Windshield wiper control method and apparatus, device, medium, and vehicle

Abstract

A windshield wiper control method, comprising: acquiring driving state information of a vehicle, wherein the driving state information at least comprises the driving speed of the vehicle and the acceleration of the vehicle; acquiring original control information of a windshield wiper, wherein the original control information at least comprises the original sensitivity of an automatic windshield wiper and a first cyclic wiping threshold corresponding to a current rainfall; adjusting the original control information on the basis of the driving state information to obtain compensation control information, wherein the compensation control information at least comprises an adjusted sensitivity of the automatic windshield wiper and an adjusted cyclic wiping threshold; and on the basis of the compensation control information, controlling the windshield wiper to work. Further provided are a windshield wiper control apparatus, an electronic device, a computer non-volatile readable storage medium, and a vehicle. The driving speed and the acceleration of a vehicle are introduced into automatic windshield wiper control logic, and the sensitivity of an automatic windshield wiper and a cyclic wiping threshold are correspondingly adjusted on the basis of different driving speeds and accelerations, so that the difference between windshield wiper control strategies respectively corresponding to a rainfall perceived by a user and an actual rainfall and caused by the vehicle driving state is compensated for, and the requirement of a customer for the automatic windshield wiper under a current vehicle speed and rainfall is satisfied, thereby improving the driving experience of the user, and guaranteeing the driving safety.

Description

Wiper control method, device, equipment, medium and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 20, 2023, with application number 202311768611.6, and application name "Wiper control method, device, equipment, medium and vehicle", all of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of automatic control technology, and in particular to a wiper control method, device, equipment, medium and vehicle. Background Art

[0004] When a vehicle is driving in the rain, raindrops falling on the windshield will block the driver's vision. The wipers can scrape away the raindrops or water marks on the windshield to ensure good driving visibility.

[0005] With the development of intelligent automotive control technology, automatic wipers are becoming increasingly common. Existing technologies automatically adjust the wiper frequency based on rainfall, helping drivers adjust the wiper's operating state during rainy driving and enhancing their intelligent driving experience.

[0006] However, when the vehicle speed increases, the driver will visually feel that the rain is increasing, but the actual rainfall amount does not change, so the wiping frequency of the automatic wipers will not change, causing the driver to visually feel that visibility is getting worse, resulting in a poor driving experience and even affecting driving safety. Summary of the Invention

[0007] In order to solve the above technical problems, the present application provides a wiper control method, device, equipment, medium and vehicle to meet customers' needs for automatic wipers under current vehicle speed and rainfall, improve user driving experience and ensure driving safety.

[0008] In a first aspect, some embodiments of the present application provide a wiper control method, comprising:

[0009] Acquiring vehicle driving state information, the driving state information including at least the vehicle's driving speed and vehicle acceleration;

[0010] Obtaining original control information of the wiper, the original control information at least including the original sensitivity of the automatic wiper and the first cycle wiping threshold corresponding to the current rainfall;

[0011] Adjusting the original control information according to the driving state information to obtain compensation control information, the compensation control information at least including the adjusted sensitivity of the automatic wiper and the adjusted cycle wipe threshold;

[0012] The wiper is controlled to work according to the compensation control information.

[0013] In some embodiments, adjusting the original control information according to the driving state information to obtain the compensated control information includes:

[0014] When the driving speed is less than the first speed threshold, the original sensitivity of the automatic wiper is lowered, and the first cycle wiping threshold is increased to the second cycle wiping threshold.

[0015] In some embodiments, adjusting the original control information according to the driving state information to obtain the compensated control information includes:

[0016] When the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, the original control information is used as the compensation control information, and the second speed threshold is greater than the first speed threshold.

[0017] In some embodiments, adjusting the original control information according to the driving state information to obtain the compensated control information includes:

[0018] When the driving speed is greater than or equal to the second speed threshold, the original sensitivity of the automatic wiper is increased, and the first cycle wiping threshold is lowered to the third cycle wiping threshold.

[0019] In some embodiments, the compensation control information further includes single wipe control information. The original control information is adjusted according to the driving state information to obtain the compensation control information, including:

[0020] When the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, if the accumulated rainfall value within the preset time is greater than the fourth cyclic wiping threshold, single wiping control information is generated, the third speed threshold is less than the first speed threshold, and the fourth cyclic wiping threshold is less than the second cyclic wiping threshold, and the single wiping control information is used to control the wipers to perform one wiping operation.

[0021] In some embodiments, adjusting the original control information according to the driving state information to obtain the compensated control information further includes:

[0022] When the automatic wiper is in intermittent wiping mode, the timer starts from the last wiping time;

[0023] If the driving speed is less than the third speed threshold after the preset time, and the acceleration is greater than the acceleration threshold, single wipe control information is generated.

[0024] In some embodiments, before obtaining the driving status information of the vehicle, the method further includes:

[0025] Simulation is performed based on a real vehicle glass model and an Euler body raindrop model to obtain raindrop adhesion state information, which includes the effects of rainfall and vehicle speed on the adhesion state of raindrops on the glass.

