Method and apparatus for controlling vehicle, vehicle, and storage medium

Abstract

Disclosed are a method for controlling a vehicle, a vehicle, and a storage medium. In the method, in response to a starting instruction for a windscreen wiper, a vehicle can determine a target rotation speed of a windscreen wiper motor, and then on the basis of the target rotation speed and the length of a reset area of the windscreen wiper motor, determines a delay duration (a target duration) for reset determination; and after starting the windscreen wiper for the target duration, the vehicle performs the reset determination on the windscreen wiper. The method can avoid the problem that the windscreen wiper is stuck such that a driver cannot use the windscreen wiper before the windscreen wiper leaves the reset area when a surface imperfection is present on a reset switch contact. Performing the reset determination after the windscreen wiper is started for the target duration may ensure that the windscreen wiper has already been in a non-reset area. In addition, after the target duration, the reset determination is performed on the windscreen wiper, so that when the windscreen wiper is turned off, the windscreen wiper returns to a standard reset position.

Description

Methods, devices, vehicles and storage media for controlling vehicles Technical Field

[0001] This application relates to the field of vehicles, and more particularly to methods, apparatuses, vehicles and storage media for controlling vehicles. Background Technology

[0002] With the development of vehicle technology, the functional systems on vehicles have become increasingly complete. Among these systems is the windshield wiper function. Typically, on rainy days, in order not to impair the driver's visibility, the driver will turn on the windshield wipers to clear the rainwater from the windshield.

[0003] In related technologies, before the windshield wiper leaves the reset zone, the vehicle control unit detects the return signal corresponding to the reset switch contact in the reset zone of the wiper motor to control the reset switch contact to open. Then, the wiper leaves the reset zone and begins to clean the windshield.

[0004] However, the reset switch contacts are a mechanical structure, and these contacts can oxidize due to environmental factors, causing glitch in the corresponding return signal. This can lead to the vehicle controller receiving the glitch signal and disconnecting the relay before the wiper leaves the reset zone, resulting in a stuck wiper. If this happens when the driver needs the wipers to clear rain from the windshield, it is extremely problematic for the driver.

[0005] Therefore, there is an urgent need for a method to control vehicles to avoid burrs from adversely affecting the operation of windshield wipers. Summary of the Invention

[0006] This application provides a method, apparatus, vehicle, and storage medium for controlling a vehicle. The method avoids the problem of windshield wipers becoming stuck and the driver being unable to use the wipers when there are burrs on the reset switch contacts.

[0007] In a first aspect, this application provides a method for controlling a vehicle, the method comprising: determining a target rotational speed of a wiper motor in response to a start command for a wiper in the vehicle; determining a target duration based on the target rotational speed and a reset zone length of the wiper motor, the target duration being a delay duration for reset determination; and performing a reset determination on the wiper after the target duration.

[0008] In the above technical solution, the vehicle can respond to the wiper start command, determine the target speed of the wiper motor, and then, in conjunction with the length of the wiper motor's reset zone, determine the delay duration (target duration) for reset judgment. Further, after the target duration of wiper start, a reset judgment is performed on the wipers. That is, regardless of whether there are burrs on the wiper motor's reset switch contacts, the vehicle in this method does not perform a reset judgment within the target duration of wiper start. This avoids the problem of the vehicle detecting a burr signal before the wiper leaves the reset zone, causing the relay to disconnect, leading to wiper jamming and preventing the driver from using (starting) the wipers, if burrs exist on the reset switch contacts. Performing the reset judgment after the target duration of wiper start ensures that the wipers are already in the non-reset zone, avoiding the influence of burrs on the reset switch contacts in the reset zone. Furthermore, performing the wiper reset judgment after the target duration ensures that the wipers return to the standard reset position when the wipers are turned off.

[0009] Secondly, this application provides a device for controlling a vehicle, the device comprising: a determining module, configured to: determine a target rotational speed of a wiper motor in response to a start command for a wiper in the vehicle; determine a target duration based on the target rotational speed and the reset zone length of the wiper motor, the target duration being a delay duration for reset determination; and a processing module, configured to perform a reset determination on the wiper after the target duration.

[0010] Thirdly, this application provides a vehicle including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0011] Fourthly, this application provides a computer-readable storage medium storing executable program code that, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0012] Figure 1 is a schematic diagram of a vehicle usage scenario provided in an embodiment of this application;

[0013] Figure 2 is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of this application;

[0014] Figure 3 is a schematic diagram of determining the target duration according to an embodiment of this application;

[0015] Figure 4 is a schematic diagram of determining a second duration according to an embodiment of this application;

[0016] Figure 5 is a schematic diagram of a vehicle control device provided in an embodiment of this application;

[0017] Figure 6 is a structural schematic diagram of a vehicle provided in an embodiment of this application. Embodiments of the present invention

[0018] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0019] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0020] Figure 1 is a schematic diagram of a vehicle usage scenario provided in an embodiment of this application.

