CN111323848A - Method for correcting vehicle rainfall sensor and storage medium - Google Patents
Method for correcting vehicle rainfall sensor and storage medium Download PDFInfo
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Abstract
The present invention relates to the technical field of the automotive industry, and in particular, to a method for calibrating a vehicle rainfall sensor and a storage medium. The method comprises the following steps: determining a reference rainfall value according to rainfall values collected by a plurality of vehicle rainfall sensors in a fixed time period; determining whether the own vehicle rainfall sensor is in a fault state or not according to a comparison result between the rainfall value acquired by the own vehicle rainfall sensor and the optimal rainfall value; when it is determined that the own-vehicle rainfall sensor is in a failure state, a control signal output by the own-vehicle rainfall sensor is corrected. According to the method for correcting the vehicle rainfall sensor, provided by the embodiment of the invention, the information sharing between vehicles is utilized, the self limitation of a single individual is overcome, and the identification accuracy of the vehicle rainfall sensor is improved.
Description
Technical Field
The present invention relates to the technical field of the automotive industry, and in particular, to a method for calibrating a vehicle rainfall sensor and a storage medium.
Background
As intelligent wave tides are developed in the field of automobile industry, more and more sensors are applied in the automobile manufacturing industry. The rain sensor is one of the rain sensors, is positioned at the rear part of the front windshield glass, and can automatically adjust the running speed of the windshield wiper according to the size of rain falling on the glass.
However, the sensing range of the rainfall sensor is limited, and if the sensing range exceeds a certain range, a large error occurs, so that the existing rainfall sensor often has the problem of false alarm in use, and the identification accuracy is poor.
Disclosure of Invention
The invention aims to solve the technical problem of providing a correction method and a storage medium of a vehicle rainfall sensor aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a method of calibrating a vehicle rain sensor, comprising:
determining a reference rainfall value according to rainfall values collected by a plurality of vehicle rainfall sensors in a fixed time period, wherein the plurality of vehicle rainfall sensors comprise a vehicle rainfall sensor of a host vehicle and vehicle rainfall sensors of a plurality of vehicles in a preset range around the host vehicle;
determining whether the own vehicle rainfall sensor is in a fault state according to a comparison result between the rainfall value acquired by the own vehicle rainfall sensor and the optimal rainfall value;
and when the rainfall sensor of the vehicle is determined to be in a fault state, correcting the control signal output by the rainfall sensor of the vehicle.
The invention has the beneficial effects that: the state of the rainfall sensor of the vehicle is comprehensively judged through the rainfall value acquired by the rainfall sensor of the vehicle and the rainfall values acquired by the rainfall sensors of a plurality of vehicles within the preset range around the vehicle, and when the rainfall sensor of the vehicle is in a fault state, the control signal output by the rainfall sensor of the vehicle is corrected, so that the information sharing between the vehicles is utilized, the self limitation of a single individual is overcome, and the identification accuracy of the rainfall sensor of the vehicle is improved.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, before determining the reference rainfall value according to rainfall values collected by a plurality of vehicle rainfall sensors within a fixed time period, the method further comprises:
and carrying out abnormal value screening processing on the plurality of rain values to obtain a plurality of rain values for determining the reference rain value.
The beneficial effect of adopting the further scheme is that: when the rainfall value acquired by the rainfall sensor of the vehicle and the rainfall values acquired by the rainfall sensors of the vehicles in the preset range around the vehicle are used for determining the reference rainfall value for judging the state of the rainfall sensor of the vehicle, the acquired rainfall values are processed to remove abnormal values, so that the judgment result is more accurate.
Further, before performing outlier screening processing on the plurality of rain magnitudes, the method further comprises:
acquiring a rainfall value and a corresponding control signal acquired by the own vehicle rainfall sensor in the fixed time period;
and acquiring rainfall values and corresponding control signals acquired by a plurality of vehicle rainfall sensors in a preset range around the vehicle in the fixed time period.
Further, correcting the control signal output by the own vehicle rainfall sensor includes:
and correcting the control signal output by the own vehicle rainfall sensor according to the plurality of rainfall values and the plurality of corresponding control signals in the fixed time period.
