CN113183919B - Wiper control method, system, equipment and storage medium based on vehicle-road cooperation - Google Patents
Wiper control method, system, equipment and storage medium based on vehicle-road cooperation Download PDFInfo
- Publication number
- CN113183919B CN113183919B CN202110362730.6A CN202110362730A CN113183919B CN 113183919 B CN113183919 B CN 113183919B CN 202110362730 A CN202110362730 A CN 202110362730A CN 113183919 B CN113183919 B CN 113183919B
- Authority
- CN
- China
- Prior art keywords
- rainfall
- state
- vehicle
- wiper
- rainfall state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B60S1/14—Wipers or the like, e.g. scrapers characterised by the drive personally driven
Abstract
The embodiment of the invention discloses a wiper control method, a system, equipment and a storage medium based on vehicle-road cooperation, and peripheral vehicles share respective information such as rainfall sensing signals, wiper control gear signals, signal source positions, data reporting time and the like by means of a network connection technology. Then, the roadside unit is responsible for summarizing and calculating shared data provided by the nearby vehicle and correcting data obtained by the own vehicle. And the road side unit shares the finally optimized rainfall state information to the vehicle. And after receiving the road side unit data, the self vehicle adjusts the sensitivity of the rainfall sensor or directly drives the windscreen wiper to control. The embodiment of the invention equivalently expands the data range of the sensing area of a single vehicle to a larger range through the networking technology. The embodiment of the invention can not only avoid the occurrence of mistaken scraping and missed scraping of the automatic windscreen wiper, greatly improve the accuracy and timeliness of windscreen wiper control, but also realize the automatic windscreen wiper control function of a vehicle without a rainfall sensing function.
Description
Technical Field
The embodiment of the invention relates to the field of automatic wiper control, in particular to a wiper control method, a wiper control system, wiper control equipment and a storage medium based on vehicle-road cooperation.
Background
In the prior art, the vehicle has two modes to acquire the rainfall condition around the road to control the automobile windscreen wiper. The method comprises the following steps: vehicle-mounted raindrop sensors and roadside meteorological six-element sensors.
As shown in fig. 1a, most of the on-vehicle raindrop sensors are attached to a front windshield glass 01, and include a silicone pad 02, an optical element 03, an infrared transmitting tube 04, and an infrared receiving tube 05. The principle is that whether raindrops are attached to the front windshield glass or not is identified by utilizing different refraction and reflection effects of light rays generated on the surfaces of different media, and then the action of a wiper system is controlled. Referring to fig. 1b, when the glass surface is not covered by rain, the infrared rays irradiated to the glass/air interface are totally reflected, the intensity of the reflected infrared rays is high, and the infrared receiving tube 05 receives all the infrared rays emitted from the infrared emitting tube 04. As shown in fig. 1c, when the glass surface is covered with water drops 06, the infrared rays irradiated to the glass/rain interface cannot be totally reflected due to the change of the refractive index, resulting in the reduction of the intensity of the reflected infrared rays. The magnitude of the current rainfall can be known by analyzing the intensity of the reflected light.
The roadside weather six-element sensor is arranged at the periphery of a road, and the rainfall capacity of the current environment is calculated by using the tipping bucket type rain gauge. Rainwater is gathered to the tipping bucket ware through collecting the mouth in, after the rainwater has accumulated a certain amount, the tipping bucket ware loses balance and trigger switch produces the signal. And calculating the rainfall amount under the current environment by counting the signal frequency. Although the accuracy of the roadside system is higher, the roadside system is too far away from the vehicle, the rainfall information of the vehicle position cannot be accurately reflected, communication with the vehicle is not achieved, and data cannot be shared.
The defects of the prior art scheme are as follows: the automobile needs to be light and integrated, and the front windshield glass is attractive and compatible. The design of the raindrop sensor should be as small as possible. This also results in a limited area of the sensing region, which cannot be expanded without limitation. This may cause a situation where the wiper is mistakenly scraped or missed in a rainy weather but the raindrops happen not to cover the sensing area. In addition, although the roadside weather sensing system is higher in accuracy, the distance between the roadside weather sensing system and the vehicle is too far, the influence of distance factors is caused, rainfall sensing signals obtained by the vehicle are inaccurate, the technical problem that windscreen wipers are controlled inaccurately and untimely sometimes can be caused, and experience improvement is brought to users.
