CN111301348B - Windshield wiper control method based on electronic horizon, terminal device and storage medium - Google Patents
Windshield wiper control method based on electronic horizon, terminal device and storage medium Download PDFInfo
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- CN111301348B CN111301348B CN201911408522.4A CN201911408522A CN111301348B CN 111301348 B CN111301348 B CN 111301348B CN 201911408522 A CN201911408522 A CN 201911408522A CN 111301348 B CN111301348 B CN 111301348B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
- B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
Abstract
The invention relates to a windshield wiper control method based on an electronic horizon, a terminal device and a storage medium, wherein the method comprises the following steps: s1: receiving electronic horizon data of a road ahead in real time and rainfall information acquired by a rainfall sensor; s2: judging whether the road condition in front is a high-definition view demand road condition or not according to the received electronic horizon data, and if so, controlling the windshield wiper to move at a second control speed of the current rainfall; otherwise, controlling the windshield wiper to move at a first control speed of the current rainfall according to the received rainfall information, wherein the second control speed is greater than the first control speed. The invention overcomes the defects of the traditional windshield wiper control technology, applies the electronic horizon system to the windshield wiper control, provides road information outside the field of vision for the windshield wiper control, can adjust the speed of the windshield wiper according to the road condition information, avoids the shielding of the field of vision under dangerous road conditions, and improves the safety of a driver.
Description
Technical Field
The present invention relates to the field of wiper control, and in particular, to a wiper control method based on an electronic horizon, a terminal device, and a storage medium.
Background
The automobile windshield wiper is used for sweeping rainwater in front of a windshield to ensure the visual field of a driver. In recent years, the rainfall sensor can sense the rainfall on the windshield, so that the intelligent windshield wiper system can automatically control the opening and closing of the windshield wiper and automatically adjust and control the speed of the windshield wiper according to the rainfall during opening.
However, the automatic windshield wiper is also insensitive to rainfall sensing, the speed may not meet the requirement of the visual field, particularly, the ambient environment changes greatly in the driving process, and on occasions where the requirement of a driver on the visual field is high, the speed of the windshield wiper needs to be temporarily increased to reduce the shielding of rainwater on the visual field.
For example, in the invention patent with publication number CN106515724A, the environmental parameter information (including meteorological data and road surface condition data) in the target tunnel is obtained through a camera, a sensor or a network, and a corresponding driving control command is generated to control at least one of a speed control command, a light control command, a lane control command, an air conditioner control command and a wiper control command, so as to achieve the purpose of driving safely in the target tunnel. However, the camera or the sensor can only obtain the environmental information in the short distance and the view field in front of the vehicle, and cannot obtain the road environmental parameter information completely outside the view field in time; the road condition data includes only road condition data, and only the average traffic flow speed in the target tunnel, or the driving speed of the vehicle in front of the vehicle, the driving distance between the two vehicles, and other environmental parameter information related to the driving environment.
Obviously, the above technical solution can only be applied to safe driving of the vehicle in the tunnel. And for the vehicle on the road outside the tunnel, the safe driving measures cannot be applied. For example, the road in a tunnel is usually relatively gentle in slope and relatively straight, and there is no complex road environment such as a crossroad. Meanwhile, the camera or the sensor adopted in the technical scheme can not timely, quickly and accurately identify the road environment of dangerous positions such as sharp turns, sharp ascending and sharp descending junctions and the like frequently existing on the road outside the tunnel, and when the camera or the sensor identifies the road environment, most vehicles are already in the dangerous position points or even pass through the dangerous position points, so that the significance of advanced optimization control is lost.
Disclosure of Invention
In order to solve the problems, the invention provides a wiper control method which can be suitable for various road environments to improve driving safety, and is particularly suitable for road environments with complex and dangerous positions. Therefore, the present invention proposes a wiper control method, a terminal device, and a storage medium based on an electronic horizon.
