry glass.

[0081] In another preferred embodiment, at least one auxiliary judgment signal includes ambient temperature and ambient humidity, which are acquired by a temperature sensor and a humidity sensor located outside the vehicle. The wiping decision is determined based on at least one auxiliary judgment signal and a preset wiping decision state machine, including: determining that the window is in a frosted state when the ambient temperature is lower than a preset low temperature threshold and the ambient humidity is higher than a preset saturation threshold; and determining the wiping decision corresponding to the frosted state as prohibiting wiping based on the wiping decision state machine.

[0082] In this embodiment, the auxiliary judgment signals include ambient temperature and ambient humidity, which are collected in real time by temperature sensors and humidity sensors installed on the vehicle.

[0083] The system obtains ambient temperature and humidity data from the vehicle's temperature and humidity sensors. It presets thresholds for determining frost conditions. These thresholds may include: a preset low-temperature threshold, such as 2°C. This value corresponds to the critical temperature near which water vapor on the window surface begins to condense into frost crystals. A preset saturation threshold, such as 90%RH or higher. This value corresponds to humidity conditions where the air is close to water vapor saturation, making frost formation on low-temperature surfaces highly likely. It should be noted that these thresholds are only examples and can be adjusted according to actual conditions.

[0084] When both the ambient temperature and humidity are simultaneously below a preset low-temperature threshold (e.g., 2°C) and above a preset saturation threshold (e.g., 90%RH), the external environment is determined to meet the conditions for frost formation on the car window surface. In this case, it can be inferred that the factor affecting the optical rain signal (i.e., the water droplet signal) on the window is not water droplets, but frost on the window surface, thus confirming that the window is in a frosted state. This determination is then sent to a preset swiping decision state machine. This state machine has predefined association rules: when the environmental conditions meet the frost requirement, the corresponding swiping decision is to prohibit swiping. Therefore, even if the water droplet signal itself indicates rain, because the state machine receives the frost signal, it ultimately outputs a decision to prohibit swiping.

[0085] According to the windshield wiper control method provided in the above embodiments of this disclosure, by introducing the ambient temperature and humidity outside the vehicle, when it is determined that the external environment is in a state of low temperature and high humidity, it is determined that there is frost on the windshield rather than rain. According to the wiper decision state machine, the wiper decision corresponding to the frost state is to prohibit wiping. This avoids the situation where the sensor cannot distinguish between frost and raindrops, causing the windshield wiper to forcibly wipe when there is frost on the windshield, thus protecting the windshield wiper and the windshield.

[0086] In another preferred embodiment, at least one auxiliary judgment signal includes a window image captured by a camera. The determination of a swiping decision based on at least one auxiliary judgment signal and a preset swiping decision state machine includes: inputting the window image into a visual analysis model for processing to obtain the judgment result of the visual analysis model for the window image; if the judgment result is that the window is in a dry state, then the corresponding swiping decision is determined to prohibit swiping based on the swiping decision state machine.

[0087] In this embodiment, the auxiliary judgment signal includes the window image captured by the camera. In a vehicle equipped with a camera, an image of the window (e.g., windshield) area captured by the camera is obtained. This image data is then input into a pre-trained visual analysis model. The pre-trained visual analysis model can be a semantic segmentation network or an image classification network based on deep learning, which is trained to identify different states of the window surface. The model can distinguish the following states based on texture, reflected light spots, and edge features in the image: dry state, where there is no obvious water film or raindrops on the glass surface; wet state, where there is a water film or discrete raindrops on the glass surface; other states, where the glass surface is dirty, covered with snow, etc.

[0088] The system reads the judgment result output by the visual analysis model and compares it with the current water droplet signal status. When a signal conflict occurs—that is, the water droplet signal indicates the presence of water droplets, but the visual analysis model determines that the car window is dry—the visual result takes precedence. In this case, it can be determined that the rain detected by the optical sensor may be due to non-rainfall factors (such as strong light interference, sensor aging, partial obstruction by foreign objects, etc.) rather than actual rainfall.

[0089] Subsequently, the visual arbitration result of determining the window image as dry is sent to a pre-defined swiping decision state machine. This state machine defines association rules: when the water droplet signal indicating the presence of water droplets and the visual analysis model's determination that the window is dry form a specific signal combination, the corresponding swiping decision is to prohibit swiping. Therefore, even if the current water droplet signal indicates rain, because the state machine receives the visual arbitration result from the camera's visual signal determining the window as dry, it ultimately outputs a decision to prohibit swiping.

[0090] According to the windshield wiper control method provided in the above embodiments of this disclosure, by inputting the window image captured by the camera into a visual analysis model, when the model determines that the window is in a dry state, the corresponding wiping decision is determined to prohibit wiping based on the wiping decision state machine. This method accurately determines the dryness of the window using image recognition, avoiding sensor misjudgments caused by non-rainwater-related water film textures or raindrop shapes on the window, thereby preventing the wipers from spinning idly on dry glass.