Disclosure of Invention
Therefore, the embodiment of the invention provides a wiper control method, a wiper control system, wiper control equipment and a storage medium based on vehicle-road cooperation, so as to solve the technical problems of inaccuracy, untimely time and the like in wiper control by the existing vehicle-mounted rainfall detection technology.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of embodiments of the present invention, there is provided a wiper control method based on vehicle-road coordination, the method including:
acquiring a first rainfall induction signal and a first wiper control gear signal of a vehicle according to a first preset period, and acquiring a first rainfall state statistical probability of the vehicle according to the first rainfall induction signal acquired for multiple times;
receiving reported data of perimeter vehicles in a preset range according to a second preset period, wherein the reported data comprises: a second rainfall sensing signal, a second wiper control gear signal, data reporting time and signal source position information;
performing equivalence processing based on the second rainfall sensing signal/the second wiper control gear signal to determine a second rainfall state of each surrounding vehicle;
processing by utilizing the second rainfall state of each peripheral vehicle to obtain a second rainfall state statistical probability;
comparing a first decision rainfall state corresponding to the maximum value of the first rainfall state statistical probability with a second decision rainfall state corresponding to the maximum value of the second rainfall state statistical probability;
if the first rainfall judgment state is consistent with the second rainfall judgment state, selecting the first rainfall judgment state/the second rainfall judgment state as a current rainfall state;
the wiper state of the own vehicle is controlled based on the current rainfall state.
Further, the first rainfall state, the second rainfall state, and the current rainfall state include: no rain state, light rain state, medium rain state, heavy rain state.
Preferably, the wiper condition includes: automatically controlling the wiper state and manually controlling the wiper state; the automatically controlling the wiper state includes: no action state, low speed state, medium speed state, high speed state; the manual control of wiper states includes: a closed gear state, a water spraying scraping state, a scraping primary state, a low-frequency intermittent scraping state, a medium-frequency intermittent scraping state, a high-frequency intermittent scraping state, a normal continuous scraping state and a rapid continuous scraping state.
Further, performing equivalence processing based on the reported data to obtain a second rainfall state of each surrounding vehicle, including:
judging whether the wiper control mode of the surrounding vehicle is automatic control or not;
if the wiper control mode is automatic control, judging whether the wiper automatic control is activated;
if the wiper automatic control is activated, judging a second rainfall state of the surrounding vehicle according to the second rainfall induction signal;
and if the wiper control mode is manual control or the wiper automatic control is not activated, taking the rainfall state corresponding to the current second wiper control gear signal as the second rainfall state of the surrounding vehicle based on the preset corresponding relation.
Preferably, the method further comprises:
if the first rainfall state and the second rainfall state are inconsistent, performing weighted statistics by using the first rainfall state statistical probability and the second rainfall state statistical probability to obtain a third rainfall state statistical probability;
and selecting a third judgment rainfall state corresponding to the maximum value of the third rainfall state statistical probability as the current rainfall state.
Further, the processing is performed by using the second rainfall state of each surrounding vehicle, so as to obtain the second rainfall state statistical probability, and the processing comprises the following steps:
performing sample filtering on a plurality of second rainfall states of each peripheral vehicle acquired in a preset time period by adopting a filtering algorithm to obtain a rainfall state sample of each peripheral vehicle;
carrying out classified statistics on the rainfall state samples of each peripheral vehicle, and respectively calculating the sample amount of each rainfall state aiming at each peripheral vehicle;
acquiring rainfall state distribution weighting coefficients of all surrounding vehicles;
for each surrounding vehicle, acquiring a weighted value of each rainfall state sample quantity through a weighting algorithm by using the sample quantity of each rainfall state and the rainfall state distribution weighting coefficient;
and performing normal distribution processing by using the weighted value of each rainfall state sample amount to obtain the second rainfall state statistical probability.
Further, the rainfall state distribution weighting coefficient includes: the first weighting coefficient comprises a manual control weighting coefficient and an automatic control weighting coefficient, the manual control weighting coefficient is larger than the automatic control weighting coefficient, and the automatic control weighting coefficient is 1; the second weighting coefficient is determined according to a distance between the nearby vehicle and the own vehicle, and the larger the distance between the nearby vehicle and the own vehicle is, the larger the second weighting coefficient is, the smaller the distance between the nearby vehicle and the own vehicle is, and the smaller the second weighting coefficient is.
Preferably, the processing by using the second rainfall state of each nearby vehicle to obtain the second rainfall state statistical probability further includes: analyzing coordinate position and azimuth distribution characteristics corresponding to the sample data by using the signal source position information and taking the vehicle as a center; if the sample data in a certain direction collectively show that the rainfall state information is the same and is obviously different from the rest directions, judging that the sample data in the coordinate position direction has the spatial difference of a preset scene; screening sample data with spatial difference of a preset scene; the preset scene comprises the following steps: enter the tunnel scene, pass through the scene below the bridge, meet the scene with the watering lorry.
Further, the rainfall state distribution weighting coefficient further includes: the confidence coefficient factor is determined based on a confidence level judgment result of sample data, and the confidence coefficient factor is higher when the confidence level of the sample data is higher;
the determining of the confidence level of the sample data comprises:
acquiring wiper control information of the surrounding vehicle;
judging whether the wiper control mode of the peripheral vehicle is automatic control or not;
if the wiper control mode is automatic control, comparing a second rainfall state corresponding to the second rainfall sensing signal with a rainfall state corresponding to the second wiper control gear signal; judging whether the comparison results are consistent, if not, setting the confidence factor corresponding to the sample data reported by the surrounding vehicle to be 0; if the comparison result is consistent, the confidence level corresponding to the sample data of the second rainfall sensing signal is medium, and the confidence factor corresponding to the sample data of the second wiper control gear signal is medium;
if the wiper control mode is manual control, comparing a second rainfall state corresponding to the second rainfall sensing signal with a rainfall state corresponding to the second wiper control gear signal; if the comparison result is inconsistent, the confidence level corresponding to the sample data of the second wiper control gear signal is medium, and the confidence factor corresponding to the sample data of the second rainfall sensing signal is 0; and if the comparison result is consistent, the confidence level corresponding to the sample data reported by the surrounding vehicle is the highest level.