The specific scheme is as follows:
a windshield wiper control method based on an electronic horizon comprises the following steps:
s1: receiving electronic horizon data of a road ahead in real time and rainfall information acquired by a rainfall sensor;
s2: judging whether the road condition in front is a high-definition view demand road condition or not according to the received electronic horizon data, and if so, controlling the windshield wiper to move at a second control speed of the current rainfall; otherwise, controlling the windshield wiper to move at a first control speed of the current rainfall according to the received rainfall information, wherein the second control speed is greater than the first control speed.
Further, the high-definition view demand road condition comprises an uphill and downhill junction road condition, and is judged according to a gradient value in the electronic horizon data of the road ahead.
Further, the method for judging the corresponding road conditions of the uphill and downhill junctions comprises the following steps:
s211: setting a safe observation visual range of the vehicle;
s212: calculating the view field inclination angle of each acquisition point and the current position of the vehicle in the safe observation view distance of the vehicle according to the gradient value of each acquisition point in the electronic horizon data;
s213: and judging whether the gradient value of the acquisition point close to the current position of the vehicle is smaller than the gradient value of the acquisition point far away from the current position of the vehicle, if so, judging that the front road condition is the high-definition view demand road condition, and otherwise, judging that the front road condition is not the high-definition view demand road condition.
Further, in step S212, the view field inclination angle is a difference between a horizontal inclination angle of the position where the collection point is located and a gradient inclination angle of the current position of the vehicle.
Further, the method for calculating the horizontal inclination angle of the position of each acquisition point comprises the following steps:
according to the gradient value of the acquisition points, calculating the vertical distance and the horizontal distance between every two adjacent acquisition points in all the acquisition points between the acquisition points to be calculated and the vehicle, wherein the acquisition points to be calculated comprise the acquisition points to be calculated;
accumulating all the calculated vertical distances and horizontal distances respectively to obtain the vertical distance and the horizontal distance between the acquisition point to be calculated and the vehicle;
and performing arc tangent operation on the ratio of the vertical distance to the horizontal distance between the acquisition point to be calculated and the vehicle to obtain the horizontal inclination angle of the acquisition point to be calculated.
Further, the gradient and inclination angle of the current position of the vehicle is calculated according to the gradient value of the current position of the vehicle.
Further, the method for calculating the safe observation visual range of the vehicle comprises the following steps: and calculating the safe observation visual range of the vehicle according to the product of the current vehicle speed of the vehicle and the reaction time of the driver.
Further, the high-definition view demand road condition comprises a sharp turning road condition, and the judgment is performed according to a curvature value and an offset value in the electronic horizon data of the road ahead.
Further, the method for judging the correspondence of the sharp turning road condition comprises the following steps:
s221: setting a safe observation visual range of the vehicle;
s222: judging whether more than two continuous collection points with curvature values larger than a curvature threshold exist in the safe observation visual range of the vehicle according to the curvature values and the deviation values of the collection points in the electronic horizon data, and entering S223 if the two continuous collection points exist; otherwise, judging that the road condition is not the high-definition view demand road condition;
s223: judging whether the difference value of the deviant of the point farthest from the vehicle and the deviant of the point nearest to the vehicle in all the acquisition points with the curvature values larger than the curvature threshold is larger than the distance threshold, if so, judging that the road condition in front is the high-definition view required road condition; otherwise, judging that the road condition is not the high-definition view demand road condition.
Furthermore, the high-definition view demand road condition comprises a road condition corresponding to a dangerous environment sign, and the judgment is carried out according to the environment sign in the front road electronic horizon data.
Further, the method for judging the road condition corresponding to the dangerous environment sign comprises the following steps: judging whether dangerous environment marks exist in the safety observation sight distance of the vehicle or not according to the environment marks of all the acquisition points in the electronic horizon data, and if so, judging that the front road condition is the road condition requiring high-definition sight field; otherwise, judging that the road condition is not the high-definition view demand road condition.