The beneficial effect of adopting the further scheme is that: the control signal output by the vehicle rainfall sensor is corrected through a plurality of rainfall values and a plurality of corresponding control signals in a fixed time period, the control signal output when the vehicle rainfall sensor is in a fault state can be automatically corrected, the accuracy of the output control signal is ensured, a good visual field is provided for a driver, and therefore the convenience and the safety of driving in rainy days are greatly improved.
Further, the correction process includes at least one correction process.
The beneficial effect of adopting the further scheme is that: through multiple times of correction, the accuracy of the control signal output by the rainfall sensor in the fault state can be improved.
Further, correcting the control signal output by the own vehicle rainfall sensor according to a plurality of rainfall values and a plurality of corresponding control signals in the fixed time period comprises:
correcting the function in the correction process according to the plurality of rainfall values and the plurality of control signals in the fixed time period;
and outputting the control signal output by the rainfall sensor of the vehicle by adopting the corrected function.
The beneficial effect of adopting the further scheme is that: the function in the correction process is corrected according to the plurality of rainfall values and the plurality of control signals in the fixed time period, and the control signal output by the rainfall sensor of the vehicle is output by adopting the corrected function, so that the control signal output by the rainfall sensor of the vehicle in a fault state is automatically corrected, a good view field is provided for a driver, and the convenience and the safety of driving in rainy days are greatly improved.
Further, the correcting process includes a plurality of correcting processes, and the outputting the control signal output by the vehicle rainfall sensor by using the corrected function includes:
in the process of outputting the control signal output by the vehicle rainfall sensor by adopting the corrected function, if the intermediate data does not meet the requirement, continuing correcting by adopting the next function until the intermediate data meets the requirement;
and outputting the control signal output by the rainfall sensor of the vehicle by adopting the corrected function which meets the requirement at this time.
The beneficial effect of adopting the further scheme is that: the influence of hardware faults which may exist is eliminated by utilizing the multiple correction of software, and the driving safety of a driver in rainy and snowy days is ensured.
Further, acquiring rainfall values and corresponding control signals acquired by a plurality of vehicle rainfall sensors in a preset range around the vehicle in the fixed time period comprises:
broadcasting a data sharing request to vehicles within a preset range around the host vehicle through a V2V communication module of the host vehicle at a fixed period;
and after receiving the data sharing request responded by a plurality of vehicles in the preset range around the vehicle, sending the rainfall value and the corresponding control signal through the respective V2V communication modules.
The beneficial effect of adopting the further scheme is that: by acquiring the data information of the rainfall sensors arranged on a plurality of vehicles with V2V communication functions and the data information of the rainfall sensors on the own vehicles in a certain space range, the information sharing between the vehicles is utilized, the self limitation of a single individual is overcome, and the identification accuracy of the own rainfall sensors is improved.
Further, determining whether the own vehicle rainfall sensor is in a fault state according to a comparison result between the rainfall value collected by the own vehicle rainfall sensor and the reference rainfall value includes:
and when the deviation value of the rainfall value acquired by the vehicle rainfall sensor and the reference rainfall value continuously exceeds the maximum deviation threshold value for multiple times, determining that the vehicle rainfall sensor is in a fault state, and sending an alarm signal.
The beneficial effect of adopting the further scheme is that: through the continuous comparison results for multiple times, the fact that the vehicle rainfall sensor is in the fault state is determined, the warning signal is sent out, the judgment result can be more accurate, the driver is timely reminded when the vehicle rainfall sensor is in the fault state, and the driving safety is improved.
Furthermore, the rainfall value collected by each vehicle rainfall sensor in the plurality of vehicle rainfall sensors is obtained by carrying out median average filtering method processing on the rainfall values continuously collected by each vehicle rainfall sensor for multiple times.
The beneficial effect of adopting the further scheme is that: the rainfall values continuously and repeatedly acquired by the vehicle rainfall sensor are processed by a median average filtering method, and the processed rainfall values are used for judging the state of the vehicle rainfall sensor, so that the judgment result is more accurate.