Preferably, the determining of the confidence level of the sample data further comprises:
acquiring historical data of rainfall state statistical probability in a preset time period and sequencing according to time aiming at the self vehicle and each peripheral vehicle;
calculating a data standard deviation by using the sorted historical data, and determining a confidence level based on a standard deviation calculation result, wherein the smaller the standard deviation is, the higher the confidence level is, the larger the standard deviation is, and the lower the confidence level is; and/or
Acquiring the change trend of the statistical probability of the same rainfall state of the own vehicle and each surrounding vehicle along with the time and comparing the change trend; if the variation trends are consistent, the confidence level of the rainfall state statistical probability of the vehicle per se is unchanged, and the confidence level of the rainfall state statistical probability of the surrounding vehicles is improved; and if the change trends are inconsistent, increasing the confidence level of the rainfall state statistical probability of the vehicle per se, and reducing the confidence level of the rainfall state statistical probability of the peripheral vehicle.
According to a second aspect of embodiments of the present invention, there is provided a wiper control system based on vehicle-road coordination, the system comprising:
the first rainfall state information acquisition and statistics module is used for respectively acquiring a first rainfall sensing signal and a first wiper control gear signal from a rainfall/light sensor and a vehicle-mounted unit of a vehicle according to a first preset period, and acquiring a first rainfall state statistics probability of the vehicle according to the first rainfall sensing signal acquired for multiple times;
the second rainfall state information receiving module is used for receiving reported data of perimeter vehicles in a preset range according to a second preset period, and the reported data comprises: a second rainfall induction signal obtained through the rainfall/light sensor of the surrounding vehicle, a second wiper control gear signal obtained through the vehicle-mounted unit of the surrounding vehicle, data reporting time and signal source position information;
the second rainfall state information equivalent processing module is used for carrying out equivalent processing on the basis of the second rainfall sensing signal/the second wiper control gear signal and determining a second rainfall state of each peripheral vehicle;
the second rainfall state probability statistical module is used for processing by utilizing the second rainfall state of each peripheral vehicle to obtain a second rainfall state statistical probability;
a current rainfall state determining module, configured to compare a first determination rainfall state corresponding to a maximum value of the first rainfall state statistical probability with a second determination rainfall state corresponding to a maximum value of the second rainfall state statistical probability; if the first rainfall judgment state is consistent with the second rainfall judgment state, selecting the first rainfall judgment state/the second rainfall judgment state as a current rainfall state; and sending the current rainfall state to an electronic control unit of the own vehicle, and controlling the wiper state of the own vehicle by the electronic control unit based on the current rainfall state.
According to a third aspect of embodiments of the present invention, there is provided a wiper control apparatus based on vehicle-road coordination, the apparatus including: a processor and a memory;
the memory for storing one or more program instructions;
the processor is configured to run one or more program instructions to execute the steps of the wiper control method based on vehicle-road coordination according to any one of the above embodiments.
According to a fourth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the wiper control method based on vehicle-road coordination as described in any one of the above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, by means of a network connection technology, the peripheral vehicles share respective information such as rainfall induction signals, wiper control gear signals, signal source positions, data reporting time and the like. Then, the roadside unit is responsible for summarizing and calculating shared data provided by the nearby vehicle, and correcting data obtained from the own vehicle. And the road side unit shares the finally optimized rainfall state information to the vehicle. And after receiving the data of the road side unit, the vehicle adjusts the sensitivity of the rainfall sensor or directly drives the windscreen wiper to control. The embodiment of the invention equivalently expands the data range of the sensing area of a single vehicle to a larger range through the networking technology. With the gradual increase of vehicles and road end facilities supporting the Internet of vehicles technology, the embodiment of the invention can not only avoid the occurrence of mistaken scraping and missed scraping of the automatic windscreen wiper, greatly improve the accuracy and timeliness of windscreen wiper control, but also realize the automatic windscreen wiper control function of the vehicles without the rainfall sensing function.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1a is a schematic diagram of an infrared raindrop sensor;
FIGS. 1b and 1c are schematic views illustrating the operation of an infrared raindrop sensor, in which no water drops are on the glass of FIG. 1 b; FIG. 1c shows a water droplet on the glass;
fig. 2 is a schematic diagram of a logical structure of a wiper control system based on vehicle-road coordination according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a wiper control method based on vehicle-road coordination according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of determining a second rainfall state of each nearby vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of obtaining a statistical probability of a second rainfall state according to an embodiment of the present invention;
FIG. 6 is a statistical schematic diagram of data samples of surrounding vehicles according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating a normal distribution of a second weighting factor according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating the determination of the confidence level of sample data according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Due to the requirements of light weight and integration of the automobile and the consideration of the beauty and harmony of the front windshield glass, the design of the rain sensor of the automobile should be as small as possible, which results in that the area of the sensing area cannot be expanded without limit. Although rain can be equivalent to a more uniform condition, it does not mean that rain can be guaranteed to cover the sensing area as long as it rains. The problem that the automatic windscreen wiper does not work although raining outside the vehicle but raindrops do not fall into a sensing area or the automatic windscreen wiper is mistakenly opened under the condition that the outside of the vehicle is not rained often easily occurs. In addition, in some low-profile vehicles, the wiper device cannot be automatically driven to operate because the vehicle-mounted raindrop sensor may not be provided due to the pressure of the cost.