[0091] For example, the auxiliary judgment signal may also include vehicle speed signal and ambient light signal, as shown in the following examples: Vehicle speed signal: Acquire the vehicle's speed signal, which reflects the vehicle's travel speed and can be used to determine whether the vehicle is in motion. For example, when the vehicle speed is greater than 0 km / h or the vehicle is not in P gear, it indicates that the vehicle is in motion or preparing to move; when the vehicle speed is 0 and P gear is engaged, it indicates that the vehicle is stationary.

[0092] Specifically, the system acquires the vehicle speed signal. When the vehicle speed is greater than zero or not in Park (P) gear, and the optical signal indicates the presence of water droplets, the squeegee decision state machine, which defines the correlation between the vehicle speed signal and the squeegee decision, instructs the output to execute the squeegee decision. When the vehicle speed is zero or in Park (P) gear, squeegeeing is prohibited even if water droplets are detected. This rule aims to prevent accidental triggering in static scenarios such as water washing during car washes, swaying tree shadows while waiting at red lights, or under tree shade.

[0093] Ambient light signal: Acquire the ambient light intensity signal. This signal can be used to characterize changes in the intensity of ambient light around the vehicle, i.e., to determine whether the current signal change is caused by strong light interference. For example, when the ambient light intensity signal changes abruptly (such as entering or exiting a tunnel, or direct sunlight), it can be identified that the change in the optical rainfall signal may be due to strong light interference rather than actual raindrops.

[0094] Specifically, the system acquires ambient light intensity signals. When the ambient light sensor detects a sudden increase in infrared light intensity in a specific wavelength band (e.g., direct sunlight or entering / exiting a tunnel), it triggers an anti-sunlight suppression rule. At this point, instead of relying solely on the absolute intensity change of the optical signal to determine rainfall, it analyzes the high-frequency fluctuation components in the signal. For example, raindrops hitting a car window produce unique, irregular high-frequency vibrations, while strong light interference manifests as relatively smooth changes. If high-frequency vibrations are detected, it is determined to be real raindrops, and swiping is permitted; if no high-frequency vibrations are detected, it is determined to be strong light interference, and swiping is prohibited. By identifying this high-frequency vibration characteristic, it can accurately determine whether real raindrops are present during strong light interference and decide whether to output a swiping command, thus avoiding false triggering of the wipers due to sudden changes in light intensity caused by direct sunlight or entering / exiting a tunnel.

[0095] It should be noted that the types of auxiliary judgment signals mentioned above are merely examples, and this disclosure does not limit their application. In practical applications, one or more signals can be selected as auxiliary judgment criteria based on vehicle configuration and requirements.

[0096] To further eliminate the interference of ambient light changes on rainfall determination, in a preferred embodiment, determining whether there are water droplets on the vehicle window based on the water droplet signal includes: acquiring the ambient light signal output by the ambient light detection channel; compensating the water droplet signal based on the ambient light signal to obtain an updated water droplet signal; and determining whether there are water droplets on the vehicle window based on the updated water droplet signal.

[0097] The sensor integration module has an independent ambient light detection channel, which can use an independent photoelectric sensor (such as an ambient light sensor) specifically for monitoring the intensity of visible and infrared light in the environment around the vehicle.

[0098] Specifically, the ambient light detection channel can use an independent photosensitive element, which is not shared with the two infrared receivers for rain detection. Furthermore, the orientation or receiving method of the photosensitive element in the ambient light detection channel is different from that of the infrared receivers, enabling it to more accurately reflect changes in ambient light and thus remain unaffected by water droplet reflection signals.

[0099] Then, based on the acquired ambient light signal, the water droplet signal is compensated to obtain an updated water droplet signal. The purpose of compensation is to eliminate the interference of ambient light changes on rainfall determination. Specifically, when the ambient light signal changes abruptly, a compensation coefficient is calculated based on the ambient light signal to correct the water droplet signal, resulting in an updated water droplet signal. Subsequently, the presence of water droplets on the car window is determined based on the updated water droplet signal.

[0100] According to the windshield wiper control method provided in the above embodiments of this disclosure, the interference caused by sudden changes in ambient light to water droplet signals can be effectively offset, avoiding misjudgment of rainfall caused by scenarios such as entering and exiting tunnels, direct sunlight, or swaying tree shadows, thus improving the accuracy of judgment under complex lighting conditions.

[0101] To further improve the signal-to-noise ratio and more accurately suppress interference near the target signal frequency band, in a preferred embodiment, determining whether there are water droplets on the car window based on the water droplet signal includes: performing an oversampled analog-to-digital conversion on the water droplet signal to obtain an oversampled digital signal; performing digital decimation filtering on the oversampled digital signal to obtain a water droplet digital signal corresponding to the water droplet signal; and determining whether there are water droplets on the car window based on the water droplet digital signal.

[0102] Specifically, the controller or its internal analog-to-digital converter (ADC) does not sample at a conventional rate (e.g., 100 Hz), but rather at an extremely high rate much higher than the Nyquist frequency. For example, the ADC can sample a water droplet signal that has been low-pass filtered by hardware at a rate of 1 MHz, generating an oversampled digital signal.