Further, correcting the control signal output by the own vehicle rainfall sensor includes:
and taking the reference rainfall value as the rainfall value acquired by the own vehicle rainfall sensor, and generating a control signal for controlling the operation of the own vehicle windshield wiper according to the reference rainfall value.
The beneficial effect of adopting the further scheme is that: the reference rainfall value is used as the rainfall value acquired by the rainfall sensor of the vehicle to obtain a control signal for controlling the operation of the windshield wiper of the vehicle, so that the control signal output when the rainfall sensor of the vehicle is in a fault state is corrected, the accuracy of the output control signal is ensured, a good visual field is provided for a driver, and the convenience and the safety of driving in rainy days are greatly improved.
Another technical solution of the present invention for solving the above technical problems is as follows: a storage medium having stored therein instructions which, when read by a computer, cause the computer to perform a method as described in any one of the above embodiments.
Additional aspects of the invention and its advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for correcting a vehicle rainfall sensor according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for calibrating a vehicle rain sensor according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for calibrating a vehicle rain sensor according to another embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for calibrating a vehicle rain sensor according to another embodiment of the present invention;
FIG. 5 is a schematic flow chart of a method for calibrating a vehicle rain sensor according to another embodiment of the present invention;
fig. 6 is a schematic structural block diagram of a correction system of a vehicle rain sensor according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
A method 100 for calibrating a vehicle rain sensor, as shown in fig. 1, includes:
110. and determining a reference rainfall value according to rainfall values collected by a plurality of vehicle rainfall sensors in a fixed time period.
The plurality of vehicle rainfall sensors comprise a vehicle rainfall sensor of the host vehicle and vehicle rainfall sensors of a plurality of vehicles within a preset range around the host vehicle.
120. And determining whether the rainfall sensor of the vehicle is in a fault state or not according to a comparison result between the rainfall value acquired by the rainfall sensor of the vehicle and the optimal rainfall value.
130. When it is determined that the own-vehicle rainfall sensor is in a failure state, a control signal output by the own-vehicle rainfall sensor is corrected.
Specifically, in this embodiment, the rainfall value collected by each of the plurality of vehicle rainfall sensors is obtained by performing median average filtering on the rainfall values collected by each of the vehicle rainfall sensors consecutively a plurality of times. Namely: and (3) continuously sampling a certain vehicle rainfall sensor n times (for example, n is 7), then arranging the sampling values according to the size, removing a maximum value and a minimum value, and calculating the arithmetic average value of the remaining n-2 sampling values as the rainfall value collected by each vehicle rainfall sensor.
In the method for correcting the vehicle rainfall sensor provided by the above embodiment, the state of the vehicle rainfall sensor is comprehensively determined through the rainfall value collected by the vehicle rainfall sensor and the rainfall values collected by the vehicle rainfall sensors of a plurality of vehicles within the preset range around the vehicle, and when the vehicle rainfall sensor is in a fault state, the control signal output by the vehicle rainfall sensor is corrected, so that the information sharing between the vehicles is utilized, the self limitation of a single individual is overcome, and the accuracy of the identification of the vehicle rainfall sensor is improved.
Optionally, in one embodiment, step 120 may include: when the deviation value of the rainfall value acquired by the vehicle rainfall sensor and the reference rainfall value continuously exceeds the maximum deviation threshold value for multiple times, the vehicle rainfall sensor is determined to be in a fault state, and an alarm signal is sent out.
That is, in this embodiment, the rainfall sensor of the vehicle is determined to be in the failure state through the comparison results of the consecutive times, and the warning signal is sent out, so that the determination result is more accurate, and the driver is prompted in time when the rainfall sensor of the vehicle is in the failure state, thereby improving the driving safety.
Optionally, in an embodiment, as shown in fig. 2, before step 110, the method 100 may further include:
140. and carrying out abnormal value screening processing on the plurality of rain values to obtain a plurality of rain values for determining the reference rain value.