Therefore, the embodiment of the invention provides a wiper control method, a system, equipment and a storage medium based on vehicle-road cooperation, so as to solve the technical problems of inaccurate wiper control, untimely wiper control and the like caused by limited sensing area and limited roadside meteorological sensing system distance in the existing vehicle-mounted rainfall detection technology, and bring experience improvement to users.
First, functional entities related to the embodiments of the present invention are described as follows, where the functional entities may be physical functional entities or logical functional entities, a single functional entity may serve as an independent device, or multiple functional entities may serve as an unified device. The technical solution does not limit this.
As shown in fig. 2, the embodiment of the invention discloses a wiper control system based on vehicle-road coordination, which comprises: the rainfall condition monitoring system comprises a first rainfall condition information collecting and counting module 07, a second rainfall condition information receiving module 08, a second rainfall condition information equivalent processing module 09, a second rainfall condition probability counting module 10 and a current rainfall condition determining module 11.
Further, the wiper control system based on vehicle-road cooperation disclosed in the embodiment of the invention realizes the functions of the modules through wireless communication. The first rainfall state information collecting and counting module 07 is used for respectively obtaining a first rainfall sensing signal and a first wiper control gear signal from a rainfall/light sensor and a vehicle-mounted unit of a vehicle according to a first preset period, and obtaining a first rainfall state counting probability of the vehicle according to the first rainfall sensing signals collected for many times. The second rainfall state information receiving module 08 is configured to receive, according to a second preset period, reported data of perimeter vehicles within a preset range, where the reported data includes: and the second rainfall induction signal is acquired through the rainfall/light sensor of the surrounding vehicle, the second wiper control gear signal is acquired through the vehicle-mounted unit of the surrounding vehicle, and the data reporting time and the signal source position information are acquired. The second rainfall state information equivalent processing module 09 is configured to perform equivalent processing based on the second rainfall sensing signal/the second wiper control gear signal, and determine a second rainfall state of each neighboring vehicle. The second rainfall state probability statistic module 10 is configured to perform processing by using the second rainfall state of each neighboring vehicle to obtain a second rainfall state statistic probability.
A current rainfall state determining module 11, configured to compare a first determination rainfall state corresponding to a maximum value of the first rainfall state statistical probability with a second determination rainfall state corresponding to a maximum value of the second rainfall state statistical probability; if the first rainfall judgment state is consistent with the second rainfall judgment state, selecting the first rainfall judgment state/the second rainfall judgment state as the current rainfall state; and transmitting the current rainfall state to an electronic control unit of the own vehicle, and controlling the wiper state of the own vehicle by the electronic control unit based on the current rainfall state.
The technical scheme of this application can compensate not enough that bicycle rainfall sensor brought, avoids the automatic windscreen wiper control system malfunctioning problem emergence that brings because the regional undersize of response. Based on data such as rainfall sensing signals shared by surrounding vehicles and road end facilities, windscreen wiper control gear signals and the like, the accuracy and timeliness of the automatic windscreen wiper system can be greatly improved, and experience and improvement are brought to users.
Corresponding to the wiper control system based on vehicle-road cooperation, the embodiment of the invention also discloses a wiper control method based on vehicle-road cooperation. The wiper control method based on vehicle-road coordination disclosed in the embodiment of the invention is described in detail below with reference to the above-described wiper control system based on vehicle-road coordination.
As shown in fig. 3, the wiper control method based on vehicle-road coordination disclosed in the embodiment of the present invention includes: acquiring a first rainfall induction signal and a first wiper control gear signal of a vehicle according to a first preset period, and acquiring a first rainfall state statistical probability of the vehicle according to the first rainfall induction signal acquired for multiple times; receiving reported data of perimeter vehicles in a preset range according to a second preset period, wherein the reported data comprises: a second rainfall sensing signal, a second wiper control gear signal, data reporting time and signal source position information; performing equivalence processing based on the second rainfall sensing signal/the second wiper control gear signal to determine a second rainfall state of each surrounding vehicle; processing by utilizing the second rainfall state of each peripheral vehicle to obtain a second rainfall state statistical probability; comparing a first decision rainfall state corresponding to the maximum value of the first rainfall state statistical probability with a second decision rainfall state corresponding to the maximum value of the second rainfall state statistical probability; if the first rainfall judgment state is consistent with the second rainfall judgment state, selecting the first rainfall judgment state/the second rainfall judgment state as a current rainfall state; the wiper state of the own vehicle is controlled based on the current rainfall state.