[0021] For example, as shown in Figure 1, a driver can drive vehicle A with family members. During the trip, if it rains, the driver can select the wiper setting and activate wiper B by operating the wiper control lever in vehicle A, thereby controlling wiper B to rotate according to the selected setting to clear the windshield.

[0022] In related technologies, the working area of ​​a windshield wiper is divided into a reset zone and a working zone. The working zone refers to the area where the wiper contacts the windshield when it is working, clearing rainwater, snow, dust, etc., from the windshield to ensure good visibility for the driver. The reset zone is the area where the wiper is not working. Before the wipers can be activated, they must first leave the reset zone. When the wiper motor rotates in its reset zone, the wiper is in the reset zone. When the wiper motor rotates in its non-reset zone, the wiper is in the working zone. Before the wiper leaves the reset zone, the vehicle detects the return signal corresponding to the reset switch contact in the wiper motor's reset zone to open the reset switch contact. Then, the wiper leaves the reset zone and enters the working zone to clean the windshield.

[0023] However, the reset switch contacts are mechanical and can oxidize due to environmental factors, causing abnormal waveforms in the corresponding return signal (i.e., glitches in the return signal). This can lead to the vehicle controller receiving the glitched signal (the return signal with glitches) before the wiper leaves the reset zone and then controlling the relay to disconnect, resulting in a stuck wiper. If this happens when the driver needs the wipers to clear rain from the windshield, it is extremely problematic for the driver.

[0024] To address the aforementioned issues, this application provides a method for controlling a vehicle to prevent burrs from adversely affecting the operation of the windshield wipers. The specific implementation process is shown in Figure 2 below.

[0025] Figure 2 is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of this application.

[0026] It should be understood that the vehicle control method provided in this application embodiment is applied to the vehicle shown in FIG1 (e.g., vehicle A). Specifically, the vehicle control method can be applied to a target controller in the vehicle. The target controller is either a vehicle controller or a body domain controller. The body domain controller is used to control various vehicle components in the vehicle. In the vehicle control method of this application, the vehicle components include windshield wipers and windshield wiper motors.

[0027] For example, as shown in Figure 2, the method 200 includes:

[0028] Step 201: In response to the start command of the windshield wipers in the vehicle, the vehicle determines the target speed of the wiper motor.

[0029] It should be understood that the "wiper activation command" in step 201 above refers to a command that controls the wipers to change from a stationary state to a working state. Specifically, this activation command refers to a command that controls the wipers to change from the reset zone to the working zone. It should also be understood that this activation command carries the working setting of the wipers when they are about to operate. In some embodiments, the target object triggers the activation command via a wiper control lever in the vehicle. Optionally, the target object is the driver.

[0030] It should also be understood that the windshield wiper operating settings include intermittent, low, and high speed. The intermittent setting instructs the wipers to automatically wipe intermittently, typically used when rainfall is light. The wipers automatically wipe once at set time intervals (hereinafter referred to as the interval duration) to clear rainwater from the windshield. The low speed setting instructs the wipers to wipe continuously at a slower speed, suitable for light rain or gently clearing the windshield. The high speed setting instructs the wipers to wipe continuously at the fastest speed, suitable for heavy rain or downpours. In some embodiments, the user can select the desired operating speed by controlling the position of the wiper control lever.

[0031] It should also be understood that the "wiper motor" in step 201 above is the power source for the windshield wipers. This wiper motor converts electrical energy into mechanical energy to drive the wipers. When the wiper motor is powered on and started, its rotational motion is converted into the reciprocating motion of the wiper arms through a linkage mechanism, thereby achieving the cleaning action of the wiper blades on the windshield. Furthermore, when the wiper motor rotates in its reset zone, the wipers are in the reset zone. When the wiper motor rotates in its non-reset zone, the wipers are in the working zone.

[0032] In one possible implementation, step 201, in which the vehicle determines the target speed of the wiper motor, includes: the vehicle obtaining the target gear at which the wiper will operate based on the start command; if the target gear is not an intermittent gear, the vehicle determining the target operating current of the wiper motor based on the target gear and a first correspondence between the operating current and a reference gear; and determining the target speed based on the target operating current and a second correspondence between the operating current and the speed, wherein the second correspondence is related to the wiper motor; if the target gear is the intermittent gear, the vehicle adjusting the reference speed corresponding to the intermittent duration based on the actual clarity of the windshield to obtain the target speed.