An electronic horizon-based wiper control terminal device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method of the embodiment of the invention.
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to an embodiment of the invention as described above.
According to the technical scheme, the defects of the traditional windshield wiper control technology are overcome, the electronic horizon system is applied to windshield wiper control, road information outside the field of vision is provided for windshield wiper control, the speed of the windshield wiper can be adjusted according to road condition information, the shielding of the field of vision under dangerous road conditions is avoided, and the safety of a driver is improved.
Drawings
Fig. 1 is a flowchart illustrating a first embodiment of the present invention.
Fig. 2 is a schematic diagram of the road conditions on the uphill and downhill boundary in this embodiment.
Fig. 3 is another schematic diagram of the intersection road condition on the up-down slope in this embodiment.
Fig. 4 is a schematic diagram of a sharp turn road condition in the embodiment.
Fig. 5 is a schematic diagram of a T-junction in this embodiment.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
the embodiment of the invention provides a windshield wiper control method based on an electronic horizon, which comprises the following steps as shown in figure 1:
s1: and receiving electronic horizon data of a road ahead in real time and rainfall information acquired by a rainfall sensor.
The electronic horizon data is electronic data obtained by processing map data and satellite positioning signals. Thus, the electronic horizon data provides the vehicle with accurate information about the road ahead, which, when processed by certain technical means (described in more detail below), provides the vehicle with the ability to predict road conditions at considerable distances ahead.
The electronic horizon has two types, static and dynamic, and the static electronic horizon provides static information of the road slope, curvature and tunnel in front of the vehicle, which are not changed for a long time. The dynamic electronic horizon can also provide dynamic information such as traffic jam, traffic light condition, accident point and the like in front of the vehicle on a static basis.
The electronic horizon consists of map data, a communication network, a positioning system and a map information forward search engine, and is characterized in that the positioning longitude and latitude positions of a vehicle and the forward direction information of the vehicle are analyzed according to a GPS/Beidou satellite positioning system, the geographic information in front of the vehicle is searched on the electronic horizon map, and the geographic information in front is transmitted to a controller of the vehicle through a CAN bus or an Ethernet bus.
In this embodiment, the electronic horizon data at least includes basic information such as a slope value, a curvature value, an environmental indicator, and an offset value of each collection point in the road.
The rainfall sensor is a commonly used sensor for detecting the rainfall and belongs to the well-known technology in the field.
S2: judging whether the road condition in front is a high-definition view demand road condition or not according to the received electronic horizon data, and if so, controlling the windshield wiper to move at a second control speed of the current rainfall; otherwise, controlling the windshield wiper to move at a first control speed of the current rainfall according to the received rainfall information.
When the road condition in front is not the road condition with high-definition view demand, the rain amount is only needed to control the speed of the windshield wiper to be the first control speed of the current rain amount.
Under every same rainfall size grade, divide according to the difference of field of vision road conditions and respectively have first control speed and second control speed, wherein, second control speed is greater than first control speed to realize under the road conditions that high field of vision required, can realize faster the rainwater on the vehicle front windshield of brushing off with second control speed, ensure that the driver field of vision is clear.
The first control speeds of different rainfall magnitude grades are generally unequal, and the larger the rainfall is, the larger the first control speed corresponding to the rainfall is.
Each rainfall level corresponds to the magnitude of the first control speed and the magnitude of the second control speed, and a person skilled in the art can set the rainfall levels according to empirical values and experimental data, which is not limited herein.
In this embodiment, the determination of the high-definition view-required road condition based on the electronic horizon data includes the following three cases, and a determination method for each case is specifically described below.
(1) Road conditions on uphill and downhill junctions
The judging method comprises the following steps:
s211: and calculating the safe observation visual range of the vehicle according to the current vehicle speed and the preset reaction time.
And if the vehicle speed is v and the reaction time of the driver is t, the safe observation visual range of the vehicle is D-v-t.
The reaction time can be set by those skilled in the art according to empirical or experimental values, and is not limited herein, and t is set to 5 seconds in this example.
S212: and calculating the view field inclination angle of each acquisition point and the current position of the vehicle in the safe observation view distance of the vehicle according to the gradient value of each acquisition point in the electronic horizon data.
The view inclination angle of each acquisition point is the difference value between the horizontal inclination angle of the position where the acquisition point is located and the gradient inclination angle of the current position of the vehicle.
The horizontal inclination angle is an included angle between a connecting line between the position of the acquisition point and the current position of the vehicle and the horizontal plane. The method for calculating the horizontal inclination angle of the position of each acquisition point comprises the following steps: according to the gradient value of the acquisition points, calculating the vertical distance and the horizontal distance between every two adjacent acquisition points in all the acquisition points between the acquisition points to be calculated and the vehicle, wherein the acquisition points to be calculated comprise the acquisition points to be calculated; accumulating all the calculated vertical distances and horizontal distances respectively to obtain the vertical distance and the horizontal distance between the acquisition point to be calculated and the vehicle; and performing arc tangent operation on the ratio of the vertical distance to the horizontal distance between the acquisition point to be calculated and the vehicle to obtain the horizontal inclination angle of the acquisition point to be calculated.
The following describes a specific calculation formula.
As shown in FIGS. 2 and 3, the collection points are arranged in order from bottom to top in a direction away from the vehicle, assuming that the vehicle has a slope value S1The collection point is moved to a gradient value of S2At the collection point, the road slope value of the distance is S1. Then there are:
wherein θ represents a gradient value S1The collection point and the gradient value are S2H represents the slope value S2The collection point and the gradient value are S1In the vertical direction, i.e. the vertical distance, w represents a slope value of S2The collection point and the gradient value are S1Is the horizontal distance, T represents a slope value of S2The collection point and the gradient value are S1Distance between acquisition points.
According to formula (1) and formula (2):
according to formula (3):
according to formula (4):
wherein sign (S)1) Represents: when S is1When not less than 0, sign (S)1) 1, represents an uphill slope; otherwise, sign (S)1) -1, indicating a downhill slope.
The relationship between w and T can be obtained according to equation (2):
the formula (5) can be substituted for the formula (6):
thus, the calculation formulas of h and w are obtained.
Continuing to solve S according to the above principles0To S1、S2To S3、S3To S4、……、Si-1To SiH and w values of
Thus calculating the horizontal tilt angle theta of the ith acquisition pointiThe calculation formula of (2) is as follows:
wherein k ∈ [0, i ]]Indicating the number of acquisition points, SkRepresenting the slope value at the k-th acquisition point.
And calculating the gradient angle of the current position of the vehicle according to the gradient value of the current position of the vehicle.
Assume that the value of the gradient of the current position of the vehicle is ScThe calculation formula of the gradient angle of the current position of the vehicle is thetac：
θc＝arcsin Sc (9)
Gradient inclination angle theta according to current position of vehiclecAnd horizontal tilt angle theta at the ith acquisition pointiCalculating the view angle theta 'of the ith acquisition point relative to the vehicle'i。
θ'i＝θi-θc (10)
S213: and judging whether the gradient value of the acquisition point close to the current position of the vehicle is smaller than the gradient value of the acquisition point far away from the current position of the vehicle, if so, judging that the front road condition is the high-definition view demand road condition, and otherwise, judging that the front road condition is not the high-definition view demand road condition.
The concrete case that the gradient value close to the current position of the vehicle is smaller than the gradient value far away from the current position of the vehicle is as follows: theta'i<θ'jAnd i is>j, i and j respectively represent the serial numbers of the acquisition points, which are gradually increased from the vehicle close to the vehicle far away from the vehicle.
(2) Sharp turn road condition
The judging method comprises the following steps:
s221: and calculating the safe observation visual range of the vehicle according to the current vehicle speed and the preset reaction time.
S222: judging whether more than two continuous collection points with curvature values larger than a curvature threshold exist in the safe observation visual range of the vehicle according to the curvature values and the deviation values of the collection points in the electronic horizon data, and entering S223 if the two continuous collection points exist; otherwise, judging that the road condition is not the high-definition view demand road condition.
S223: judging whether the difference value of the deviant of the point farthest from the vehicle and the deviant of the point nearest to the vehicle in all the acquisition points with the curvature values larger than the curvature threshold is larger than the distance threshold, if so, judging that the road condition in front is the high-definition view required road condition; otherwise, judging that the road condition is not the high-definition view demand road condition.
As shown in FIG. 3, the offset value of the point farthest from the vehicle is PfThe offset value of the point nearest to the vehicle is PnThe difference between the two offset values is L.
(3) Road condition corresponding to dangerous environment sign
Judging whether a dangerous environment mark exists in a safety observation sight distance according to the environment mark of each acquisition point in the electronic horizon data, and if so, judging that the front road condition is the road condition with high-definition sight requirement; otherwise, judging that the road condition is not the high-definition view demand road condition.
As shown in fig. 4, the T-shaped intersection in the figure is a dangerous environment sign, and in addition, may include a high accident point, a sidewalk, and the like, and a specific dangerous environment sign may be set by a person skilled in the art according to a requirement, and by setting a dangerous environment sign table, by comparing the received environment sign with each dangerous environment sign in the table one by one, if there is a consistent sign, it indicates that the sign is a dangerous environment sign.
In other embodiments, a person skilled in the art may add other methods for determining the road condition with the high-definition view requirement, which is not limited herein.
The embodiment I of the invention solves the defects of the traditional windshield wiper control technology, processes the electronic horizon to judge the road condition with high-definition view field requirement in a breakthrough manner, and applies the electronic horizon to windshield wiper control according to the judgment result, so that the vehicle can adjust the speed of the windshield wiper according to the road condition information, the shielding of the view field under dangerous road conditions is avoided, the electronic horizon can be widely applied to various road environments such as urban roads, rural roads, tunnels, mountain roads and the like, and the safety of a driver is greatly improved.
Example two:
the invention also provides wiper control terminal equipment based on the electronic horizon, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method embodiment of the first embodiment of the invention.
Further, as an executable solution, the wiper control terminal device based on the electronic horizon may be a computing device such as an in-vehicle computer, a cloud server, and the like. The electronic horizon-based wiper control terminal equipment can comprise, but is not limited to, a processor and a memory. It is understood by those skilled in the art that the above-mentioned structure of the wiper control terminal device based on the electronic horizon is only an example of the wiper control terminal device based on the electronic horizon, and does not constitute a limitation to the wiper control terminal device based on the electronic horizon, and may include more or less components than the above-mentioned one, or combine some components, or different components, for example, the wiper control terminal device based on the electronic horizon may further include an input and output device, a network access device, a bus, etc., which is not limited by the embodiment of the present invention.
Further, as an executable solution, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is a control center of the electronic horizon-based wiper control terminal device, and various interfaces and lines are used to connect various parts of the whole electronic horizon-based wiper control terminal device.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the electronic horizon-based wiper control terminal device by running or executing the computer program and/or module stored in the memory and calling data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
In a preferred embodiment of the present invention, the wiper control terminal device based on the electronic horizon is a driving computer of a vehicle.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method of an embodiment of the invention.
The module/unit integrated with the wiper control terminal device based on the electronic horizon may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM ), Random Access Memory (RAM), software distribution medium, and the like.
As a preferred embodiment of the present invention, the computer readable storage medium is a memory in a running computer of a vehicle.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A windshield wiper control method based on an electronic horizon is characterized by comprising the following steps:
s1: receiving electronic horizon data of a road ahead in real time and rainfall information acquired by a rainfall sensor;
s2: judging whether the road condition in front is a high-definition view demand road condition or not according to the received electronic horizon data, and if so, controlling the windshield wiper to move at a second control speed of the current rainfall; otherwise, controlling the windshield wiper to move at a first control speed of the current rainfall according to the received rainfall information, wherein the second control speed is greater than the first control speed;
the high-definition view demand road condition comprises an up-down slope boundary road condition, and the corresponding judgment method of the up-down slope boundary road condition comprises the following steps:
s211: setting a safe observation visual range of the vehicle;
s212: calculating a view angle of each acquisition point in a safe observation view range of the vehicle and the current position of the vehicle according to the slope value of each acquisition point in the electronic horizon data, wherein the view angle is the difference value between the horizontal angle of inclination of the position of the acquisition point and the slope angle of inclination of the current position of the vehicle;
the method for calculating the horizontal inclination angle of the position of each acquisition point comprises the following steps:
according to the gradient value of the acquisition points, calculating the vertical distance and the horizontal distance between every two adjacent acquisition points in all the acquisition points between the acquisition points to be calculated and the vehicle, wherein the acquisition points to be calculated comprise the acquisition points to be calculated;
accumulating all the calculated vertical distances and horizontal distances respectively to obtain the vertical distance and the horizontal distance between the acquisition point to be calculated and the vehicle;
performing arc tangent operation on the ratio of the vertical distance to the horizontal distance between the acquisition point to be calculated and the vehicle to obtain the horizontal inclination angle of the acquisition point to be calculated;
s213: and judging whether the view inclination angle of the acquisition point far away from the current position of the vehicle is smaller than that of the acquisition point close to the current position of the vehicle, if so, judging that the front road condition is the high-definition view demand road condition, and otherwise, judging that the front road condition is not the high-definition view demand road condition.
2. The electronic horizon-based wiper control method according to claim 1, wherein: and the gradient and inclination angle of the current position of the vehicle is calculated according to the gradient value of the current position of the vehicle.
3. The electronic horizon-based wiper control method according to claim 1, wherein: the method for calculating the safe observation visual range of the vehicle comprises the following steps: and calculating the safe observation visual range of the vehicle according to the product of the current vehicle speed of the vehicle and the reaction time of the driver.
4. The electronic horizon-based wiper control method according to claim 1, wherein: the high-definition view demand road condition comprises a road condition corresponding to a dangerous environment sign, and is judged according to the environment sign in the front road electronic horizon data.
5. The electronic horizon-based wiper control method according to claim 4, wherein: the method for judging the road condition corresponding to the dangerous environment sign comprises the following steps: judging whether dangerous environment marks exist in the safety observation sight distance of the vehicle or not according to the environment marks of all the acquisition points in the electronic horizon data, and if so, judging that the front road condition is the road condition requiring high-definition sight field; otherwise, judging that the road condition is not the high-definition view demand road condition.
6. The utility model provides a windshield wiper control terminal equipment based on electron horizon which characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, the processor implementing the steps of the method according to any of claims 1 to 5 when executing the computer program.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| JPH06263010A (en) * | 1993-03-11 | 1994-09-20 | Jidosha Denki Kogyo Co Ltd | Wiper control device |
| CN107054300A (en) * | 2017-04-24 | 2017-08-18 | 西华大学 | A kind of wiper control device and control method |
| CN108473110A (en) * | 2016-01-19 | 2018-08-31 | 株式会社电装 | The control method of Wiper apparatus for vehicle and Wiper apparatus for vehicle |
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| JPH06263010A (en) * | 1993-03-11 | 1994-09-20 | Jidosha Denki Kogyo Co Ltd | Wiper control device |
| CN108473110A (en) * | 2016-01-19 | 2018-08-31 | 株式会社电装 | The control method of Wiper apparatus for vehicle and Wiper apparatus for vehicle |
| CN107054300A (en) * | 2017-04-24 | 2017-08-18 | 西华大学 | A kind of wiper control device and control method |
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