According to the embodiment of the invention, by means of a network connection technology, the peripheral vehicles share respective information such as rainfall induction signals, wiper control gear signals, signal source positions, data reporting time and the like. Then, the roadside unit is responsible for summarizing and calculating shared data provided by the nearby vehicle and correcting data obtained by the own vehicle. And the road side unit shares the finally optimized rainfall state information to the vehicle. And after receiving the road side unit data, the self vehicle adjusts the sensitivity of the rainfall sensor or directly drives the windscreen wiper to control. The embodiment of the invention equivalently expands the data range of the sensing area of a single vehicle to a larger range through the networking technology. With the gradual increase of vehicles and road end facilities supporting the Internet of vehicles technology, the embodiment of the invention can not only avoid the occurrence of mistaken scraping and missed scraping of the automatic windscreen wiper, greatly improve the accuracy and timeliness of windscreen wiper control, but also realize the automatic windscreen wiper control function of the vehicles without the rainfall sensing function.
The embodiment of the invention realizes information sharing between vehicles and roads by using the wireless communication technology, and the wireless communication technology can not be limited to any one of the wireless communication technologies such as V2X, DSRC, BLUETOOTH, RFID and the like. For another example, the confidence algorithm and the fusion algorithm adopted in the scheme realize fitting optimization of the received rainfall state data, can be replaced by other algorithms with equivalent functions, and still belong to the limited range of the patent.
Preferably, the wiper control method based on vehicle-road cooperation disclosed in the embodiment of the present invention further includes: no rain state, light rain state, medium rain state, heavy rain state.
Further, the wiper state includes: automatically controlling the wiper state and manually controlling the wiper state; the automatically controlling the wiper state includes: no action state, low speed state, medium speed state, high speed state; the manual control of wiper states includes: a closed gear state, a water spraying scraping state, a scraping primary state, a low-frequency intermittent scraping state, a medium-frequency intermittent scraping state, a high-frequency intermittent scraping state, a normal continuous scraping state and a rapid continuous scraping state. Thus, the embodiment of the invention can ensure the normalization of the acquired information sample data.
As shown in fig. 4, preferably, performing equivalence processing based on the reported data to obtain a second rainfall state of each neighboring vehicle includes: judging whether the wiper control mode of the surrounding vehicle is automatic control or not; if the wiper control mode is automatic control, judging whether the wiper automatic control is activated; if the wiper automatic control is activated, judging a second rainfall state of the surrounding vehicle according to the second rainfall induction signal; and if the wiper control mode is manual control or the wiper automatic control is not activated, taking the rainfall state corresponding to the current second wiper control gear signal as the second rainfall state of the surrounding vehicle based on the preset corresponding relation.
And performing equivalence processing based on the reported data to obtain a second rainfall state of each surrounding vehicle, so that the embodiment of the invention can simplify the sample statistical data.
Further, the wiper control method based on vehicle-road coordination further comprises the following steps:
if the first rainfall state and the second rainfall state are inconsistent, performing weighted statistics by using the first rainfall state statistical probability and the second rainfall state statistical probability to obtain a third rainfall state statistical probability; and selecting a third judgment rainfall state corresponding to the maximum value of the third rainfall state statistical probability as the current rainfall state.
When the first rainfall state and the second rainfall state are inconsistent, performing weighted statistics by using the first rainfall state statistical probability and the second rainfall state statistical probability to obtain a third rainfall state statistical probability, and selecting a third rainfall state corresponding to the maximum value of the third rainfall state statistical probability as the current rainfall state. Therefore, the embodiment of the invention can fuse the rainfall state information of the vehicle and the surrounding vehicles to obtain more accurate current rainfall state information.
As shown in fig. 5, the obtaining of the second rainfall state statistical probability by using the second rainfall state of each neighboring vehicle includes: performing sample filtering on a plurality of second rainfall states of each peripheral vehicle acquired in a preset time period by adopting a filtering algorithm to obtain a rainfall state sample of each peripheral vehicle; classifying and counting the rainfall state samples of each peripheral vehicle, and calculating the sample amount of each rainfall state for each peripheral vehicle, as shown in fig. 6; acquiring rainfall state distribution weighting coefficients of all surrounding vehicles; for each surrounding vehicle, acquiring a weighted value of each rainfall state sample quantity through a weighting algorithm by using the rainfall state sample quantity and the rainfall state distribution weighting coefficient; and performing normal distribution processing by using the weighted value of each rainfall state sample quantity to obtain the second rainfall state statistical probability.