[0033] It should be understood that the "start command" in the above scheme is triggered by the windshield wiper control lever in the vehicle, and the operating speed of the wiper when it is about to work can be controlled by the position of the wiper control lever. Therefore, the start command naturally includes the operating speed of the wiper when it is about to work.

[0034] It should also be understood that "the target gear is not an intermittent gear" in the above scheme refers to the target gear being either a high gear or a low gear. Furthermore, the first correspondence is unrelated to the wiper motor.

[0035] It should also be understood that the "reference speed corresponding to the interval duration" in the above scheme refers to the relationship between the interval duration of the wipers and the speed of the wiper motor when the wipers are in the intermittent mode. In some embodiments, the shorter the interval duration, the higher the speed of the wiper motor; the longer the interval duration, the lower the speed of the wiper motor.

[0036] In the above technical solution, the wiper activation command includes the target speed at which the wipers will operate, which includes high speed, low speed, and intermittent speed. When the target speed is high speed or low speed, the wiper motor's operating speed corresponds to its operating current, and the wiper motor's operating current corresponds to its rotational speed. Therefore, when the target speed is not intermittent, the vehicle determines the target operating current of the wiper motor based on the first correspondence between the target speed, operating current, and reference speed, and accurately determines the target rotational speed of the wiper motor based on the second correspondence between the target operating current and rotational speed. When the target speed is intermittent, the wiper motor's rotational speed is related to the interval duration. In some scenarios, when the actual clarity of the windshield is not high, the driver needs the wipers to clean the windshield for a shorter duration. Therefore, when the target speed is intermittent, the vehicle adjusts the reference rotational speed corresponding to the interval duration based on the actual clarity of the windshield, which can obtain an accurate target rotational speed.

[0037] In some embodiments, the vehicle determines the target operating current of the wiper motor based on the target gear and a first correspondence between the operating current and the reference gears, including: the vehicle comparing the target gear with a plurality of reference gears in the first correspondence, and determining the gear that is the same as the target gear from the plurality of reference gears; the vehicle determining the operating current corresponding to the gear from the first correspondence as the target operating current of the wiper motor.

[0038] In some embodiments, the vehicle determines the target rotational speed based on the target operating current and a second correspondence between the operating current and the rotational speed, including: the vehicle comparing the target operating current with a plurality of operating currents in the second correspondence, determining an operating current that matches the target operating current from the plurality of operating currents; and the vehicle determining the rotational speed corresponding to the operating current from the second correspondence as the target rotational speed.

[0039] It should be understood that the "operating current matching the target operating current" in the above scheme means that the current difference between the target operating current and the operating current is within a preset current range.

[0040] In one possible implementation, the vehicle adjusts a reference rotational speed corresponding to the interval duration based on the actual clarity of the windshield to obtain the target rotational speed. This includes: the vehicle determining the reduction range of the actual clarity relative to a preset clarity, where the preset clarity is the highest clarity of the windshield when a target object in the vehicle is viewing the road ahead; the reference rotational speed corresponding to the preset clarity; the vehicle determining the product of the reference rotational speed and the reduction range as the rotational speed adjustment amount; and the vehicle increasing the reference rotational speed by the rotational speed adjustment amount to obtain the target rotational speed.

[0041] It should be understood that the "actual sharpness" in the above scheme is less than or equal to the preset sharpness.

[0042] It should also be understood that in the above solution, the actual clarity of the windshield is not as high as the preset clarity. To obtain higher clarity, the vehicle needs to increase the operating speed of the wiper motor (reference speed) during the current intermittent setting. In other words, the vehicle can increase the reference speed based on the difference (reduction) between the actual clarity and the preset clarity to obtain the target speed. This target speed is the increased speed.

[0043] In the above technical solution, the preset clarity is the highest clarity of the windshield when a target object (e.g., the driver) in the vehicle is viewing the road ahead. As the number of times the vehicle is used increases, the actual clarity of the windshield often falls below the highest clarity. The aforementioned reference speed corresponds to the interval duration and the highest clarity. Therefore, the vehicle in this method can use the preset clarity as a reference benchmark to determine the reduction in actual clarity relative to the preset clarity, and based on this reduction, determine the speed adjustment amount (speed adjustment amount) of the reference speed, thereby obtaining a target speed that matches the actual clarity.

[0044] In some embodiments, the vehicle determines the reduction in actual sharpness relative to a preset sharpness by: the vehicle determining the reduction by the following formula (1);

[0045] (1)

[0046] in, For this reduction, For this actual clarity, Set the resolution to the default.

[0047] Step 202: The vehicle determines the target duration based on the target rotational speed and the reset zone length of the wiper motor. The target duration is the delay duration used for reset judgment.

[0048] It should be understood that the working area of ​​the "wiper motor" in step 202 above is divided into a reset area and a non-reset area. The reset area has a corresponding length (reset area length), which is related to the size of the wiper. Therefore, the vehicle can determine the reset area length of the wiper motor based on the size of the wiper.

[0049] It should also be understood that the “target duration” in step 202 above refers to the delay duration for resetting the windshield wipers during the process of starting the wipers.

[0050] In one possible implementation, in step 202, the vehicle determines the target duration based on the target rotational speed and the length of the wiper motor's reset zone, including: the vehicle determining the distance swept by the wiper motor per minute by multiplying the target rotational speed, the target number of seconds, and the distance swept by the wiper motor per revolution; the vehicle determining the first duration required for the wiper motor to sweep the reset zone by the ratio between the length of the reset zone and the distance swept by the wiper motor per minute; and the vehicle adding a preset duration to the first duration to obtain the target duration.

[0051] It should be understood that the "target number of seconds" in the above scheme is 60 seconds. The distance swept by the wiper motor is not long; therefore, the time required for the wiper motor to sweep across the reset area (the first duration) is... The duration is relatively short, typically in the millisecond range. In some embodiments, the preset duration is 5ms. In some embodiments, the target duration is 300ms. It should also be understood that the target duration can be set differently depending on the motor structure.

[0052] In the above technical solution, the time required for the wiper motor to sweep across the reset zone (the first duration) is closely related to the wiper motor's rotational speed (target rotational speed), the distance swept by the wiper motor per revolution, and the length of the wiper motor's reset zone. Therefore, in this method, the vehicle determines the distance swept by the wiper motor per minute by multiplying the target rotational speed, the target number of seconds, and the distance swept by the wiper motor per revolution. Then, based on the ratio between the reset zone length and the distance swept by the wiper motor per minute, the vehicle accurately determines the first duration required for the wiper motor to sweep across the reset zone. To ensure that the wiper safely leaves the reset zone and does not perform a reset judgment within the reset zone, this application reserves a redundant duration (i.e., a preset duration) based on the first duration to obtain the target duration.

[0053] Figure 3 is a schematic diagram of determining the target duration according to an embodiment of this application.

[0054] For example, as shown in Figure 3, the vehicle determines the distance swept by the wiper motor per minute by multiplying the target rotational speed of the wiper motor, the target number of seconds (60s), and the distance swept by the wiper motor per revolution. The vehicle determines the first time required for the wiper motor to sweep across the reset zone (the length of the wiper motor's reset zone) between points B and C in Figure 3 by the ratio to the distance swept by the wiper motor per minute. This is the time required from point B to point C, i.e., the time it takes for the wiper to leave the wiper's reset zone. The vehicle adds a preset time to this first time to obtain the target time, ensuring that the wiper leaves the wiper's reset zone.

[0055] Step 203: After the target duration, the vehicle performs a reset check on the windshield wiper.

[0056] It should be understood that the above solution describes a reset check performed on the windshield wipers after the target duration of wiper activation. This reset check, also known as a return-to-position check, refers to determining whether the wiper motor corresponding to the wiper has returned to its original position, i.e., whether the wiper itself has returned to its original position.

[0057] It should also be understood that when the vehicle receives the start command for the windshield wipers, the wipers are currently in the reset zone. In response to the start command, the wipers will leave the reset zone. If the vehicle performs a reset check on the wipers before they leave the reset zone, it will detect the return signal corresponding to the reset switch contact in the wiper motor's reset zone to control the reset switch contact to open, thus causing the wipers to leave the reset zone. However, this reset switch contact may oxidize due to environmental factors, causing glitch in its corresponding return signal. Thus, when the vehicle detects the return signal, it will receive a glitch signal, leading the vehicle to interpret it as a fault and control the relay to disconnect, resulting in a wiper sticking. In other words, performing a reset check on the wipers before they leave the reset zone (after the start command) may cause a wiper sticking fault. Therefore, method 200 performs the wiper reset check only after the start command, specifically after the target duration (regardless of the operating mode specified in the start command). This ensures that the wipers smoothly leave the reset zone and enter the working zone to wipe the windshield. Subsequently, upon receiving a command to turn off the wipers, the wipers are reset again.

[0058] In one possible implementation, step 203 includes: after the target duration, in response to the windshield wiper closing command, the vehicle detects whether there is a burr on the reset switch contact of the windshield wiper motor; if there is a burr on the reset switch contact, the vehicle determines whether the strictness of the target object in the vehicle used to execute the event is less than or equal to a preset strictness; if the strictness is less than or equal to the preset strictness, the vehicle performs a reset judgment on the windshield wiper.

[0059] It should be understood that "whether there are burrs on the reset switch contacts" in the above scheme can be interpreted as whether the surface of the reset switch contacts is uneven, which may include defects such as scratches, dirt, or rust. In some embodiments, the vehicle acquires an image of the reset switch contacts through an onboard camera; the vehicle extracts features from the image to obtain the surface features of the reset switch contacts; if the surface features indicate that the surface of the reset switch contacts has rust, scratches, or dirt, the vehicle determines that there are burrs on the reset switch contacts; if the surface features indicate that the surface of the reset switch contacts does not have rust, scratches, or dirt, the vehicle determines that there are no burrs on the reset switch contacts.

[0060] It should also be understood that the "rigor" in the above scheme is used to measure the degree to which the target object operates according to preset rules, standards, or procedures when executing an event. Generally speaking, a person's rigor in doing things can reflect the degree of perfection or meticulousness in how they complete other tasks.

[0061] In the above technical solution, after the target duration, the vehicle can detect whether there is a burr on the reset switch contact of the wiper motor in response to the wiper-off command. When a burr is present on the reset switch contact, the vehicle determines the rigor of the event executed by the target object. When the rigor is low, the vehicle performs a reset judgment on the wiper. That is, in response to the wiper-off command, when a burr is detected on the reset switch contact and the rigor of the event executed by the target object is low, the vehicle performs a reset judgment on the wiper. At this time, the target object does not care whether the wiper returns to the standard reset position. In response to the wiper-off command, the vehicle performs a reset judgment on the wiper, and the difference between the actual stop position of the wiper and the standard reset position is small. Furthermore, the target object does not care about the actual stop position of the wiper. Therefore, this method does not control the wiper to continue rotating from the actual stop position that has not yet stopped to the standard reset position, which can reduce some of the energy consumption of the wiper motor.

[0062] In some embodiments, the method 200 further includes any one of the following: if there is a burr on the reset switch contact, the vehicle sends a reminder message to a target terminal, the target terminal being a terminal with control authority over the vehicle, the reminder message being used to remind the vehicle that there is a burr on the reset switch contact that needs to be cleaned or replaced in a timely manner; the vehicle plays the reminder message through a voice output device in the vehicle; the vehicle displays the reminder message through a display device in the vehicle.

[0063] In one possible implementation, the vehicle determines whether the rigor of the target object in the vehicle used to perform the event is less than or equal to a preset rigor, including: the vehicle determining the cleanliness of the vehicle interior based on an image of the vehicle's interior environment; if the cleanliness is less than or equal to the preset cleanliness, the vehicle determines that the rigor is less than or equal to the preset rigor; or, if the vehicle's historical driving parameters indicate that the vehicle is turning in the target direction, the vehicle determines whether the historical driving parameters indicate that the turn signal corresponding to the target direction is turned on; if the historical driving parameters indicate that the turn signal is not turned on, the vehicle determines that the rigor is less than or equal to the preset rigor.

[0064] It should be understood that the "cleanliness of the vehicle interior" in the above plan refers to the orderly arrangement of items inside the vehicle and the cleanliness of the vehicle interior environment.

[0065] In the above technical solutions, rigor typically refers to the level of detail and standardization of a target object when performing events. This rigor can be inferred from the small events performed by the target object. A cluttered vehicle interior suggests that the target object may not pay much attention to detail in daily life. Therefore, in this method, when the cleanliness of the vehicle's interior is less than or equal to a preset cleanliness level, the rigor of the target object is determined to be less than or equal to the preset rigor. Similarly, when the target object does not drive according to established rules, it suggests that the target object may not pay much attention to rules in daily life. Therefore, in this method, when historical driving parameters indicate that the vehicle is turning in the target direction but the corresponding turn signal is not activated, the rigor of the target object is determined to be less than or equal to the preset rigor. By analyzing the target object from multiple perspectives, the above method can accurately determine the rigor of the target object in performing events.

[0066] In some embodiments, a vehicle determines the cleanliness of its interior based on an image of the vehicle's interior environment, including: the vehicle extracting features from the environmental image to obtain a first target feature related to cleanliness, the first target feature including smoke and dust features; the vehicle identifying the cleanliness of the vehicle's interior based on the first target feature; the vehicle extracting features from the environmental image to obtain a second target feature related to the placement of items, the second target feature including playback position features and placement method features; the vehicle identifying the orderliness of the items placed inside the vehicle based on the second target feature; the vehicle determining a first coefficient by multiplying a first preset factor by the cleanliness; the vehicle determining a second coefficient by multiplying a second preset factor by the orderliness; and the vehicle determining the cleanliness of the vehicle's interior by summing the first coefficient and the second coefficient.

[0067] It should be understood that the sum of the "first preset factor" and the "second preset factor" in the above scheme is 1. The first preset factor is used to indicate the importance of the cleanliness of the vehicle interior in the process of determining the cleanliness of the vehicle interior; the second preset factor is used to indicate the importance of the orderliness of the arrangement of items inside the vehicle interior in the process of determining the cleanliness of the vehicle interior. In some embodiments, the first preset factor is greater than the second preset factor.

[0068] In some embodiments, the vehicle identifies the cleanliness of its interior based on the first target feature, including: the vehicle determining a first proportion of smoke pixels corresponding to the smoke feature in the environmental image; and the vehicle determining the first proportion as the cleanliness of the vehicle interior.

[0069] In some embodiments, the vehicle identifies the orderliness of the arrangement of items inside the vehicle based on the second target feature, including: the vehicle determining the similarity between the second target feature and a desired feature, and determining the similarity as the orderliness of the arrangement of items inside the vehicle, the desired feature including features of the position and arrangement of each item.

[0070] In one possible implementation, the method 200 further includes: if the rigor is greater than the preset rigor, the vehicle determines whether the distance between the wiper motor and the reset switch contact is a first distance threshold; if the distance is the first distance threshold, the vehicle determines a second duration when the wiper motor reaches the reset switch contact based on the first distance threshold, the distance swept by the wiper motor per revolution, and the target rotation speed; after the second duration, the vehicle performs a reset judgment on the wiper.

[0071] It should be understood that the "distance between the wiper motor and the reset switch contact" in the above scheme refers to the distance between the copper ring on the wiper motor and the reset switch contact along the rotation direction of the wiper motor. The "whether the distance between the wiper motor and the reset switch contact is at the first distance threshold" in the above scheme is to determine whether the wiper motor is about to approach the reset switch contact. It should also be understood that the "second duration" in the above scheme refers to the delay duration for resetting the wiper during the process of turning off the wipers.

[0072] In the above technical solution, when the target object's execution of the event has a higher precision than a preset precision, it indicates that the target object is more meticulous in its actions. When the windshield wipers reset, the target object expects the wipers to return to the standard reset position. In this case, the method determines the time (second duration) for the wiper motor to reach the reset switch contact based on a first distance threshold from the wiper motor. After this second duration, the vehicle performs a reset check on the windshield wipers. That is, during the process of the wiper motor returning from the position at the first distance threshold from the reset switch contact to the standard reset position, no reset check is performed on the windshield wipers. This way, even if there are burrs on the reset switch contact, the wipers will not experience jamming during the reset process. Performing the reset check after the second duration ensures that the wipers return to the standard reset position, meeting the needs of a highly precise target object.

[0073] In some embodiments, the vehicle determines a second duration when the wiper reaches the reset switch contact based on the first distance threshold, the distance swept by the wiper motor per revolution and the target rotation speed, including: the vehicle determines the second duration based on the following formula (2);

[0074] (2)

[0075] in, For this second duration, This first distance threshold, This refers to the distance swept by the wiper motor per revolution. The target rotational speed is given, where 60 refers to 60 seconds.

[0076] Figure 4 is a schematic diagram of determining a second duration according to an embodiment of this application.

[0077] For example, as shown in Figure 4, in response to a command to turn off the windshield wipers, the vehicle determines whether the distance between the wiper motor and the reset switch contact D is a first distance threshold; if the distance is the first distance threshold, the vehicle determines a second duration when the wiper motor reaches the reset switch contact based on the first distance threshold, the distance swept by the wiper motor per revolution, and the target rotational speed of the wiper motor; after the second duration, the vehicle performs a reset judgment on the wiper to ensure that the wiper motor rotates to the reset area in Figure 4, so that the wiper returns to the standard reset position.

[0078] Figure 5 is a schematic diagram of a device for controlling a vehicle provided in an embodiment of this application.

[0079] For example, as shown in FIG5, the device 500 includes:

[0080] Determine module 501, used for:

[0081] In response to the start command of the windshield wipers in the vehicle, the target speed of the wiper motor is determined;

[0082] Based on the target rotational speed and the reset zone length of the wiper motor, the target duration is determined, which is the delay duration used for reset judgment;

[0083] The processing module 502 is used to reset the windshield wiper after the target duration.

[0084] Optionally, the determining module 501 is specifically used for: obtaining the target gear that the wiper will operate at based on the start command; if the target gear is not an intermittent gear, determining the target operating current of the wiper motor based on the target gear and a first correspondence between the operating current and a reference gear; and determining the target speed based on the target operating current and a second correspondence between the operating current and the speed, wherein the second correspondence is related to the wiper motor; if the target gear is the intermittent gear, adjusting the reference speed corresponding to the intermittent duration based on the actual clarity of the windshield to obtain the target speed.

[0085] Optionally, the determining module 501 is further configured to: determine the reduction in the actual clarity relative to a preset clarity, wherein the preset clarity is the highest clarity of the windshield when the target object in the vehicle views the front view, and the reference rotational speed corresponds to the preset clarity; determine the product between the reference rotational speed and the reduction in the actual clarity as a rotational speed adjustment amount; and increase the reference rotational speed by the rotational speed adjustment amount to obtain the target rotational speed.

[0086] Optionally, the determining module 501 is further configured to: determine the product of the target rotation speed, the target number of seconds, and the distance swept by the wiper motor per revolution as the distance swept by the wiper motor per minute; determine the ratio between the length of the reset area and the distance swept by the wiper motor per minute as the first duration required for the wiper motor to sweep the reset area; and add a preset duration to the first duration to obtain the target duration.

[0087] Optionally, the processing module 502 is specifically configured to: after the target duration, in response to the windshield wiper closing command, detect whether there are burrs on the reset switch contacts of the windshield wiper motor; the determining module 501 is further configured to, if there are burrs on the reset switch contacts, determine whether the rigor of the target object in the vehicle used to execute the event is less than or equal to a preset rigor; the processing module 502 is further configured to, if the rigor is less than or equal to the preset rigor, perform a reset judgment on the windshield wiper.

[0088] Optionally, the determining module 501 is further configured to: determine the cleanliness of the vehicle interior based on the environmental image inside the vehicle; if the cleanliness is less than or equal to a preset cleanliness, determine that the precision is less than or equal to the preset precision; or, if the historical driving parameters of the vehicle indicate that the vehicle is turning in the target direction, determine whether the historical driving parameters indicate that the turn signal corresponding to the target direction is turned on; if the historical driving parameters indicate that the turn signal is not turned on, determine that the precision is less than or equal to the preset precision.

[0089] Optionally, the determining module 501 is further configured to: determine whether the distance between the wiper motor and the reset switch contact is a first distance threshold when the rigor is greater than the preset rigor; and determine a second duration when the wiper motor reaches the reset switch contact based on the first distance threshold, the distance swept by the wiper motor per revolution, and the target rotation speed when the distance is the first distance threshold; the processing module 502 is further configured to perform a reset judgment on the wiper after the second duration.

[0090] Figure 6 is a structural schematic diagram of a vehicle provided in an embodiment of this application.

[0091] For example, as shown in FIG6, the vehicle 600 includes a memory 601 and a processor 602, wherein the memory 601 stores executable program code 603, and the processor 602 is used to call and execute the executable program code 603 to perform a method for controlling the vehicle.

[0092] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling a vehicle provided in embodiments of this application.

[0093] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0094] When the functional modules are divided according to their respective functions, the device may also include a determination module and a processing module, etc. It should be noted that all relevant content in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0095] It should be understood that the device provided in this embodiment is used to execute the above-described method for controlling a vehicle, and therefore can achieve the same effect as the above-described implementation method.

[0096] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant executable program code.

[0097] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0098] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0099] This embodiment also provides a computer-readable storage medium storing executable program code. When the executable program code is run on a computer, the computer performs the aforementioned method steps to implement the method for controlling a vehicle provided in the above embodiment.

[0100] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a method for controlling a vehicle provided in the above embodiment.

[0101] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0102] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0103] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or 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 device, 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 devices or units may be electrical, mechanical, or other forms.

[0104] The above description is merely a specific embodiment of this application, but the scope of protection of this application 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 application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: In response to the start command of the windshield wipers in the vehicle, the target speed of the wiper motor is determined; Based on the target rotational speed and the reset zone length of the wiper motor, a target duration is determined, wherein the target duration is a delay duration used for reset judgment; After the target duration, the wiper is reset.

2. The method according to claim 1, characterized in that, Determining the target speed of the wiper motor includes: Based on the start command, the target speed at which the wipers will operate is obtained; If the target gear is not an intermittent gear, the target operating current of the wiper motor is determined based on the target gear and a first correspondence between the operating current and the reference gear; and the target speed is determined based on the target operating current and a second correspondence between the operating current and the speed, wherein the second correspondence is related to the wiper motor. When the target gear is the intermittent gear, the reference speed corresponding to the intermittent duration is adjusted based on the actual clarity of the windshield to obtain the target speed.

3. The method according to claim 2, characterized in that, Determining the target operating current of the wiper motor based on the target gear and the first correspondence between the operating current and the reference gear includes: The target gear is compared with a plurality of reference gears in the first correspondence, and a gear that is the same as the target gear is determined from the plurality of reference gears; The working current corresponding to the gear position is determined from the first correspondence as the target working current of the wiper motor.

4. The method according to claim 2, characterized in that, Determining the target rotational speed based on the target operating current and the second correspondence between the operating current and the rotational speed includes: The target operating current is compared with a plurality of operating currents in the second correspondence, and an operating current that matches the target operating current is determined from the plurality of operating currents. The rotational speed corresponding to the operating current is determined as the target rotational speed from the second correspondence.

5. The method according to claim 2, characterized in that, The process of adjusting the reference rotational speed corresponding to the interval duration based on the actual clarity of the windshield to obtain the target rotational speed includes: Determine the reduction in actual sharpness relative to a preset sharpness, where the preset sharpness is the highest sharpness of the windshield when a target object in the vehicle is viewing the front view, and the reference rotational speed corresponds to the preset sharpness; The product of the reference speed and the reduction amount is determined as the speed adjustment amount; The target speed is obtained by adding the speed adjustment amount to the reference speed.

6. The method according to claim 1, characterized in that, Determining the target duration based on the target rotational speed and the reset zone length of the wiper motor includes: The product of the target rotation speed, the target number of seconds, and the distance swept by the wiper motor per revolution is determined as the distance swept by the wiper motor per minute. The ratio between the length of the reset area and the distance swept by the wiper motor per minute is determined as the first time required for the wiper motor to sweep the reset area; The first duration is increased by a preset duration to obtain the target duration.

7. The method according to any one of claims 1-6, characterized in that, The step of resetting the windshield wipers after the target duration includes: After the target duration, in response to the windshield wiper shut-off command, a burr is detected on the reset switch contact of the windshield wiper motor; If there is a burr on the reset switch contact, determine whether the rigor of the target object in the vehicle used to perform the event is less than or equal to a preset rigor. If the required level of precision is less than or equal to the preset level of precision, the wiper is reset.

8. The method according to claim 7, characterized in that, The method further includes: If the stringency is greater than the preset stringency, determine whether the distance between the wiper motor and the reset switch contact is a first distance threshold. When the distance is the first distance threshold, a second duration is determined based on the first distance threshold, the distance swept by the wiper motor per revolution, and the target rotation speed when the wiper motor reaches the reset switch contact. After the second duration, a reset check is performed on the windshield wipers.

9. The method according to claim 7, characterized in that, The method further includes: If there are burrs on the reset switch contacts, a reminder message is sent to the target terminal, which is a terminal with control authority over the vehicle. The reminder message is used to remind that there are burrs on the reset switch contacts that need to be cleaned or replaced in time. The reminder message is played through the voice output device in the vehicle; The reminder information is displayed via a display device in the vehicle.

10. The method according to claim 7, characterized in that, Determining whether the rigor of the target object in the vehicle used to execute the event is less than or equal to a preset rigor includes: The cleanliness of the vehicle interior is determined based on the environmental images inside the vehicle. If the cleanliness level is less than or equal to a preset cleanliness level, then the rigor level is determined to be less than or equal to the preset rigor level; or, If the vehicle's historical driving parameters indicate that the vehicle is turning in the target direction, determine whether the historical driving parameters indicate that the turn signal corresponding to the target direction should be turned on; If the historical driving parameters indicate that the turn signal is not turned on, determine that the precision is less than or equal to the preset precision.

11. The method according to claim 10, characterized in that, Determining the cleanliness of the vehicle interior based on the environmental image inside the vehicle includes: Feature extraction is performed on the environmental image to obtain a first target feature related to cleanliness; Based on the first target feature, the cleanliness of the vehicle interior is identified; Feature extraction is performed on the environmental image to obtain second target features related to the placement of items; Based on the second target feature, the orderly arrangement of items inside the vehicle is identified; The product of the first preset factor and the cleanliness is determined as the first coefficient; The product between the second preset factor and the orderedness is determined as the second coefficient; The sum of the first coefficient and the second coefficient is determined as the cleanliness of the vehicle interior.

12. The method according to claim 10, characterized in that, The first target feature includes smoke and dust features, and the step of identifying the cleanliness of the vehicle interior based on the first target feature includes: Determine the first proportion of smoke and dust pixels corresponding to the smoke and dust features in the environmental image; The first percentage is defined as the cleanliness of the vehicle's interior.

13. The method according to claim 10, characterized in that, The second target feature includes playback position feature and placement method feature. The step of identifying the orderly placement of items inside the vehicle based on the second target feature includes: The similarity between the second target feature and the desired feature is determined, and the similarity is defined as the orderliness of the arrangement of items inside the vehicle. The desired feature includes the characteristics of the position and arrangement of each item.

14. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable program code that, when executed, implements the method as described in any one of claims 1 to 13.

Images