[0026] In some embodiments, the raindrop attachment state information includes first attachment state information and second attachment state information. The raindrop attachment state information is obtained by simulation based on a real vehicle glass model and an Euler body raindrop model, including:

[0027] Importing a real vehicle glass model and creating Euler body raindrops of various preset volumes, controlling the Euler body raindrop model to drop onto the surface of the real vehicle glass model at a preset descent speed, and obtaining first adhesion state information. The Euler body raindrops of various preset volumes correspond to various rainfall amounts, and the first adhesion state information includes the adhesion state of the raindrop on the glass under different rainfall amounts.

[0028] The real vehicle glass model is controlled to move at multiple preset vehicle speeds, and the Euler body raindrop model is controlled to drop onto the surface of the real vehicle glass model at a preset descent speed to obtain second adhesion state information, which includes the adhesion state of raindrops on the glass at different vehicle speeds.

[0029] In a second aspect, some embodiments of the present application provide a wiper control device, comprising:

[0030] A first acquisition module is used to acquire driving state information of the vehicle, where the driving state information includes at least the driving speed and acceleration of the vehicle;

[0031] A second acquisition module is used to obtain original control information of the wiper, where the original control information at least includes the original sensitivity of the automatic wiper and the first cycle wiping threshold corresponding to the current rainfall;

[0032] a compensation module, configured to adjust the original control information according to the driving state information to obtain compensated control information, wherein the compensated control information includes at least an adjusted sensitivity of the automatic wiper and an adjusted cyclic wipe threshold;

[0033] The control module is used to control the wiper to work according to the compensation control information.

[0034] In a third aspect, some embodiments of the present application provide an electronic device, including:

[0035] Memory;

[0036] processor; and

[0037] computer programs;

[0038] The computer program is stored in the memory and configured to be executed by the processor to implement the method of the first aspect.

[0039] In a fourth aspect, some embodiments of the present application provide a computer non-volatile readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method of the first aspect.

[0040] In a fifth aspect, some embodiments of the present application provide a vehicle comprising the above device, electronic device or computer non-volatile readable storage medium.

[0041] The wiper control methods, devices, equipment, media and vehicles provided in some embodiments of the present application introduce the vehicle's driving speed and acceleration into the automatic wiper control logic, and adjust the sensitivity of the automatic wiper and the cycle wiping threshold accordingly according to the driving speed and acceleration, so as to compensate for the difference between the wiper control strategies corresponding to the user-perceived rainfall and the actual rainfall caused by the vehicle's driving state, meet the customer's demand for automatic wipers under the current vehicle speed and rainfall, improve the user's driving experience, and ensure driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate some embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate some embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in some embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] FIG1 is a flow chart of a wiper control method provided by some embodiments of the present application;

[0045] FIG2 is a schematic diagram of an application scenario provided by some embodiments of the present application;

[0046] FIG3 is a flow chart of a wiper control method provided by another embodiment of the present application;

[0047] FIG4 is a schematic diagram of force analysis of a raindrop on an inclined surface according to some embodiments of the present application;

[0048] FIG5 is a schematic diagram of a simulation model provided by some embodiments of the present application;

[0049] FIG6 is a schematic diagram of a raindrop morphology from a macroscopic perspective provided by some embodiments of the present application;

[0050] FIG7 is a schematic diagram of raindrop morphology at a local angle provided by some embodiments of the present application;

[0051] FIG8 is a schematic diagram of a fitting curve of a critical value of a water droplet adhesion state provided in some embodiments of the present application;

[0052] FIG9 is a schematic structural diagram of a wiper control device provided in some embodiments of the present application;

[0053] FIG10 is a schematic diagram of the structure of an electronic device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that, in the absence of conflict, some embodiments of the present application and the features therein can be combined with each other.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein; it is obvious that some embodiments in the specification are only part of the embodiments of the present application, rather than all the embodiments.

[0056] Some embodiments of the present application provide a wiper control method, which is introduced below in conjunction with some specific embodiments.

[0057] FIG1 is a flow chart of a wiper control method provided in some embodiments of the present application. The method can be applied to an intelligent driving scenario as shown in FIG2 , which includes a domain controller (XCU) 21 for controlling various functions of the vehicle, a rain light sensor 22 for sensing the amount of rain, a vehicle speed sensor 23 for collecting vehicle speed information and acceleration information, an automatic wiper switch 24 for controlling the automatic wiper function, and a wiper motor 25 for controlling the wiper operation. Data is transmitted between the various components via a LIN (Local Interconnect Network) bus or a CAN (Controller Area Network) bus or other vehicle-mounted communication methods. It is understandable that the wiper control method provided in some embodiments of the present application can also be applied in other scenarios.

[0058] The wiper control method shown in FIG1 is described below in conjunction with the scenario shown in FIG2 . The method includes the following specific steps:

[0059] S101. Acquire driving state information of a vehicle, where the driving state information includes at least the driving speed and acceleration of the vehicle.

[0060] The vehicle is equipped with various sensors for collecting vehicle driving status information, such as a vehicle speed sensor for collecting vehicle speed and acceleration. Alternatively, the current vehicle speed and acceleration can be obtained in real time through control information from the vehicle computer, although some embodiments of the present application are not limited to this.

[0061] S102: Acquire original control information of the wiper, where the original control information at least includes an original sensitivity of the automatic wiper and a first cycle wiping threshold corresponding to the current rainfall.