Preferably, the rainfall state distribution weighting coefficient includes: the first weighting coefficient comprises a manual control weighting coefficient and an automatic control weighting coefficient, the manual control weighting coefficient is larger than the automatic control weighting coefficient, and the automatic control weighting coefficient is 1; as shown in fig. 7, the second weighting coefficient is determined based on the distance between the nearby vehicle and the own vehicle, based on gaussian fuzzy calculationThe method is obtained by a Gaussian fuzzy function,
setting δ to 1, μ to 0, σ to 25, distance to be the distance between the target vehicle and the data source, and λ to be a second weighting coefficient; the larger the distance between the nearby vehicle and the own vehicle is, the larger the second weighting coefficient is, and the smaller the distance between the nearby vehicle and the own vehicle is, the smaller the second weighting coefficient is.
The rainfall state distribution weighting coefficient includes: the first weighting coefficient and/or the second weighting coefficient, so that the accuracy of the judgment algorithm of the rainfall state sample data statistics can be enhanced.
Further, the processing by using the second rainfall state of each nearby vehicle to obtain the second rainfall state statistical probability further includes: analyzing coordinate position and azimuth distribution characteristics corresponding to the sample data by using the signal source position information and taking the vehicle as a center; if the sample data in a certain direction collectively show that the rainfall state information is the same and is obviously different from the rest directions, judging that the sample data in the coordinate position direction has the spatial difference of a preset scene; and screening out sample data with the spatial difference of the preset scene.
The preset scene comprises the following steps: the method and the device can be used for entering a tunnel scene, passing a scene below a bridge and meeting a sprinkler, so that the embodiment of the invention can realize space specificity screening, and sample statistics of the tunnel scene, the scene below the bridge and the scene meeting the sprinkler can be eliminated.
As shown in fig. 8, further, the rainfall state distribution weighting coefficient further includes: and the confidence coefficient factor is determined based on the confidence level judgment result of sample data, and the confidence coefficient factor is higher when the confidence level of the sample data is higher.
Wherein the determining of the confidence level of the sample data comprises:
acquiring wiper control information of the surrounding vehicle;
judging whether the wiper control mode of the peripheral vehicle is automatic control or not, and if the wiper control mode is automatic control, comparing a second rainfall state corresponding to the second rainfall sensing signal with a rainfall state corresponding to the second wiper control gear signal; judging a comparison result, if the comparison result is inconsistent, setting the confidence factor corresponding to the sample data reported by the surrounding vehicle to be 0; if the comparison result is consistent, the confidence level corresponding to the sample data of the second rainfall sensing signal is medium, and the confidence factor corresponding to the sample data of the second wiper control gear signal is medium;
judging whether the wiper control mode of the peripheral vehicle is manual control, and if the wiper control mode is manual control, comparing a second rainfall state corresponding to the second rainfall sensing signal with a rainfall state corresponding to the second wiper control gear signal; judging a comparison result, if the comparison result is inconsistent, determining that the confidence level corresponding to the sample data of the second wiper control gear signal is medium, and determining that the confidence factor corresponding to the sample data of the second rainfall sensing signal is 0; and if the comparison result is consistent, the confidence level corresponding to the sample data reported by the surrounding vehicle is the highest level.
The confidence factor is determined based on a confidence level judgment result of sample data, and the higher the confidence level of the sample data is, the higher the confidence factor is; therefore, the embodiment of the invention can enhance the accuracy of the judgment algorithm of the rainfall state sample data statistics.
Preferably, the determining the confidence level of the sample data further includes:
acquiring historical data of rainfall state statistical probability in a preset time period and sequencing according to time aiming at the self vehicle and each peripheral vehicle;
calculating the standard deviation of the data by using the sorted historical data, and setting the standard deviation function as
X i Is all the firstThe rainfall state information acquired i times,
determining a confidence level based on a standard deviation calculation result, wherein the smaller the standard deviation is, the higher the confidence level is, the larger the standard deviation is, and the lower the confidence level is; and/or
Acquiring the change trend of the statistical probability of the same rainfall state of the own vehicle and each surrounding vehicle along with the time and comparing the change trend; if the variation trends are consistent, the confidence level of the rainfall state statistical probability of the vehicle per se is unchanged, and the confidence level of the rainfall state statistical probability of the surrounding vehicles is improved; and if the change trends are inconsistent, increasing the confidence level of the rainfall state statistical probability of the vehicle per se, and reducing the confidence level of the rainfall state statistical probability of the peripheral vehicle.