Specifically, in this embodiment, an outlier in the plurality of rain values is removed using the grassbs criterion. The Grabbs criterion states that if the i-th collected rainfall value xiThe following formula is satisfied:
|xi-x|≥g(n，a)×σ(X)
then data x is writteniAnd (5) discarding. In the above formula, x is the average value of the data acquired n times; σ (x) is the standard deviation of the measured data set,
when significance level a takes 0.01, the values of g (n, a) are shown in the following table:
in the method for correcting a vehicle rainfall sensor provided in the above embodiment, when determining the reference rainfall value for determining the state of the vehicle rainfall sensor using the rainfall value acquired by the vehicle rainfall sensor and the rainfall values acquired by the vehicle rainfall sensors of a plurality of vehicles within the preset range around the vehicle, the collected rainfall value is processed to remove the abnormal value, so that the determination result can be more accurate.
In this embodiment, an abnormal value in the plurality of rain measurement values is removed by using the grassbs criterion, n rain measurement values are obtained by screening, and the reference rain measurement value is determined according to the arithmetic mean and the mean square error of the n rain measurement values. Specifically, an optimal rain amount value is determined according to the following formula,
in the formula (I), the compound is shown in the specification,
is the arithmetic mean of n rain values, s2Is the variance of n rain magnitude values, s is the mean square error of n rain magnitude values, xiIs the ith rainfall value.
Specifically, as shown in fig. 2, in this embodiment, before step 140, the method 100 may further include:
150. and acquiring a rainfall value and a corresponding control signal acquired by the own vehicle rainfall sensor in a fixed time period.
160. The method comprises the steps of obtaining rainfall values and corresponding control signals collected by a plurality of vehicle rainfall sensors in a preset range around a vehicle in a fixed time period.
It should be noted that, in this embodiment, there is no strict execution sequence between step 150 and step 160, and the steps may be performed simultaneously, may be performed sequentially, or may be performed first step 160 and then step 150, which is not limited in this embodiment of the present invention.
Specifically, in this embodiment, step 160 may include:
the data sharing request is broadcasted to the vehicles within a preset range around the host Vehicle through the Vehicle-to-Vehicle communication module (Vehicle-to-Vehicle communication) of the host Vehicle at a fixed cycle.
After receiving a plurality of vehicle response data sharing requests in a preset range around the vehicle, the rain amount value and the corresponding control signal are sent through the respective V2V communication modules.
In the embodiment, the data are broadcasted to surrounding vehicles within a certain range through the V2V communication module at a fixed period, and meanwhile, the V2V communication module receives the data information of the rain sensor of the surrounding vehicles, so that data sharing is realized. Thus, the vehicle control unit obtains the sampling data of a plurality of different rainfall sensors.
For example: assume that the current rainfall sensor sampling output of the host vehicle is (y, x). After the vehicle controller sends a request for acquiring rainfall sensor data of other vehicles to the surrounding vehicles through the V2V module, n groups of data (y) are received1，x1)，(y2，x2)，(y3，x3)，…，(yn，xn)。
Optionally, in another embodiment, as shown in fig. 3, step 130 may include: and correcting the control signal output by the own vehicle rainfall sensor according to a plurality of rainfall values and a plurality of corresponding control signals in a fixed time period.
Specifically, in this embodiment, the correction process includes at least one correction process.
A one-time calibration procedure may be employed: and correcting the function in the correction process according to the plurality of rainfall values and the plurality of control signals in the fixed time period, and outputting the control signal output by the rainfall sensor of the vehicle by adopting the corrected function.
Alternatively, a process of multiple corrections may be employed: in the process of outputting the control signal output by the rainfall sensor of the vehicle by adopting the corrected function, if the intermediate data does not meet the requirement, the next function is adopted to continue correction until the intermediate data meets the requirement, and the corrected function meeting the requirement at this time is adopted to output the control signal output by the rainfall sensor of the vehicle.
Specifically, in this embodiment, the process of multiple corrections may include the following steps:
1. and performing data fitting on the plurality of rainfall values and the plurality of corresponding control signals in the ith time period to obtain a first fitting function, wherein the value of i is from 1 to m, and m is the time period obtained by dividing the fixed time period.
2. And judging whether the plurality of rainfall values and the reference rainfall value in the ith time interval meet a first condition.
3. If not, the first fitting function is used for fitting and correcting the rainfall sensor of the vehicle.
4. And if so, performing data fitting on the plurality of rainfall values acquired in the (i + 1) th time period and the plurality of corresponding control signals to obtain a second fitting function.
5. And judging whether the plurality of rainfall values and the reference rainfall value in the (i + 1) th time period meet a second condition.
6. If the rainfall does not meet the preset value, the control signal output by the rainfall sensor of the vehicle is continuously corrected by the first fitting function.
7. And if so, correcting the control signal output by the rainfall sensor of the vehicle by using a second fitting function.
The specific implementation process of the step 2 is as follows:
and 2.1, respectively calculating a first absolute value of the difference between the plurality of rainfall values and the reference rainfall value in the ith time interval and a first mean value of the plurality of first absolute values.
And 2.2, judging whether continuous k first absolute values are all larger than or smaller than the first mean value. For example: k is 5.
The specific implementation process of the step 3 is as follows:
and 3.1, taking the rainfall value collected by the rainfall sensor of the vehicle as the input quantity of the first fitting function, and calculating to obtain the output quantity as a corresponding first control signal.
And 3.2, when the deviation value between the control signal acquired by the rainfall sensor of the vehicle and the first control signal continuously exceeds the maximum allowable range for multiple times, correcting the rainfall sensor of the vehicle by using the first fitting function.
The specific implementation process of the step 4 is as follows:
4.1, respectively calculating a second absolute value of the difference between the plurality of rainfall values and the reference rainfall value in the i +1 th time period and a second mean value of the plurality of second absolute values.
And 4.2, judging whether the continuous k second absolute values are all larger or smaller than the second mean value.
The specific implementation process of the step 5 is as follows:
and 5.1, taking the rainfall value acquired by the rainfall sensor of the vehicle as the input quantity of the second fitting function, and calculating to obtain the output quantity as a corresponding second control signal.
And 5.2, when the deviation value between the control signal acquired by the rainfall sensor of the vehicle and the second control signal continuously exceeds the maximum allowable range for multiple times, correcting the rainfall sensor of the vehicle by using a second fitting function.
It should be noted that the maximum allowable range here can be determined according to actual situations, and is fine-tuned according to different external environments, for example: coastal areas are not the same as inland areas.
That is, in this embodiment, for example: the fixed time period is 10s, the fixed time period is divided into 10 time periods, and from the 1 st time period, the fitting function is modified by using the rain amount value and the corresponding control signal in each time period in turn. In the process of fitting the curve, the parameter data in each time range are continuously input, so that the most appropriate fitting curve can be corrected and the optimal group of dynamic parameters a can be obtained1，b1，a2，b2. As shown in fig. 4:
131. performing data fitting on the p rainfall values in the 1 st period and the corresponding p control signals to obtain a first fitting function y as a1*xb1Parameter a of1，b1。
132. Respectively calculating the absolute value of the difference between p rain values and a reference rain value in the 1 st period and the mean value p of the p absolute values0。
133. Judging whether the absolute value of the difference between the continuous 5 rain values and the reference rain value is more than or less than p0. If not, continuing to use the first fitting function to perform data fitting, namely: and when the deviation value between the control signal acquired by the rainfall sensor of the vehicle and the first control signal continuously exceeds the maximum allowable range for multiple times, the rainfall sensor of the vehicle is corrected by using the first fitting function. That is, the parameter a is selected1，b1A parameter as a function of the host vehicle rain sensor.
134. If the absolute value of the difference between the reference rain amount value and no continuous 5 rain amount values in the p rain amount values is larger or smaller than p0Performing data fitting on the q rainfall values acquired in the 2 nd time period and the q corresponding control signals to obtain a second fitting function y ═ a2*xb2Parameter α2，b2。
135. Respectively calculating the absolute values of the differences of the q rainfall values and the reference rainfall value in the 2 nd period and the mean value q of the q absolute values0。
136. Judging whether the absolute value of the difference between 5 continuous rainfall values and the reference rainfall value is greater than or less than q rain values0If not, continuing to use the first fitting function to perform data fitting, namely: returning to step 131. If yes, performing data fitting by using a second fitting function, namely: and when the deviation value between the control signal acquired by the rainfall sensor and the second control signal continuously exceeds the maximum allowable range for multiple times, the rainfall sensor of the vehicle is corrected by using the second fitting function. That is, the parameter a is selected2，b2A parameter as a function of the host vehicle rain sensor.
Optionally, in another embodiment, as shown in fig. 5, step 130 may further include: and taking the reference rainfall value as the rainfall value acquired by the own vehicle rainfall sensor, and generating a control signal for controlling the operation of the own vehicle windshield wiper according to the reference rainfall value.
In the embodiment, the reference rainfall value is used as the rainfall value acquired by the rainfall sensor of the vehicle to obtain the control signal for controlling the operation of the windshield wiper of the vehicle, so that the control signal output when the rainfall sensor of the vehicle is in a fault state is corrected, the accuracy of the output control signal is ensured, a good visual field is provided for a driver, and the convenience and the safety of driving in rainy days are greatly improved.
It should be noted that, in this embodiment, the step 140 may be further included, or the step 140 and the step 160 may be included, and for brevity of description, are not described herein again.
In summary, in the above embodiments provided by the present invention, when the own vehicle rainfall sensor is in the failure state, the control signal output by the own vehicle rainfall sensor in the failure state may be corrected in two ways, one is to adjust the parameter of the function of the own vehicle rainfall sensor through the fitting function, and the other is to make the control signal output by the own vehicle rainfall sensor more accurate by using the reference rainfall value as the rainfall value collected by the own vehicle rainfall sensor.
It should be understood that, in the above embodiments of the present invention, the sequence numbers of the above processes do not mean the execution sequence, and the execution sequence of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The invention also provides a computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform a method as in any one of the embodiments described above.
In addition, the present invention also provides a system for correcting a vehicle rain sensor, as shown in fig. 6, the system 200 includes: the vehicle rainfall sensor 210, the vehicle V2V communication module 220, the processor 230 and the control module 240, and the rainfall sensors 250 and the respective V2V communication modules 260 of a plurality of vehicles within a preset range around the vehicle. Wherein, the processor 230 includes: a data screening module 231 and a data fitting module 232.
Specifically, in this embodiment, the host vehicle rain sensor 210 is configured to collect a rain amount value and a corresponding control signal and send it to the processor 230. The vehicle V2V communication module 220 is configured to broadcast a data sharing request to vehicles within a preset range around the vehicle at a fixed period, receive a data sharing request from a plurality of vehicles within the preset range around the vehicle, and send the received data to the processor 230 through the rainfall value and the corresponding control signal sent by the respective V2V communication module 260.
The processor 230 processes the data received within a fixed time period, for example: the method comprises the steps of determining a reference rainfall value according to rainfall values collected by a plurality of vehicle rainfall sensors in a fixed time period, and determining whether the vehicle rainfall sensors are in a fault state according to a comparison result between the rainfall values collected by the vehicle rainfall sensors and an optimal rainfall value. When it is determined that the own-vehicle rainfall sensor is in a failure state, a control signal output by the own-vehicle rainfall sensor is corrected. The control signal after correction may be sent to the control module 240 to control the wiper movement.
The rain sensors 250 are used for collecting rain amount values and corresponding control signals, and the V2V communication module 260 is used for responding to a data sharing request sent by the vehicle V2V communication module 220 and sending the rain amount values and the corresponding control signals collected by the rain sensors 250 to the vehicle V2V communication module 220.
Specifically, in this embodiment, the data filtering module 231 may filter the data processing process first, and then process the data after removing the abnormal value. The data fitting module 232 performs multiple corrections to correct the control signal output by the own vehicle rainfall sensor when it is determined that the own vehicle rainfall sensor is in a failure state.
Therefore, the parameters of the own vehicle rainfall sensor are automatically corrected by using the data of the rainfall sensors of the own vehicle and a plurality of surrounding vehicles, so as to ensure the accuracy of the data of the own vehicle rainfall sensor.