[0062] Among them, the current rainfall is collected by the rain light sensor.

[0063] The original wiper control information conforms to the original control strategy for automatic wipers, including at least the original wiper sensitivity and the first-cycle wiper threshold corresponding to the current rainfall. The current rainfall is collected by a rain light sensor (RLS). The RLS senses the current rainfall information, allowing the domain controller to determine the current rainfall level and select the corresponding original wiper sensitivity and first-cycle wiper threshold.

[0064] The first wipe cycle threshold means that when the accumulated rainfall reaches this threshold, the automatic wipers will wipe once. In other words, the lower the first wipe cycle threshold, the more frequently the automatic wipers will wipe; the higher the first wipe cycle threshold, the less frequently the automatic wipers will wipe.

[0065] Different automatic wiper initial sensitivities correspond to different operating modes, and the first-cycle wiper thresholds differ in different operating modes. For example, under the same rainfall in real-world conditions, a higher initial wiper sensitivity corresponds to a lower first-cycle wiper threshold; a lower initial wiper sensitivity corresponds to a higher first-cycle wiper threshold.

[0066] S103: Adjust the original control information according to the driving state information to obtain compensation control information, where the compensation control information at least includes an adjusted rain and light sensor sensitivity and an adjusted cyclic wiping threshold.

[0067] Based on the Ebbinghaus illusion theory, the visual prominence effect, and the varying brightness of raindrops in different states, we hypothesize that the perception of increased rainfall as a vehicle accelerates is a function of human cognition. For example, while the actual rainfall remains constant, the acceleration of the vehicle causes more raindrops to accumulate on the windshield, obstructing vision and creating the illusion of increased rainfall for the driver and passengers.

[0068] At this time, the effect of the automatic wiper working according to the original control information determined by the current rainfall can no longer meet the driver's needs. The original control information needs to be adjusted to compensate for the difference between the current rainfall in the actual environment and the rainfall perceived by humans.

[0069] In some embodiments, when the rain light sensor senses that the actual rainfall in the environment remains unchanged, when the vehicle speed increases to a high-speed range, it is necessary to increase the sensitivity of the automatic wiper and lower the first wiping threshold to increase the wiping frequency of the automatic wiper; when the vehicle speed decreases to a low-speed range, it is necessary to lower the sensitivity of the automatic wiper and increase the first wiping threshold.

[0070] In some embodiments, when the rain light sensor senses a change in the actual rainfall in the environment and the vehicle speed is also changing, the domain controller adjusts the sensitivity of the automatic wiper, thereby determining the first wiping threshold corresponding to the current rainfall through the different sensitivities of the automatic wiper, and at the same time makes adjustments based on the first wiping threshold corresponding to the current rainfall to compensate for the difference between the current rainfall in the actual environment and the rainfall perceived by humans.

[0071] S104: Control the wipers to operate according to the compensation control information.

[0072] The compensated control information is the original control information after compensation. Compared with the original control information, the compensated control information is closer to the automatic wiper control demand corresponding to the driver's perception of the current rain amount.

[0073] Specifically, the domain controller controls the wiper motor according to the compensation control information, so that the wiper motor drives the wiper to perform a wiping operation according to the compensation control information.

[0074] The embodiment of the present application obtains the driving status information of the vehicle, which includes at least the driving speed and acceleration of the vehicle; obtains the original control information of the wiper, which includes at least the original sensitivity of the automatic wiper and the first cycle wiping threshold corresponding to the current rain; adjusts the original control information according to the driving status information to obtain compensation control information, which includes at least the adjusted sensitivity of the automatic wiper and the adjusted cycle wiping threshold; controls the wiper to work according to the compensation control information, and introduces the driving speed and acceleration of the vehicle into the automatic wiper control logic, and adjusts the control information of the automatic wiper accordingly according to the different driving speed and acceleration of the vehicle, so as to compensate for the difference between the user-perceived rainfall and the wiper control strategy corresponding to the actual rainfall caused by the driving status of the vehicle, thereby meeting the customer's demand for automatic wipers under the current vehicle speed and rainfall, improving the user's driving experience, and ensuring driving safety.

[0075] In some embodiments, the original control information is adjusted according to the driving status information to obtain compensation control information, including: when the driving speed is less than the first speed threshold, the original sensitivity of the automatic wiper is lowered, and the first cycle wiping threshold is increased to the second cycle wiping threshold.

[0076] When the vehicle's driving speed is less than the first speed threshold, it indicates that the current vehicle driving speed is low, so the original sensitivity of the automatic wiper is reduced, and the first cycle wiping threshold corresponding to the current rainfall under low sensitivity is increased to the second cycle wiping threshold. Since the second cycle wiping threshold is greater than the first cycle wiping threshold, the automatic wiper will only wipe after sensing more rainfall, which reduces the wiping frequency of the automatic wiper, meeting the demand for lower wiping frequency when the vehicle is driving at low speed.

[0077] For example, the sensitivity of the automatic wiper is reduced by one level relative to the original sensitivity sent by the domain controller.

[0078] In some embodiments, the original control information is adjusted according to the driving status information to obtain compensation control information, including: when the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, the original control information is used as compensation control information, and the second speed threshold is greater than the first speed threshold.

[0079] When the vehicle's driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, it indicates that the vehicle is currently driving at a medium speed. The original control information can be directly used as compensation control information to control the automatic wiper to work.

[0080] In some embodiments, the original control information is adjusted according to the driving status information to obtain compensation control information, including: when the driving speed is greater than or equal to the second speed threshold, the original sensitivity of the automatic wiper is increased, and the first cycle wiping threshold is lowered to the third cycle wiping threshold.

[0081] When the vehicle's speed is greater than or equal to the second speed threshold, indicating that the vehicle is currently traveling at high speed, the driver perceives more rain than is actually occurring, and a higher automatic wiper frequency is required. In this case, the automatic wiper sensitivity is increased, and the first cycle wiper threshold corresponding to the current rainfall is lowered to the third cycle wiper threshold.

[0082] For example, the sensitivity of the automatic wiper is increased by one level relative to the original sensitivity sent by the domain controller.

[0083] The embodiment of the present application sets different wiper control information compensation strategies when the vehicle is in different speed ranges of low, medium and high speeds, so that the wiping effect of the automatic wiper can be further close to the driver's perception of the current rain amount on the basis of satisfying slow wiping at low speed and fast wiping at high speed, thereby solving the problem of mismatch between the reaction speed of the automatic wiper and the driver's perception of rain amount, and improving the user's driving experience.

[0084] In some embodiments, the compensation control information also includes single wiping control information, which is obtained by adjusting the original control information according to the driving status information. It also includes: when the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, if the accumulated rainfall value within the preset time is greater than the fourth cycle wiping threshold, then a single wiping control information is generated, the third speed threshold is less than the first speed threshold, and the fourth cycle wiping threshold is less than the second cycle wiping threshold, and the single wiping control information is used to control the wiper to perform one wiping.

[0085] When the rainfall per unit time is conserved, the amount of rain Q received by the windshield is calculated as follows: Q = St[(V0 + at sinθ) + V wind ]

[0086] ∫ t t+Δt Q = ∫ t t+Δt St[(V0+atsinθ)+V wind ]dt

[0087] Where V0 is the initial velocity of the vehicle, a is the acceleration of the vehicle, S is the area of ​​the windshield, t is the time, θ is the inclination angle of the windshield, V windis the wind speed. It can be concluded that, when rainfall per unit time is conserved, an increase in acceleration leads to an increase in rainfall. Therefore, when a vehicle suddenly accelerates after being stationary for a period of time, the amount of rainwater deposited on the vehicle's windshield will increase dramatically, and the automatic wipers will not activate in time, obstructing the driver's vision. Therefore, the third speed threshold is set lower than the first speed threshold. When the vehicle is traveling at a low speed and the driving speed is less than the third speed threshold, a further determination is made as to whether the vehicle's acceleration exceeds the acceleration threshold. If the vehicle's acceleration exceeds the acceleration threshold, it indicates that the vehicle may have just started or is rapidly accelerating. In this case, using the compensation strategy for low speed driving, reducing the original sensitivity of the automatic wipers and raising the first cycle wipe threshold to the second cycle wipe threshold will not improve the driver's obstructed vision. To address this issue, when the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, a single wipe control message is generated if the accumulated rainfall within a preset time exceeds the fourth cycle wipe threshold. This directs the automatic wipers to perform a single wipe. This means that if the accumulated rainfall within the preset time is excessive, the automatic wipers are directly controlled to perform a single wipe. The fourth cycle scraping threshold is smaller than the second cycle scraping threshold.

[0088] In some embodiments, when the driving speed is less than the third speed threshold, it is further determined whether the acceleration of the vehicle is greater than the acceleration threshold. If the acceleration of the vehicle is less than or equal to the acceleration threshold, it indicates that the current vehicle is in a normal low-speed driving state, and according to the compensation strategy during low-speed driving, the original sensitivity of the automatic wiper is lowered, and the first cycle wiping threshold is raised to the second cycle wiping threshold.

[0089] Based on some of the above embodiments, when the automatic wiper is in intermittent wiping mode, timing starts from the last wiping; if the driving speed is less than the third speed threshold after the preset time and the acceleration is greater than the acceleration threshold, single wiping control information is generated.

[0090] When the automatic wipers are in intermittent wiping mode, starting with the last wipe, if there is no further wiping within a preset time, and if the vehicle speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, single wipe control information is generated to directly control the automatic wipers to perform a single wipe. It should be noted that this strategy is used for automatic wiper control in intermittent mode and does not require determining whether the accumulated rainfall has reached the rainfall threshold.

[0091] Some embodiments of the present application determine whether the vehicle has sudden acceleration by comprehensively considering the vehicle's driving speed and acceleration. If so, the automatic wipers are controlled to perform a single wipe based on the accumulated rainfall within a preset time, so as to avoid the problem of slow response of the automatic wipers caused by the difference between the actual rainfall and the perceived rainfall due to speed changes in a short period of time, thereby meeting customer needs for automatic wipers to the greatest extent.

[0092] FIG3 is a flow chart of a wiper control method provided in some other embodiments of the present application. As shown in FIG3 , the method includes the following steps:

[0093] S301: Vehicle start.

[0094] S302: Determine whether the vehicle is powered on. If so, execute S304; if not, execute S303.

[0095] S303: The vehicle is shut down.

[0096] S304: Determine whether the automatic wiper switch is on. If so, execute S306-S307; if not, execute S305.

[0097] S305: The automatic wiper does not work.

[0098] S306: Determine whether the vehicle speed is less than a third speed threshold. If so, execute S307; if not, execute S302.

[0099] S307: Determine whether the vehicle acceleration is greater than the acceleration threshold. If so, execute S308; if not, execute S302.

[0100] S308: Determine whether the accumulated rainfall value within the preset time is greater than a fourth preset threshold. If so, execute S309; ​​if not, execute S302.

[0101] S309: Control the automatic wiper to wipe once.

[0102] S310: Determine whether the vehicle speed is less than a first speed threshold. If so, execute S311; if not, execute S312.

[0103] S311: Execute the low-speed compensation strategy.

[0104] Specifically, the low-speed compensation strategy includes lowering the original sensitivity of the automatic wiper and raising the first cycle wiping threshold to the second cycle wiping threshold.

[0105] S312: Determine whether the vehicle speed is less than a second speed threshold. Execute S313; if not, execute S314.

[0106] S313: Execute the medium-speed compensation strategy.

[0107] Specifically, the medium-speed compensation strategy includes using the original control information as the compensation control information, and the second speed threshold is greater than the first speed threshold.

[0108] S314: Execute high-speed compensation strategy.

[0109] Specifically, the high-speed compensation strategy includes increasing the original sensitivity of the automatic wiper and decreasing the first cycle wiping threshold to the third cycle wiping threshold.

[0110] Specifically, the above steps are consistent with the implementation process and principles of the methods in some of the above embodiments, and will not be repeated here.

[0111] Some embodiments of the present application introduce vehicle speed and acceleration into the automatic wiper control logic, and adjust the control information of the automatic wiper differently according to different vehicle speeds to compensate for the difference between the wiper control strategies corresponding to the user-perceived rainfall and the actual rainfall. At the same time, the vehicle's driving speed and acceleration are comprehensively considered to determine whether the vehicle has sudden acceleration behavior. If so, the automatic wiper is controlled to perform a single wipe based on the accumulated rainfall value within a preset time, so as to avoid the problem of slow response of the automatic wiper caused by the difference between the actual rainfall and the perceived rainfall caused by speed changes in a short period of time, thereby meeting customer needs for automatic wipers to the greatest extent, improving user driving experience, and ensuring driving safety.

[0112] Based on some of the above embodiments, the user's perception of rainfall is related to the adhesion state of raindrops on the glass. The following introduces the process of verifying the effect of vehicle speed on the adhesion state of raindrops on the glass through simulation in combination with some specific embodiments.

[0113] FIG4 is a schematic diagram of the force analysis of raindrops on an inclined surface provided by some embodiments of the present application. As shown in FIG4, since the wind resistance is mainly caused by the vehicle speed during the vehicle's movement, the corresponding vehicle speed is calculated by the magnitude of the wind resistance. Without considering the droplet gravity and shear force, the net adhesion force F adh and wind resistance F w Balance, wind resistance F w With vehicle speed U cr The relationship between them is expressed as:

[0114] Among them, C D is the drag coefficient, which is related to the characteristic area, smoothness and overall shape of the object; ρ a is the air density, take 1.29Kg / m 3 (kilograms per cubic meter, kilograms per cubic meter); U CR is the wind speed or vehicle speed. When the car is moving, the wind speed is approximately equal to the vehicle speed. h0 is the height of the raindrop on the plane. l0 is the width of the raindrop on the plane. C is the geometric factor used to integrate the contact angle curve. σ is the surface tension coefficient of water, for example, it is 72.8 mN / m (millinewtons per meter) on a 20° slope. cosθ r is the minimum contact angle between the raindrop and the inclined surface; cosθ ais the maximum contact angle between the raindrop and the inclined surface. According to the above formula, it can be concluded that the increase in the volume of the raindrop will lead to a decrease in the critical wind speed that allows the raindrop to remain stationary on the inclined surface.

[0115] The states of a raindrop falling on a car windshield are mainly classified into stationary, sliding downward, and sliding upward. By considering the state of a raindrop remaining stationary on the inclined surface of the windshield, the force balance of the differential control volume inside the raindrop in the tilt direction of the glass is calculated as: ρgsinα-p′(x)=0 p′(x)=P′(x)-σh″′(x)+ρgh′(x)cosα

[0116] Where ρ represents the liquid density of the raindrop, g is the acceleration due to gravity, α is the windshield inclination angle, p′(x) is the internal pressure gradient of the raindrop affected by the external pressure gradient, including capillary forces and hydrostatic pressure under the lubrication approximation; P′(x) is the external pressure gradient, calculated using Bernoulli's equation, etc.; σ is the surface tension coefficient of water, and H is the base characteristic length at which the disturbed flow transitions to uniform flow. x is a variable ranging from 0 to the width of the droplet on the plane corresponding to the receding side, as shown in Figure 4, and ranges from [0, s].

[0117] Based on the force balance calculation process of the differential control volume inside the raindrop in the tilt direction of the glass, the raindrop is divided into a retreating side (part r in Figure 4) and an advancing side (part a in Figure 4).

[0118] For the raindrops on the receding side, the following formula is obtained based on the force relationship:

[0119] Raindrop height on the receding side h r (x) where x = [0, s], the corresponding boundary conditions are as follows: h r (x=0)=0 h r ′(x=0)=tanθ r h r ′(x=s)=0

[0120] For raindrops on the advancing side, the following formula is obtained based on the force relationship: σh a ″′(x)-ρgcosαh a ′(x)+ρgsinα=0

[0121] Raindrop height on the advancing side h a (x) where x = [0, ls], the corresponding boundary conditions are as follows: h a (x a =ls)=0 h a ′(x a =ls) = -tanθ a ha ′(x a =0)=0

[0122] The raindrop area A is expressed as: A=∫0 s h r dx+∫0 l-s h a dx a

[0123] In summary, by considering the forces acting on raindrops, such as gravity, wind resistance, capillary forces under the lubrication approximation, and hydrostatic pressure, and assuming that the forces acting on a raindrop at rest are balanced, we determined the relationship between the area of ​​the raindrop on the windshield and vehicle speed. Furthermore, when the windshield tilt angle α is 30 degrees, the critical wind speed range is between 70 km / h (kilometers per hour) and 80 km / h (20 m / s to 22 m / s (meters per second)). Similarly, theoretical calculations have yielded the critical wind speeds for raindrops at different windshield tilt angles, different raindrop volumes, and different vehicle speeds.

[0124] Furthermore, CAE (Computer Aided Engineering) simulation is used to simulate the adhesion state of raindrops from the moment they contact the glass. In some embodiments, before obtaining the vehicle's driving state information, the method further includes: performing a simulation based on a real vehicle glass model and an Euler body raindrop model to obtain raindrop adhesion state information, which includes the effects of rainfall and vehicle speed on the adhesion state of raindrops on the glass.

[0125] Specifically, the raindrop adhesion state information includes first adhesion state information and second adhesion state information. The raindrop adhesion state information is obtained by simulation based on the real vehicle glass model and the Euler body raindrop model, including: importing the real vehicle glass model and establishing Euler body raindrops of multiple preset volumes, controlling the Euler body raindrop model to drop to the surface of the real vehicle glass model at a preset descent speed, and obtaining the first adhesion state information. The Euler body raindrops of multiple preset volumes correspond to multiple rainfall amounts, and the first adhesion state information includes the adhesion state of raindrops on the glass under different rainfall amounts; controlling the real vehicle glass model to move at multiple preset vehicle speeds, controlling the Euler body raindrops to drop to the surface of the real vehicle glass model at a preset descent speed, and obtaining the second adhesion state information. The second adhesion state information includes the adhesion state of raindrops on the glass under different vehicle speeds.

[0126] FIG5 is a schematic diagram of a simulation model provided by some embodiments of the present application. By importing a real vehicle glass model and creating Euler body raindrops of different preset volumes to simulate different rainfall amounts, the Euler body raindrop model is given a preset descent speed (8-9 m / s), for example, controlling the raindrop volumes to V1, V2, and V3 to correspond to light rain, moderate rain, and heavy rain, respectively. The movement speed of the real vehicle glass model is controlled to cause it to move at different preset vehicle speeds, simulating different preset vehicle speeds, such as V1 (stationary), V2 (low speed), V3 (medium speed), and V4 (high speed), to perform simulations.

[0127] Specifically, during the simulation process, the shapes of raindrops before, during, and after they touch the glass are simulated from a macroscopic and local perspective, as shown in the macroscopic perspective raindrop shape diagram in FIG6 and the local perspective raindrop shape diagram in FIG7 .

[0128] The first adhesion state information indicates the adhesion state of raindrops on the glass under different rainfall amounts; the second adhesion state information indicates the adhesion state of raindrops on the glass under different vehicle speeds. By combining the first adhesion state information and the second adhesion state information, the raindrop adhesion state information can be obtained, which indicates comprehensive information about the effect of rainfall amount and vehicle speed on the adhesion state of raindrops on the glass.

[0129] In some embodiments, when the vehicle is stationary, raindrops have a downward trend with no obvious displacement in light rain, and are semicircular in shape; raindrops have a downward trend with no obvious displacement in moderate rain, and are semi-elliptical in shape; raindrops flow down the glass in heavy rain, and are shaped like a liquid surface.

[0130] When the vehicle is traveling at a low speed, in light rain, raindrops adhere to the glass surface and move upwards in a semicircular shape; in moderate rain, raindrops adhere to the glass surface and move upwards in a semicircular shape; in heavy rain, raindrops adhere to the glass surface and spread upwards in a liquid surface shape. When the vehicle is traveling at a medium speed, in light rain, raindrops adhere to the glass surface and move upwards in a semicircular shape; in moderate rain, raindrops adhere to the glass surface and move upwards in a liquid surface shape; in heavy rain, raindrops adhere to the glass surface and move upwards in a liquid surface shape.

[0131] When the vehicle is traveling at high speed, in light rain, raindrops adhere to the glass surface and move upward in a semicircular shape; in moderate rain, raindrops adhere to the glass surface and move upward in a liquid surface shape; in heavy rain, raindrops adhere to the glass surface and move upward in a liquid surface shape.

[0132] In summary, when the vehicle is stationary and the raindrops are small, they adhere to the glass surface in a semicircular shape with almost no displacement. As the volume of the raindrops increases, the shape of the raindrops attached to the glass surface gradually becomes flat, and there is a tendency to flow down the glass. When the vehicle is traveling at medium or low speeds, when the speed reaches a certain level, the droplets tend to move upward. When the vehicle is traveling at high speeds, the raindrops move upward, and their shape changes with the speed. At the same time, under light rain conditions, as the speed increases, the movement of the raindrops dripping on the glass surface will change from being attached to the glass to moving upward. Under moderate rain conditions, as the speed increases, the movement of the raindrops dripping on the glass surface will change from being attached to the glass to moving upward, and the shape of the raindrops will tend to be liquid surface-like.

[0133] In some embodiments, the information obtained from the model simulation is curve fitted to obtain a schematic diagram of a water droplet attachment state critical value fitting curve as shown in FIG8 . In the range above curve 1, the water droplet is attached to the glass and moves upward; in the range below curve 2, the water droplet is attached to the glass and moves downward; in the range between curve 1 and curve 2, the water droplet is attached to the glass and remains stationary.

[0134] Some embodiments of the present application can prove through model simulation that the adhesion state of raindrops on the glass is affected by vehicle speed and rainfall, thereby affecting visual judgment, providing strong data support for the speed threshold setting of each compensation strategy in the wiper control method, and further improving the flexibility of the wiper control method.

[0135] FIG9 is a schematic diagram of the structure of a wiper control device provided in some embodiments of the present application. The wiper control device may be a domain controller as described in some of the above embodiments, or the wiper control device may be a component or assembly within the domain controller. The wiper control device provided in some embodiments of the present application may execute the processing flow provided in the wiper control method embodiment. As shown in FIG9 , the wiper control device 90 includes: a first acquisition module 91, a second acquisition module 92, a compensation module 93, and a control module 94. The first acquisition module 91 is configured to acquire vehicle driving state information, which includes at least the vehicle's driving speed and acceleration. The second acquisition module 92 is configured to acquire original wiper control information, which includes at least the original sensitivity of the automatic wiper and a first cyclic wiping threshold corresponding to the current rainfall. The compensation module 93 is configured to adjust the original control information based on the driving state information to obtain compensated control information, which includes at least the adjusted automatic wiper sensitivity and the adjusted cyclic wiping threshold. The control module 94 is configured to control the wiper operation based on the compensated control information.

[0136] In some embodiments, the compensation module 93 is configured to lower the original sensitivity of the automatic wiper and increase the first cycle wiping threshold to a second cycle wiping threshold when the driving speed is less than a first speed threshold.

[0137] In some embodiments, the compensation module 93 is configured to use the original control information as compensation control information when the driving speed is greater than or equal to a first speed threshold and less than a second speed threshold, and the second speed threshold is greater than the first speed threshold.

[0138] In some embodiments, the compensation module 93 is configured to increase the original sensitivity of the automatic wiper and decrease the first cycle wiping threshold to a third cycle wiping threshold when the driving speed is greater than or equal to the second speed threshold.

[0139] In some embodiments, the compensation module 93 is used to generate single wiping control information when the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, if the accumulated rain value within the preset time is greater than the fourth cycle wiping threshold, the third speed threshold is less than the first speed threshold, the fourth cycle wiping threshold is less than the second cycle wiping threshold, and the single wiping control information is used to control the wipers to perform one wiping.

[0140] In some embodiments, the compensation module 93 is also used to start timing from the last wiping when the automatic wiper is in intermittent wiping mode; if the driving speed is less than the third speed threshold after the preset time and the acceleration is greater than the acceleration threshold, single wiping control information is generated.

[0141] In some embodiments, the wiper control device 90 also includes a simulation module 95, which is used to perform simulation based on a real vehicle glass model and an Euler body raindrop model to obtain raindrop adhesion status information, which includes the influence of rainfall and vehicle speed on the adhesion status of raindrops on the glass.

[0142] In some embodiments, the simulation module 95 is specifically used to import a real vehicle glass model and establish Euler body raindrops of multiple preset volumes, control the Euler body raindrop model to drip onto the surface of the real vehicle glass model at a preset descent speed, and obtain first adhesion state information. The Euler body raindrops of multiple preset volumes correspond to multiple rainfall amounts, and the first adhesion state information includes the adhesion state of raindrops on the glass under different rainfall amounts; control the real vehicle glass model to move at multiple preset vehicle speeds, control the Euler body raindrop model to drip onto the surface of the real vehicle glass model at a preset descent speed, and obtain second adhesion state information. The second adhesion state information includes the adhesion state of raindrops on the glass under different vehicle speeds.

[0143] The wiper control device of some embodiments of the present application shown in Figure 9 can be used to implement the technical solutions of the above-mentioned method embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0144] In addition, some embodiments of the present application also provide a vehicle, which includes the wiper control device of some of the above embodiments.

[0145] Figure 10 is a schematic diagram of the structure of an electronic device provided in some embodiments of the present application. This electronic device may be a key or an in-vehicle device used to control a vehicle as described in some of the above embodiments. The electronic device provided in some embodiments of the present application can execute the processing flow provided in the embodiments of the wiper control method. As shown in Figure 10, the electronic device 100 includes: a memory 101, a processor 102, a computer program, and a communication interface 103; wherein the computer program is stored in the memory 101 and is configured so that the processor 102 executes the above wiper control method.

[0146] In addition, some embodiments of the present application further provide a computer non-volatile readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the wiper control method of the above embodiment.

[0147] In addition, some embodiments of the present application further provide a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the above wiper control method is implemented.

[0148] Computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0149] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0150] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0151] The above is merely a detailed description of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to some of the embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments herein, but is intended to be embodied in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A wiper control method, characterized in that: The method comprises: Acquiring driving state information of the vehicle, wherein the driving state information includes at least the driving speed and acceleration of the vehicle; Acquire original control information of the wiper, wherein the original control information at least includes an original sensitivity of the automatic wiper and a first cycle wiper threshold corresponding to the current rainfall; Adjusting the original control information according to the driving state information to obtain compensation control information, wherein the compensation control information at least includes an adjusted sensitivity of the automatic wiper and an adjusted cycle wipe threshold; The wiper is controlled to work according to the compensation control information.

2. The method according to claim 1, characterized in that The adjusting the original control information according to the driving state information to obtain the compensation control information includes: When the driving speed is less than a first speed threshold, the original sensitivity of the automatic wiper is lowered, and the first cycle wiping threshold is increased to a second cycle wiping threshold.

3. The method according to claim 1 or 2, characterized in that: The adjusting the original control information according to the driving state information to obtain the compensation control information includes: When the driving speed is greater than or equal to a first speed threshold and less than a second speed threshold, the original control information is used as compensation control information, and the second speed threshold is greater than the first speed threshold.

4. The method according to any one of claims 1 to 3, characterized in that: The adjusting the original control information according to the driving state information to obtain the compensation control information includes: When the driving speed is greater than or equal to a second speed threshold, the original sensitivity of the automatic wiper is increased, and the first cycle wiping threshold is decreased to a third cycle wiping threshold.

5. The method according to any one of claims 1 to 4, characterized in that: The compensation control information also includes single scraping control information. The original control information is adjusted according to the driving state information to obtain the compensation control information, including: When the driving speed is less than the third speed threshold and the acceleration is greater than the acceleration threshold, if the accumulated rainfall within the preset time is greater than the fourth cycle wiping threshold, single wiping control information is generated, the third speed threshold is less than the first speed threshold, the fourth cycle wiping threshold is less than the second cycle wiping threshold, and the single wiping control information is used to control the wiper to perform one wiping.

6. The method according to claim 5, characterized in that The adjusting the original control information according to the driving state information to obtain the compensation control information also includes: When the automatic wiper is in intermittent wiping mode, the timer starts from the last wiping time; If the driving speed is less than the third speed threshold after the preset time, and the acceleration is greater than the acceleration threshold, single wipe control information is generated.

7. The method according to any one of claims 1 to 6, characterized in that: Before obtaining the driving state information of the vehicle, the method further includes: The simulation is performed based on the real vehicle glass model and the Euler body raindrop model to obtain raindrop adhesion state information, wherein the raindrop adhesion state information includes the influence of rainfall and vehicle speed on the adhesion state of raindrops on the glass.

8. The method according to claim 7, characterized in that The raindrop attachment state information includes first attachment state information and second attachment state information. The raindrop attachment state information is obtained by simulating the real vehicle glass model and the Euler body raindrop model, including: Importing a real vehicle glass model and establishing a plurality of Euler body raindrops of preset volumes, controlling the Euler body raindrop model to drop onto the surface of the real vehicle glass model at a preset falling speed, and obtaining first attachment state information, wherein the plurality of Euler body raindrops of preset volumes correspond to a plurality of rainfall amounts, respectively, and the first attachment state information includes attachment states of raindrops on the glass under different rainfall amounts; The real vehicle glass model is controlled to move at multiple preset vehicle speeds, and the Euler body raindrop model is controlled to drop onto the surface of the real vehicle glass model at a preset descent speed to obtain second adhesion state information, wherein the second adhesion state information includes adhesion states of raindrops on the glass at different vehicle speeds.

9. A wiper control device, characterized in that: The device comprises: A first acquisition module, used to acquire driving state information of the vehicle, wherein the driving state information at least includes a driving speed and an acceleration of the vehicle; A second acquisition module is used to acquire original control information of the wiper, wherein the original control information at least includes an original sensitivity of the automatic wiper and a first cycle wiper threshold corresponding to the current rainfall; A compensation module, used for adjusting the original control information according to the driving state information to obtain compensation control information, wherein the compensation control information at least includes an adjusted sensitivity of the automatic wiper and an adjusted cycle wipe threshold; The control module is used to control the wiper to work according to the compensation control information.

10. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 8.

11. A computer non-volatile readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A vehicle, characterized in that: include: The wiper control device according to claim 9; or the electronic device according to claim 10; Or, the computer non-volatile storage medium as claimed in claim 11.

Images