In addition, the embodiment of the invention also provides a wiper control device based on vehicle-road cooperation, which comprises: a processor and a memory; the memory is to store one or more program instructions; the processor is configured to run one or more program instructions to execute the steps of the wiper control method based on vehicle-road coordination according to any one of the above embodiments.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when being executed by a processor, the computer program realizes the steps of the wiper control method based on the vehicle-road cooperation.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will recognize that the functionality described in this disclosure may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The wiper control method based on vehicle-road coordination is characterized by comprising the following steps:
acquiring a first rainfall induction signal and a first wiper control gear signal of a vehicle according to a first preset period, and acquiring a first rainfall state statistical probability of the vehicle according to the first rainfall induction signal acquired for multiple times;
receiving reported data of perimeter vehicles in a preset range according to a second preset period, wherein the reported data comprises: the second rainfall sensing signal, the second wiper control gear signal, the data reporting time and the signal source position information are obtained;
performing equivalence processing based on the second rainfall sensing signal/the second wiper control gear signal to determine a second rainfall state of each surrounding vehicle;
processing by utilizing the second rainfall state of each peripheral vehicle to obtain a second rainfall state statistical probability;
comparing a first judging rainfall state corresponding to the maximum value of the first rainfall state statistical probability with a second judging rainfall state corresponding to the maximum value of the second rainfall state statistical probability, and judging whether the first judging rainfall state is consistent with the second judging rainfall state;
if the first rainfall judgment state is consistent with the second rainfall judgment state, selecting the first rainfall judgment state/the second rainfall judgment state as a current rainfall state;
the wiper state of the own vehicle is controlled based on the current rainfall state.
2. The vehicle-road coordination based wiper control method according to claim 1, wherein the first rainfall state, the second rainfall state, and the current rainfall state comprise: no rain state, light rain state, medium rain state, heavy rain state.
3. The wiper control method based on vehicle-road coordination according to claim 2, wherein the wiper state includes: automatically controlling the wiper state and manually controlling the wiper state; the automatically controlling the wiper state includes: no action state, low speed state, medium speed state, high speed state; the manual control of wiper states includes: a closed gear state, a water spraying scraping state, a scraping primary state, a low-frequency intermittent scraping state, a medium-frequency intermittent scraping state, a high-frequency intermittent scraping state, a normal continuous scraping state and a rapid continuous scraping state.
4. The wiper control method based on vehicle-road coordination according to claim 3, characterized in that the method further comprises:
if the first rainfall state and the second rainfall state are inconsistent, performing weighted statistics by using the first rainfall state statistical probability and the second rainfall state statistical probability to obtain a third rainfall state statistical probability;
and selecting a third judgment rainfall state corresponding to the maximum value of the third rainfall state statistical probability as the current rainfall state.
5. The wiper control method based on vehicle-road coordination according to claim 4, wherein the second rainfall state of each surrounding vehicle is used for processing to obtain the second rainfall state statistical probability, and the method comprises the following steps:
performing sample filtering on a plurality of second rainfall states of each peripheral vehicle acquired in a preset time period by adopting a filtering algorithm to obtain a rainfall state sample of each peripheral vehicle;
carrying out classified statistics on the rainfall state samples of each peripheral vehicle, and respectively calculating the sample amount of each rainfall state aiming at each peripheral vehicle;
acquiring rainfall state distribution weighting coefficients of all surrounding vehicles;
for each surrounding vehicle, acquiring a weighted value of each rainfall state sample quantity through a weighting algorithm by using the sample quantity of each rainfall state and the rainfall state distribution weighting coefficient;
and performing normal distribution processing by using the weighted value of each rainfall state sample amount to obtain the second rainfall state statistical probability.
6. The wiper control method based on vehicle-road coordination according to claim 5, wherein the rainfall state distribution weighting coefficient includes: the first weighting coefficient comprises a manual control weighting coefficient and an automatic control weighting coefficient, the manual control weighting coefficient is larger than the automatic control weighting coefficient, and the automatic control weighting coefficient is 1; the second weighting coefficient is determined according to a distance between the nearby vehicle and the own vehicle, and the larger the distance between the nearby vehicle and the own vehicle is, the larger the second weighting coefficient is, the smaller the distance between the nearby vehicle and the own vehicle is, and the smaller the second weighting coefficient is.
7. The wiper control method based on vehicle-road coordination according to claim 5 or 6, wherein the rainfall state distribution weighting coefficient further includes: and the confidence coefficient factor is determined based on the confidence level judgment result of sample data, and the confidence coefficient factor is higher when the confidence level of the sample data is higher.
8. Windscreen wiper control system based on car road is coordinated, its characterized in that, the system is applied to the roadside unit, and it includes:
the first rainfall state information acquisition and statistics module is used for respectively acquiring a first rainfall sensing signal and a first wiper control gear signal from a rainfall/light sensor and a vehicle-mounted unit of a vehicle according to a first preset period, and acquiring a first rainfall state statistics probability of the vehicle according to the first rainfall sensing signal acquired for multiple times;
the second rainfall state information receiving module is used for receiving reported data of perimeter vehicles in a preset range according to a second preset period, and the reported data comprises: a second rainfall induction signal obtained through the rainfall/light sensor of the surrounding vehicle, a second wiper control gear signal obtained through the vehicle-mounted unit of the surrounding vehicle, data reporting time and signal source position information;
the second rainfall state information equivalent processing module is used for carrying out equivalent processing on the basis of the second rainfall sensing signal/the second wiper control gear signal and determining a second rainfall state of each peripheral vehicle;
the second rainfall state probability statistical module is used for processing by utilizing the second rainfall state of each peripheral vehicle to obtain a second rainfall state statistical probability;
a current rainfall state determining module, configured to compare a first determination rainfall state corresponding to a maximum value of the first rainfall state statistical probability with a second determination rainfall state corresponding to a maximum value of the second rainfall state statistical probability; if the first rainfall judgment state is consistent with the second rainfall judgment state, selecting the first rainfall judgment state/the second rainfall judgment state as a current rainfall state; and sending the current rainfall state to an electronic control unit of the own vehicle, and controlling the wiper state of the own vehicle by the electronic control unit based on the current rainfall state.