It should be noted that, in this embodiment, the processor 230 in the system 200 according to the embodiment of the present invention may correspond to an execution main body of the method 100 according to the embodiment of the present invention, and the above and other operations and/or functions of the processor 230 are respectively for implementing corresponding flows of the methods in fig. 1 to fig. 5, and are not described herein again for brevity.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of correcting a vehicular rainfall sensor, comprising:
determining a reference rainfall value according to rainfall values collected by a plurality of vehicle rainfall sensors in a fixed time period, wherein the plurality of vehicle rainfall sensors comprise a vehicle rainfall sensor of a host vehicle and vehicle rainfall sensors of a plurality of vehicles in a preset range around the host vehicle;
determining whether the own vehicle rainfall sensor is in a fault state according to a comparison result between the rainfall value acquired by the own vehicle rainfall sensor and the optimal rainfall value;
and when the rainfall sensor of the vehicle is determined to be in a fault state, correcting the control signal output by the rainfall sensor of the vehicle.
2. The method for correcting a vehicular rainfall sensor of claim 1, wherein before determining the reference rainfall value based on the rainfall values collected by the plurality of vehicular rainfall sensors over a fixed period of time, the method further comprises:
and carrying out abnormal value screening processing on the plurality of rain values to obtain a plurality of rain values for determining the reference rain value.
3. The method for correcting a vehicular rainfall sensor of claim 2, wherein before the abnormal value screening process is performed on the plurality of rainfall values, the method further comprises:
broadcasting a data sharing request to vehicles within a preset range around the host vehicle through a V2V communication module of the host vehicle at a fixed period;
and after receiving the data sharing request responded by a plurality of vehicles in the preset range around the vehicle, sending the rainfall value and the corresponding control signal through the respective V2V communication modules.
4. The method according to any one of claims 1 to 3, wherein correcting the control signal output from the own-vehicle rainfall sensor includes:
and correcting the control signal output by the own vehicle rainfall sensor according to the plurality of rainfall values and the plurality of corresponding control signals in the fixed time period.
5. The method according to claim 4, wherein correcting the control signal output from the own-vehicle rainfall sensor based on a plurality of rainfall values and a corresponding plurality of control signals within the fixed period of time includes:
correcting the function in the correction process according to the plurality of rainfall values and the plurality of control signals in the fixed time period;
and outputting the control signal output by the rainfall sensor of the vehicle by adopting the corrected function.
6. The method according to claim 5, wherein said outputting the control signal output from the own vehicle rain sensor using the modified function comprises:
in the process of outputting the control signal output by the vehicle rainfall sensor by adopting the corrected function, if the intermediate data does not meet the requirement, continuing correcting by adopting the next function until the intermediate data meets the requirement;
and outputting the control signal output by the rainfall sensor of the vehicle by adopting the corrected function which meets the requirement at this time.
7. The method for correcting a vehicular rainfall sensor according to any one of claims 1 to 3, wherein determining whether the vehicular rainfall sensor is in a failure state, based on a result of comparison between the rainfall value collected by the vehicular rainfall sensor and the reference rainfall value, includes:
and when the deviation value of the rainfall value acquired by the vehicle rainfall sensor and the reference rainfall value continuously exceeds the maximum deviation threshold value for multiple times, determining that the vehicle rainfall sensor is in a fault state, and sending an alarm signal.
8. The method according to any one of claims 1 to 3, wherein the rainfall values collected by each of the plurality of vehicle rainfall sensors are obtained by performing median average filtering on the rainfall values collected by each of the vehicle rainfall sensors a plurality of times in succession.
9. The method according to any one of claims 1 to 3, wherein correcting the control signal output from the own-vehicle rainfall sensor includes:
and taking the reference rainfall value as the rainfall value acquired by the own vehicle rainfall sensor, and generating a control signal for controlling the operation of the own vehicle windshield wiper according to the reference rainfall value.
10. A storage medium having stored therein instructions which, when read by a computer, cause the computer to perform the method of any one of claims 1 to 9.
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