[0103] After acquiring the oversampled digital signal, the controller does not directly use the obtained high-speed data stream, but instead feeds it into a digital decimation filter installed in software (e.g., a multi-stage cascaded integrator-comb Sinc3 filter). For example, this filter can perform the following key operations: Digital low-pass filtering: The Sinc3 filter has an extremely steep cutoff characteristic, which can accurately filter out all signal components above the target cutoff frequency (e.g., 100 Hz). For example, the Sinc3 filter can remove residual noise above 100 Hz in oversampled data (including interference in the immediate signal band that the low-pass filter circuit could not completely eliminate).

[0104] Downsampling (decimation): After filtering, the data rate is reduced from an extremely high rate, such as 1 MHz, to a frequency (such as 100 Hz) that matches the target update rate for decimation. After decimation, each output data point contains a large amount of information from the original high-speed data stream after precise filtering.

[0105] After digital decimation and filtering, the controller obtains a clean, low-data-rate digital signal of the water droplet. The noise in this digital signal has been reduced to an extremely low level, enabling it to accurately reflect changes in the amount of rain on the car window.

[0106] In subsequent operations, this water droplet digital signal, which has undergone oversampling and digital extraction processing, can be used as the basis for determining subsequent rainfall.

[0107] According to the wiper control method provided in the above embodiments of this disclosure, the main anti-aliasing burden is shifted from high-precision analog hardware to digital algorithms. This makes the system more tolerant to parameter errors and temperature drift of hardware components, achieving better filtering effects while reducing hardware costs and design complexity. Simultaneously, it effectively prevents near-band interference from misjudging rainfall results, thereby further improving the accuracy of wiper control.

[0108] In order to further improve the signal-to-noise ratio and specifically suppress interference at specific frequencies, the following signal processing means are also introduced in an optional implementation.

[0109] Power frequency notch filtering: After obtaining the water droplet signal (whether it is an analog signal output from a differential circuit or a digital signal after analog-to-digital conversion), the signal can be input into a notch filter to filter out the signal components corresponding to a preset frequency band, thus obtaining an updated water droplet signal. The preset frequency band corresponds to the mains power frequency of the area where the vehicle is located, for example, 50 Hz or 60 Hz.

[0110] Notch filters can accurately filter out the aforementioned power frequency (such as 50 Hz or 60 Hz) and its harmonic components, while having almost no impact on the signal in the characteristic frequency band (such as 1 Hz-20 Hz) corresponding to raindrop impacts. This method effectively suppresses mains frequency noise, preventing it from mixing into the valid signal and interfering with subsequent judgments.

[0111] Mechanical vibration decoupling: The water droplet signal (which can be the signal after the above-mentioned power frequency notch filtering or the original signal) is input into a bandpass filter. The passband of this bandpass filter is set to the characteristic frequency band corresponding to the raindrop impact on the car window, for example, 1Hz to 20Hz. This bandpass filter can also filter out signals above this passband, such as interference frequencies above 30Hz such as vehicle driving resonance, so that the algorithm only retains the effective energy generated by the raindrop impact and prevents misjudgment caused by bumpy road surfaces.

[0112] According to the wiper control method provided in the above embodiments of this disclosure, on the one hand, the power frequency notch filter effectively prevents mains noise from contaminating the water droplet signal; on the other hand, mechanical vibration decoupling reduces the risk of misjudgment caused by vehicle driving vibration. Through the above signal processing methods, the signal-to-noise ratio of the water droplet signal is further improved, thereby providing a reliable signal basis for subsequent rainfall judgment and wiping decisions.

[0113] After the signal has been processed as described above, the water droplet signal can be further processed for feature extraction and identification to accurately distinguish real raindrops from other interference.

[0114] The processed water droplet signal undergoes amplitude analysis. The system has a preset dead-zone threshold (or minimum decision amplitude). Only when the drop amplitude of the water droplet signal exceeds this dead-zone threshold is it considered a valid raindrop. For example, this dead-zone threshold can be set to 5% of the signal baseline; any tiny drop below this amplitude will be ignored and will not trigger subsequent processes. This method effectively filters out minor disturbances in the environment, ensuring that the system only responds to valid raindrop signals.

[0115] In addition, time-domain and frequency-domain analyses can be performed on the water droplet signal to distinguish the differences in spectral distribution between raindrop impact characteristics and other interference signals.

[0116] Raindrop impact characteristics: Raindrops falling on a car window produce high-frequency, irregular, pulse-like signal changes. Their energy is mainly distributed in a specific low-frequency characteristic band (e.g., 1 Hz to 20 Hz), and the waveform is random and non-periodic.

[0117] Interference characteristics: External light source interference (such as direct sunlight or sudden changes in tunnel lighting) usually manifests as a flat waveform, slow changes, or regular changes, with its energy concentrated in extremely low frequency bands or specific power frequency bands (such as 50 Hz), which is different from the impact characteristics of raindrops.

[0118] Mechanical vibration disturbances (such as engine idling vibration and vehicle body resonance) have relatively stable frequencies and periods, and their spectral peaks differ from the broadband random characteristics of raindrops.

[0119] Specifically, algorithms (such as short-time Fourier transform) can be used to compare the spectral characteristics of the water droplet signal with a preset raindrop characteristic model. If the spectral characteristics of the signal match the raindrop impact model, it is identified as a valid raindrop signal and allowed to proceed to the subsequent rainfall determination; if the spectral characteristics match models such as light source interference or mechanical vibration, it is classified as interference and not responded to.

[0120] According to the wiper control method provided in the above embodiments of this disclosure, by feature extraction and recognition, effective signals generated by real raindrops can be accurately selected, providing a basis for subsequent wiping decisions.

[0121] To further optimize the control stability of the windshield wipers under critical rainfall conditions, in a preferred embodiment, determining whether water droplets exist on the windshield based on water droplet signals includes: determining the presence of water droplets on the windshield when the intensity of the water droplet signal is greater than a first threshold. The control method further includes: continuously acquiring water droplet signals while the windshield wipers are performing a wiping operation; and generating a wiping stop command when the intensity of the water droplet signal is greater than a second threshold to control the windshield wipers to stop performing the wiping operation. The first threshold is less than the second threshold, and the intensity of the water droplet signal is negatively correlated with the probability of water droplets being present on the windshield.

[0122] Specifically, two thresholds can be preset to determine whether there is rain or not: a first threshold and a second threshold, with the first threshold being less than the second threshold. The intensity of the water droplet signal is negatively correlated with the probability of water droplets on the car window; that is, the lower the intensity of the water droplet signal, the more water accumulates on the car window and the greater the rainfall.

[0123] The first threshold can be set to, for example, 70, meaning that the wiping is triggered when the signal strength is below 70; the second threshold can be set to, for example, 85, meaning that the wiping is triggered to stop when the signal strength rises back above 85. It should be noted that the above values ​​are only examples, and in actual applications, they can be set according to sensor characteristics, vehicle configuration, etc.

[0124] For example, when there is no rain, the intensity of the water droplet signal is continuously monitored. When the intensity of the water droplet signal changes from high to low, and first drops below a first threshold, it is determined that water droplets are present on the windshield, a wiping command is generated, and the wipers are driven to start wiping. During the wiping operation, the controller does not immediately stop wiping even if the water droplet signal briefly rises above the first threshold, but maintains the wiping state and continues to monitor the water droplet signal. Only when the intensity of the water droplet signal changes from low to high, rising above a second threshold, is it determined that the water on the windshield has been cleared, a stop command is generated, and the wipers are controlled to stop wiping.

[0125] In an alternative implementation, a hysteresis comparator with two different trigger thresholds can be set inside the controller to implement the above-described decision logic.

[0126] According to the windshield wiper control method provided in the above embodiments of this disclosure, by setting a first threshold and a second threshold, and when the intensity of the water droplet signal is greater than the first threshold, it is determined that there are water droplets on the windshield. While the windshield wiper is performing the wiping operation, the water droplet signal is continuously acquired. When the intensity of the water droplet signal is greater than the second threshold, a wiping stop command is generated to control the windshield wiper to stop performing the wiping operation. This avoids the problem of windshield wiper start-stop trembling under critical rainfall, thereby making the windshield wiper operation more stable, improving the user's comfort experience, and extending the service life of the windshield wiper.

[0127] To accommodate users' personalized needs for wiper activation sensitivity, in a preferred embodiment, the wiper control method disclosed herein further includes: modifying a first threshold according to a sensitivity adjustment command input by the user, wherein the sensitivity adjustment command is used to express the user's sensitivity requirements for wiper activation, and the magnitude of the first threshold is positively correlated with the sensitivity requirements.

[0128] It should be noted that, to accommodate users' personalized needs for wiper activation sensitivity, the criteria used to determine the presence of water droplets on the windshield can be adjusted based on user-input sensitivity adjustment commands. These criteria can be a threshold compared to the water droplet signal strength, other criteria in signal processing (such as the minimum duration required to trigger the wipers), or any other algorithm parameters related to sensitivity control.

[0129] Specifically, sensitivity adjustment commands can be received through a user interface (such as the sensitivity settings on the wiper control lever). The controller internally stores a mapping between the user's adjustment settings and internal judgment conditions. Based on the received adjustment commands, the judgment conditions used to determine the presence of water droplets can be modified.

[0130] In low-sensitivity scenarios, the detection criteria can be made more stringent. For example, the system needs the water droplet signal strength to drop significantly before detecting the presence of a water droplet, thus increasing the threshold for wiper activation. In high-sensitivity scenarios, the detection criteria can be made more lenient. For example, a slight drop in water droplet signal strength is sufficient to detect the presence of a water droplet, making it easier for the wipers to activate.

[0131] According to the windshield wiper control method provided in the above embodiments of this disclosure, the method can flexibly adapt to the driving habits and preferences of different users.

[0132] As another preferred implementation, a mapping relationship between the physical lever position and a first threshold can be pre-established. Based on this, the user can adjust the sensitivity of the windshield wipers according to their personal needs while using the vehicle. When a sensitivity adjustment command is received from the user, the controller can modify the first threshold according to the sensitivity adjustment command.

[0133] Specifically, the value of the first threshold is positively correlated with the user's sensitivity requirements: when the user selects a low sensitivity level, the first threshold can be set to a lower value (e.g., 30). In this case, the water droplet signal strength needs to drop significantly (i.e., below a lower value) to trigger the wiping action. When the user selects a high sensitivity level, the first threshold can be set to a higher value (e.g., 70). In this case, the water droplet signal strength only needs to drop relatively slightly to trigger the wiping action.

[0134] According to the wiper control method provided in the above embodiments of this disclosure, the user can adjust the wiper sensitivity by means of the mapping relationship between the physical lever position and the first threshold, without adding hardware, but only by software configuration.

[0135] To prevent false triggering of the windshield wipers due to hardware changes, in a preferred embodiment, the windshield wiper control method of this disclosure further includes: determining the current water droplet signal as a no-rain signal when it is determined from the water droplet signal that there are no water droplets on the windshield; comparing the no-rain signal with a baseline signal, wherein the baseline signal is a reference signal of the water droplet signal collected by the sensor circuit in the no-rain state; and calibrating the baseline signal based on the no-rain signal when the drift value of the no-rain signal relative to the baseline signal exceeds a preset drift threshold.

[0136] To accurately determine if there is a rainless signal, it is first necessary to confirm whether there are water droplets on the car window at the current moment. If the water droplet signal indicates that there are no water droplets on the car window, then the current water droplet signal is determined to be a rainless signal.

[0137] For example, to further ensure the accuracy of rain-free status determination, other auxiliary signals can be referenced. For instance, a rain-free status can only be determined when the vehicle is in motion and the wiper motor does not detect abnormal resistance, thereby avoiding misjudgments in rain-free scenarios such as dripping water when the vehicle is stationary.

[0138] After confirming that the current state is rainless, the currently collected water droplet signal value is designated as the rainless signal. This rainless signal represents the signal level that the system considers to correspond to clean glass under the current environmental conditions and sensor hardware status.

[0139] The controller internally stores a baseline signal, which is a reference value established during factory calibration or system initialization, representing the water droplet signal that the sensor should output under ideal conditions of clean glass and no rain. The currently acquired no-rain signal is compared with the baseline signal, and the drift value between the two is calculated.

[0140] For example, the drift value can be expressed as: Drift value = |Current no rain signal - Baseline signal| For example, a preset drift threshold can be set. When the calculated drift value exceeds the preset drift threshold, it indicates that the sensor hardware status (e.g., aging of coupling adhesive, change in the transmittance of optical elements) or the glass surface status (e.g., long-term dirt accumulation, minor scratches) has changed, which will lead to inaccurate subsequent rainfall determination benchmarks.

[0141] At this point, an automatic calibration process can be triggered. The purpose of calibration is to adjust the baseline signal to follow the current rainless signal, but different processing methods are required depending on the direction and nature of the drift.

[0142] Specifically, when the glass gets dirty—dust and other pollutants accumulate on the window surface—the transmittance of infrared light decreases, and the water droplet signal drops in one direction (e.g., from 100 to 80). In this case, the baseline needs to be adjusted accordingly to match the current clean glass signal level.

[0143] Glass becomes clean: After the vehicle has been washed, the dirt on the glass surface is removed, and the water droplet signal will rise again (e.g., from 80 back to 100). At this time, the baseline needs to be adjusted accordingly to avoid false rain warnings on clean glass due to an excessively low baseline.

[0144] Hardware aging: As infrared emitters or receivers are used over time, their characteristics slowly degrade, causing the water droplet signal to continuously drift in the same direction (e.g., from 100 to 90, to 85, to 80). In this case, the baseline needs to be continuously and gradually adjusted in the same direction to keep up with the aging trend.

[0145] As an example, the calibration method could be: updated baseline signal = current rainless signal. This disclosure does not limit the calibration method.

[0146] According to the wiper control method provided in the above embodiments of this disclosure, the automatic calibration process can automatically track long-term changes in the sensor and the glass, adjust the judgment benchmark in a timely manner, and improve the accuracy of wiper control.

[0147] The following example illustrates the windshield wiper control method provided in this disclosure through a specific driving scenario.

[0148] On a summer afternoon, a user drives his vehicle out of an underground parking lot. The vehicle is equipped with the windshield wiper control system disclosed herein.

[0149] After the vehicle starts, the rain and light sensors in the sensor integration module begin to operate. At this time, the surface of the window is dry and clean. The infrared emitting diodes (two groups, A and B, three diodes in each group) in the sensor circuit emit infrared light towards the outer surface of the window. Two matched infrared receiving diodes (the first infrared receiving diode and the second infrared receiving diode) respectively receive the infrared light reflected back from the glass.

[0150] Because the glass surface is dry, the light reflection intensity of the two sets of infrared emitting diodes is equal, and the amplitudes of the first and second initial optical signals output by the two infrared receiving diodes are the same. The differential circuit performs differential amplification on these two signals and outputs a water droplet signal. At this time, since there are no water droplets on the glass surface, this difference signal is zero or remains at a stable baseline level.

[0151] The controller receives the water droplet signal and, after preliminary judgment (such as comparison with a threshold), confirms that there is no water droplet on the car window, and the system goes into standby mode.

[0152] A user drives onto a tree-lined road where water droplets remain on the leaves of the trees above. As the vehicle passes, a few of these droplets fall onto the rain and light sensor area on the car window.

[0153] At this point, the hardware differential structure comes into play: the few remaining water droplets cause a localized change in the reflection conditions of the glass surface. The light intensities reflected back from the two sets of infrared emitting diodes, A and B, differ. Therefore, the signals output by the two infrared receiving diodes differ, and the differential circuit extracts and amplifies this difference, causing the output water droplet signal intensity to begin decreasing from the baseline.

[0154] However, the wiping command was not immediately output. After initially determining that the water droplet signal indicated the possibility of water, an auxiliary judgment signal was first acquired. This signal, obtained via the CAN bus, indicated a current vehicle speed of 0 km / h. Since the vehicle was not moving, the preset wiping decision state machine determined that the optical signal initially confirmed the presence of water, but the vehicle's motion enable condition was not met. Therefore, it output a decision to prohibit wiping. At this point, it can be considered that these are merely water droplets in a stationary state, not a real rainfall condition requiring wiping, thus preventing false triggering.

[0155] The vehicle continued driving, and at this moment, the setting sun shone directly onto the car window at a specific angle. The intense sunlight momentarily struck the receiver of the rain gauge, causing its output signal to drop sharply. If relying solely on a single optical signal, this might be interpreted as a sudden downpour.

[0156] However, in the technical solution disclosed herein, an independent ambient light sensor detects a sharp increase in ambient light intensity. At this point, an anti-sunlight suppression rule is immediately triggered. Under this rule, rainfall can be determined not by the absolute amplitude drop of the water droplet signal, but by analyzing the high-frequency fluctuation components of the signal. Since direct sunlight causes a flat, stable signal change, rather than the high-frequency, irregular pulses characteristic of raindrops hitting glass, it can be determined that the current signal drop is not actual rainfall, thus again avoiding false triggering.

[0157] As driving continued, a light drizzle began to fall. Raindrops continuously landed on the sensor's detection area. At this point, the water droplet signal showed a stable and continuous decline, falling below a preset first threshold (e.g., 60) for the first time. Simultaneously, the vehicle speed signal indicated that the vehicle was in motion. The wiper decision state machine determined that both the optical signal confirming the presence of water and the vehicle's motion enabling condition were met simultaneously. Therefore, it output a decision to execute the wiper, issuing a wiper command to drive the wiper motor to rotate, which in turn moved the wiper arm to complete the wiping action, clearing the rainwater from the windshield.

[0158] After the wiping action is completed, the water droplet signal strength recovers. Due to the use of a hysteresis comparator (with the second threshold set to 80), although the signal has recovered to above 60, it has not reached 80. Therefore, the wipers remain in standby mode, avoiding vibration under critical rainfall conditions.

[0159] After several effective wipes, the windshield wiper system remained stable. When the vehicle drove over a construction zone, mud and water splashed onto the windshield. Although this mud and water altered the reflected light, the resulting signal drop characteristics differed from those of raindrops. The system recognized this as interference and did not trigger unnecessary wiping.

[0160] Throughout the journey, the vehicle encountered complex conditions such as entering and exiting tunnels and driving on bumpy roads. However, thanks to the dual mechanisms of hardware differential and software algorithms disclosed herein, there were no instances of unexplained dry scraping or missed scraping, ensuring a clear view and a good driving experience for the user.

[0161] Figure 4 The diagram shown is a structural schematic of a windshield wiper control device according to an embodiment of this disclosure. Based on the same concept as the windshield wiper control methods provided in the above embodiments, referencing... Figure 4 This disclosure also provides a windshield wiper control device 400.

[0162] like Figure 4 As shown, the wiper control device 400 may include: an acquisition module 410 for acquiring water droplet signals output by the wiper's sensor circuit; a judgment module 420 for judging whether there are water droplets on the windshield based on the water droplet signals, and acquiring at least one auxiliary judgment signal when the judgment result is yes; and a determination module 430 for determining a wiping decision based on at least one auxiliary judgment signal and a preset wiping decision state machine, wherein the at least one auxiliary judgment signal includes at least one vehicle status signal and / or at least one external environment signal, used to characterize whether the vehicle is in a rainy environment, the wiping decision state machine is used to define the correlation between at least one auxiliary judgment signal and the wiping decision, and the wiping decision is used to instruct the wiper to perform the wiping operation.

[0163] According to the wiper control device provided in the above embodiments, after initially determining the presence of water droplets on the windshield based on the water droplet signal output by the sensor circuit, it does not directly trigger the wipers. Instead, it further introduces at least one vehicle status signal and / or at least one external environment signal as auxiliary judgment signals. Based on the auxiliary judgment signals, it more accurately judges the vehicle or environmental state and determines a more accurate wiper decision based on a preset wiper decision state machine. Therefore, the solution of this disclosure does not rely on a single sensor signal to control the wipers. Instead, it combines other auxiliary judgment signals to perform a comprehensive judgment based on a preset wiper decision state machine. Only after determining whether the vehicle is truly in a rainy environment does it output the corresponding wiper decision, thereby improving the accuracy of wiper control and scene adaptability. This effectively avoids the problem of wipers being falsely triggered in non-rainy scenarios, improving the user's driving experience.

[0164] In some embodiments of this disclosure, at least one auxiliary judgment signal includes a wiper load signal, which is used to characterize the load state of the motor in the wiper. The wiping decision is determined based on at least one auxiliary judgment signal and a preset wiping decision state machine, including: judging whether the resistance of the window surface is abnormal based on the wiper load signal; when it is judged that the resistance of the window surface is abnormal, determining that the window is in a dry state, and determining the corresponding wiping decision as prohibiting wiping based on the wiping decision state machine.

[0165] In some embodiments of this disclosure, at least one auxiliary judgment signal includes ambient temperature and ambient humidity, which are acquired by a temperature sensor and a humidity sensor located outside the vehicle. The determination of a swiping decision based on at least one auxiliary judgment signal and a preset swiping decision state machine includes: determining that the window is in a frosted state when the ambient temperature is lower than a preset low temperature threshold and the ambient humidity is higher than a preset saturation threshold; and determining, based on the swiping decision state machine, that the swiping decision corresponding to the frosted state is to prohibit swiping.

[0166] In some embodiments of this disclosure, at least one auxiliary judgment signal includes a window image captured by a camera. The determination of a swiping decision based on at least one auxiliary judgment signal and a preset swiping decision state machine includes: inputting the window image into a visual analysis model for processing to obtain the judgment result of the visual analysis model for the window image; if the judgment result is that the window is in a dry state, then the corresponding swiping decision is determined to prohibit swiping based on the swiping decision state machine.

[0167] In some embodiments of this disclosure, the determination module 420 may also be used to: acquire the ambient light signal output by the ambient light detection channel; compensate the water droplet signal according to the ambient light signal to obtain an updated water droplet signal; and determine whether there are water droplets on the car window according to the updated water droplet signal.

[0168] In some embodiments of this disclosure, the determination module 420 can also be used to: determine that there are water droplets on the windshield when the intensity of the water droplet signal is greater than a first threshold; continuously acquire the water droplet signal while the wipers are performing a wiping operation; and generate a wiping stop command when the intensity of the water droplet signal is greater than a second threshold to control the wipers to stop performing the wiping operation. The first threshold is less than the second threshold, and the intensity of the water droplet signal is negatively correlated with the probability of water droplets on the windshield.

[0169] In some embodiments of this disclosure, the wiper control device 400 can also be used to: modify a first threshold according to a sensitivity adjustment command input by a user, wherein the sensitivity adjustment command is used to express the user's sensitivity requirement for the wiper activation, and the magnitude of the first threshold is positively correlated with the sensitivity requirement.

[0170] In some embodiments of this disclosure, the wiper control device 400 can also be used to: determine that there are no water droplets on the windshield when it is determined from the water droplet signal that there are no water droplets; compare the no-rain signal with a baseline signal, wherein the baseline signal is a reference signal of the water droplet signal collected by the sensor circuit in the no-rain state; and calibrate the baseline signal according to the no-rain signal when the drift value of the no-rain signal relative to the baseline signal exceeds a preset drift threshold.

[0171] It should be noted that the explanations and descriptions of the technical effects of the aforementioned wiper control method embodiments also apply to the wiper control device in this embodiment, and will not be repeated here.

[0172] Figure 5 The diagram shown is a structural schematic of a vehicle according to an embodiment of this disclosure. Based on the same concept as the control methods provided in the above embodiments, this disclosure also provides a structural schematic of a vehicle.

[0173] like Figure 5 As shown, the vehicle 500 includes a memory 510, a processor 520, a communication interface 530, and a bus 540. The memory 510, processor 520, and communication interface 530 are interconnected via the bus 540.

[0174] The memory 510 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 510 may store a program, and when the program stored in the memory 510 is executed by the processor 520, the processor 520 and the communication interface 530 are used to execute the various steps of the wiper control method of the present disclosure embodiments.

[0175] The processor 520 may be a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits, for executing relevant programs to achieve the functions required by the units in the wiper control method of this disclosure embodiment.

[0176] The processor 520 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the wiper control method of this disclosure can be completed by the integrated logic circuitry in the hardware of the processor 520 or by instructions in software form. The processor 520 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly embodied in the execution of a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 510. The processor 520 reads the information in the memory 510 and, in conjunction with its hardware, performs the functions required by the units included in the wiper control method of the present disclosure embodiment, or executes the wiper control method of the present disclosure method embodiment.

[0177] The communication interface 530 uses transceiver devices, such as, but not limited to, transceivers, to enable communication between the vehicle 500 and other devices or communication networks. For example, sensor data can be acquired through the communication interface 530.

[0178] Bus 540 may include a pathway for transmitting information between various components of vehicle 500 (e.g., memory 510, processor 520, communication interface 530).

[0179] It should be noted that, although Figure 5 The vehicle 500 shown only illustrates the memory, processor, and communication interface. However, those skilled in the art should understand that in specific implementations, the vehicle 500 may also include other devices necessary for normal operation. Furthermore, depending on specific needs, those skilled in the art should understand that the vehicle 500 may also include hardware devices for implementing other additional functions. Moreover, those skilled in the art should understand that the vehicle 500 may only include the devices necessary for implementing the embodiments of this disclosure, and may not necessarily include... Figure 5 All the devices shown.

[0180] In addition to the methods, apparatus, and devices described above, embodiments of this disclosure may also be computer program products, including computer program instructions that, when executed by a processor, cause the processor to perform the various steps of the wiper control methods provided in the various embodiments of this disclosure.

[0181] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0182] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions that, when executed by a processor, cause the processor to perform various steps of the wiper control method provided in the various embodiments of this disclosure.

[0183] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0184] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0185] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0186] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0187] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0188] In addition, the functional units in the various embodiments of this disclosure can be integrated into one unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0189] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0190] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A method for controlling a windshield wiper, characterized in that, include: Acquire the water droplet signal output by the sensor circuit of the windshield wiper; The presence of water droplets on the car window is determined based on the water droplet signal. When the determination result is yes, at least one auxiliary determination signal is obtained. A wiping decision is determined based on the at least one auxiliary judgment signal and a preset wiping decision state machine. The at least one auxiliary judgment signal includes at least one vehicle status signal and / or at least one external environment signal, used to characterize whether the vehicle is in a rainy environment. The wiping decision state machine is used to define the correlation between the at least one auxiliary judgment signal and the wiping decision. The wiping decision is used to instruct the wiping operation of the windshield wipers.

2. The windshield wiper control method according to claim 1, characterized in that, The at least one auxiliary judgment signal includes a wiper load signal, which is used to characterize the load state of the motor in the wiper. The step of determining the scraping decision based on the at least one auxiliary judgment signal and a preset scraping decision state machine includes: Based on the wiper load signal, determine whether the resistance on the surface of the windshield is abnormal; When it is determined that the resistance on the surface of the vehicle window is abnormal, the vehicle window is determined to be in a dry state, and the corresponding scraping decision is determined to prohibit scraping according to the scraping decision state machine.

3. The windshield wiper control method according to claim 1, characterized in that, The at least one auxiliary judgment signal includes ambient temperature and ambient humidity, which are acquired by temperature and humidity sensors located outside the vehicle. The step of determining the scraping decision based on the at least one auxiliary judgment signal and a preset scraping decision state machine includes: When the ambient temperature is lower than a preset low temperature threshold and the ambient humidity is higher than a preset saturation threshold, the window is determined to be in a frosted state. According to the scraping decision state machine, the scraping decision corresponding to the frosting state is to prohibit scraping.

4. The windshield wiper control method according to claim 1, characterized in that, The at least one auxiliary judgment signal includes the image of the vehicle window captured by the camera. The step of determining the scraping decision based on the at least one auxiliary judgment signal and a preset scraping decision state machine includes: The image of the car window is input into a visual analysis model for processing to obtain the judgment result of the visual analysis model for the image of the car window; If the determination result is that the window is in a dry state, then the corresponding swiping decision is determined to be prohibiting swiping according to the swiping decision state machine.

5. The method for controlling a windshield wiper according to any one of claims 1 to 4, characterized in that, The water droplet signal is an optical signal collected by the sensor circuit for the vehicle window. Determining whether water droplets exist on the vehicle window based on the water droplet signal includes: Acquire the ambient light signal output from the ambient light detection channel; The water droplet signal is compensated based on the ambient light signal to obtain an updated water droplet signal; The presence of water droplets on the car window is determined based on the updated water droplet signal.

6. The method for controlling a windshield wiper according to any one of claims 1 to 4, characterized in that, The step of determining whether there are water droplets on the car window based on the water droplet signal includes: When the intensity of the water droplet signal is greater than a first threshold, it is determined that there are water droplets on the car window. The control method further includes: While the windshield wipers are performing a wiping operation, the water droplet signal is continuously acquired. When the intensity of the water droplet signal exceeds a second threshold, a wiping stop command is generated to control the windshield wipers to stop performing the wiping operation. Wherein, the first threshold is less than the second threshold, and the intensity of the water droplet signal is negatively correlated with the probability of water droplets being present on the car window.

7. The windshield wiper control method according to claim 6, characterized in that, Also includes: The first threshold is modified according to the sensitivity adjustment command input by the user, wherein the sensitivity adjustment command is used to express the user's sensitivity requirement for the wiper activation, and the value of the first threshold is positively correlated with the sensitivity requirement.

8. The method for controlling a windshield wiper according to any one of claims 1 to 4, characterized in that, Also includes: When it is determined from the water droplet signal that there are no water droplets on the car window, the current water droplet signal is determined to be a no-rain signal; The no-rain signal is compared with the baseline signal, wherein the baseline signal is a reference signal for the water droplet signal collected by the sensor circuit in the no-rain state; as well as When the drift value of the rainless signal relative to the baseline signal exceeds a preset drift threshold, the baseline signal is calibrated based on the rainless signal.

9. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a computer program stored in the memory and running on the processor, the processor executing the computer program to implement the windshield wiper control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the windshield wiper control method according to any one of claims 1 to 8.

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