9. Windscreen wiper controlgear based on car road is coordinated characterized in that, equipment includes: a processor and a memory;
the memory is to store one or more program instructions;
the processor, configured to execute one or more program instructions to perform the steps of the method for controlling a wiper according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the wiper control method based on vehicle-road coordination according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110362730.6A CN113183919B (en) | 2021-04-02 | 2021-04-02 | Wiper control method, system, equipment and storage medium based on vehicle-road cooperation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110362730.6A CN113183919B (en) | 2021-04-02 | 2021-04-02 | Wiper control method, system, equipment and storage medium based on vehicle-road cooperation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113183919A CN113183919A (en) | 2021-07-30 |
| CN113183919B true CN113183919B (en) | 2022-09-13 |
Family
ID=76974876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110362730.6A Active CN113183919B (en) | 2021-04-02 | 2021-04-02 | Wiper control method, system, equipment and storage medium based on vehicle-road cooperation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113183919B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115214546A (en) * | 2021-08-03 | 2022-10-21 | 广州汽车集团股份有限公司 | Automatic control method and device for windscreen wiper, computer equipment and automobile |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3764287B2 (en) * | 1998-12-21 | 2006-04-05 | 富士電機ホールディングス株式会社 | Rainfall prediction correction method, apparatus thereof, and recording medium |
| US8831869B2 (en) * | 2009-03-31 | 2014-09-09 | GM Global Technology Operations LLC | Using V2X-based in-network message generation, aggregation, distribution and processing protocols to enable road hazard condition warning applications |
| CN111323848A (en) * | 2018-12-17 | 2020-06-23 | 北汽福田汽车股份有限公司 | Method for correcting vehicle rainfall sensor and storage medium |
| CN109975894A (en) * | 2019-04-17 | 2019-07-05 | 孙开兴 | Method, system and the vehicle of automatic calibration vehicle precipitation rain fall sensor |
| CN111055810B (en) * | 2019-12-11 | 2021-05-28 | 浙江吉利汽车研究院有限公司 | Intelligent automatic control system and method for rear windscreen wiper |
| CN112558189B (en) * | 2020-11-27 | 2023-03-03 | 上海欧菲智能车联科技有限公司 | Rainfall detection method, rainfall detection device, vehicle and readable storage medium |
-
2021
- 2021-04-02 CN CN202110362730.6A patent/CN113183919B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113183919A (en) | 2021-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10684361B2 (en) | Predictive sensor array configuration system for an autonomous vehicle | |
| US10712742B2 (en) | Predictive sensor array configuration system for an autonomous vehicle | |
| US8541732B2 (en) | Optical module having a multifocal optical system with an additional optical element for covering a far range and a near range in one image | |
| CN104442711B (en) | Autonomous vehicle vehicle window cleaning systems and its readable medium | |
| EP3650291B1 (en) | Estimating consumption of washer fluid | |
| US11565659B2 (en) | Raindrop recognition device, vehicular control apparatus, method of training model, and trained model | |
| CN107479032B (en) | Object detection system for an automated vehicle | |
| CN111016903B (en) | System and method for guaranteeing driving safety of automatic driving vehicle in rainy days | |
| KR20050046749A (en) | Moisture sensor and windshield fog detector | |
| CN113183919B (en) | Wiper control method, system, equipment and storage medium based on vehicle-road cooperation | |
| CN104950352B (en) | Optical rainfall detecting method, detecting device and light guide device | |
| CN109143413A (en) | A kind of rainfall measuring method and device based on image recognition | |
| CN112750323A (en) | Management method, apparatus and computer storage medium for vehicle safety | |
| CN109733331A (en) | Control system for windscreen wiper and control method | |
| CN110103893B (en) | Automobile windshield wiper control device, automobile windshield wiper control equipment and automobile windshield wiper control method and automobile | |
| CN111310739A (en) | Rainstorm weather detection method, system and terminal | |
| JP7376149B2 (en) | Adjustment device and lidar measurement device | |
| GB2536683A (en) | Vehicle equipment control | |
| CN114298142A (en) | Multi-source heterogeneous sensor information fusion method and device for camera and millimeter wave radar | |
| CN113103994A (en) | Sensing linkage system of automatic driving vehicle and automatic driving vehicle | |
| KR102326207B1 (en) | Vehicle and control method for the same | |
| CN113071449A (en) | Vehicle wiper control system and method thereof | |
| CN117416306A (en) | Intelligent control method, system, vehicle and medium for automobile windscreen wiper | |
| CN108876958A (en) | wiper state display method | |
| CN117809219A (en) | Intelligent wiper and light control method and system for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |