JP6939158B2 - Wiper control device and wiper control method - Google Patents

Description

The present invention relates to the control of a wiper device in a vehicle capable of autonomous driving.

The wiper device installed in the vehicle secures the visibility of the occupants of the vehicle by wiping off water and snow adhering to the windshield of the vehicle during rainfall and snowfall, for example. Patent Document 1 discloses a technique for preventing the wiper device from restarting at a rapid speed when the wiper device is stopped halfway.

Japanese Unexamined Patent Publication No. 2016-164072

By the way, the control of the vehicle in the autonomous driving vehicle may be performed by grasping the surrounding situation of the own vehicle by using the captured image or the like obtained by the image pickup device mounted on the own vehicle. In this case, the wiper device installed in the autonomous driving vehicle needs to perform a wiping operation so as to secure a field of view within the imaging range of the imaging device. However, conventionally, sufficient ingenuity has not been made regarding the control of the wiper device in the autonomous driving vehicle. Therefore, a technique capable of appropriately controlling the wiper device in an autonomous driving vehicle has been desired.

The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following forms.

According to one embodiment of the present invention, a wiper control device is provided. The wiper control device (300, 300a) is a wiper control for controlling the wiper device (100, 100a) mounted on the vehicle that executes automatic driving by using the captured image obtained by the image pickup device (210). In the device, the wiper device is provided by adjusting at least one of a wiping range, a wiping speed, and an intermittent time, which is a waiting time from the completion of the wiping operation to the start of the next wiping operation. The wiper operation control unit (321) for controlling the wiping operation is provided; the wiper operation control unit executes the first wiping operation as the wiping operation when the vehicle is performing manual operation, and the vehicle performs the first wiping operation. Is executing the automatic operation, as the wiping operation, a second wiping operation different from the first wiping operation is executed. The wiper device has a wiper blade that is powered by a battery mounted on the vehicle and performs wiping in the second wiping operation. The wiper operation control unit stops the wiper blade at a position different from the front region in the imaging direction of the imaging device when a power abnormality occurs in the battery during the second wiping operation.

According to the wiper control device of this form, when the vehicle is performing manual operation, the first wipe operation is executed as the wiping operation, and when the vehicle is executing the automatic operation, the first wipe operation is performed. Since the second wiping operation different from the wiping operation is executed, the wiper device can be appropriately controlled in the automatically driving vehicle.

The present invention can also be realized in various forms. For example, it can be realized in the form of a control method of a wiper device, a vehicle equipped with the wiper control device, a computer program for realizing these devices and methods, and the like.

The explanatory view which shows the schematic structure of the wiper control device in 1st Embodiment. FIG. 5 is a cross-sectional view schematically showing a schematic configuration of a connecting portion. FIG. 5 is a cross-sectional view schematically showing a schematic configuration of a connecting portion. The flowchart which shows the processing procedure of the wiper control processing. The flowchart which shows the processing procedure of the 2nd wiping operation. Explanatory drawing which shows typically the state that the 1st wiper blade was stopped at the 1st upper end position. FIG. 6 is an enlarged cross-sectional view showing the holding portion 48 in the state shown in FIG. Explanatory drawing which shows typically the 2nd wiping area. The flowchart which shows the processing procedure of the deposit removal process. A flowchart showing a processing procedure of the switching process. An explanatory diagram schematically showing a state of switching processing from automatic operation to manual operation. The explanatory view which shows the schematic structure of the wiper control device in 2nd Embodiment. It is explanatory drawing which shows typically the inverting circuit provided in the 2nd motor drive circuit. The flowchart which shows the processing procedure of the wiper control processing at the time of a power failure. The explanatory view which shows the state of the switching process from the automatic operation to the manual operation in another Embodiment 10. The explanatory view which shows typically the state of the switching process from the automatic operation to the manual operation in another Embodiment 11. FIG. The explanatory view which shows typically the state of the switching process from the automatic operation to the manual operation in another Embodiment 12.

A. First Embodiment:
A1. Device configuration:
The wiper control device 300 according to the first embodiment shown in FIG. 1 is mounted on a vehicle (not shown) and controls the wiping operation of the wiper device (the wiper device 100 described later) by executing the wiper control process described later. FIG. 1 shows a wiper device 100 mounted on a vehicle in addition to the wiper control device 300. In the present embodiment, the wiper device 100 is attached at a position where the windshield 220 can be wiped in the vehicle. The vehicle is a vehicle that can be driven by switching between manual driving and automatic driving. The wiper device 100 is electrically connected to the wiper control device 300, and wipes the first region W1a and the second region W1b on the windshield 220 based on the instruction of the wiper control device 300. FIG. 1 shows a state in which the windshield 220 is viewed from the inside of the vehicle to the outside, the left side of FIG. 1 corresponds to the passenger seat side, and the right side of FIG. 1 corresponds to the driver's seat side.

The wiper device 100 includes a first wiper 10, a second wiper 20, a wiper motor 50, and a link mechanism 30. The first wiper 10 has a first wiper blade 11 and a first wiper arm 12. The first wiper blade 11 wipes the first region W1a. The first wiper blade 11 receives the transmission force of the wiper motor 50 and receives the transmission force of the wiper motor 50 from the position BP1 of the lower end of the first region W1a (hereinafter, referred to as "first lower end position BP1") to the upper end of the first region W1a. The position TP1 (hereinafter referred to as "first upper end position TP1") is reciprocated along the wiping direction D1 to execute the wiping operation of the first region W1a. The wiping direction D1 is a direction that draws a substantially arc-shaped locus along the first region W1a. The first wiper arm 12 supports the first wiper blade 11. One end of the first wiper arm 12 is fixed to the first wiper blade 11, and the other end of the first wiper arm 12 is fixed to the first pivot shaft 44 described later. That is, the first wiper arm 12 rotates about the first pivot shaft 44 in a predetermined angle range, so that the first wiper blade 11 wipes the first region W1a.

The second wiper 20 has the same configuration as the first wiper 10. Specifically, the second wiper 20 has a second wiper blade 21 and a second wiper arm 22. The second wiper blade 21 wipes the second region W1b. Like the first wiper blade 11, the second wiper blade 21 receives the transmission force of the wiper motor 50 and starts from the position BP2 at the lower end of the second region W1b (hereinafter, referred to as "second lower end position BP2"). , The position TP2 at the upper end of the second region W1b (hereinafter, referred to as “second upper end position TP2”) is reciprocated along the wiping direction D2 to execute the wiping operation of the second region W1b. The wiping direction D2 is a direction that draws a substantially arc-shaped locus along the second region W1b. The second wiper arm 22 supports the second wiper blade 21. One end of the second wiper arm 22 is fixed to the second wiper blade 21, and the other end of the second wiper arm 22 is fixed to the second pivot shaft 42 described later. That is, the second wiper arm 22 rotates about the second pivot shaft 42 within a predetermined angle range, so that the second wiper blade 21 wipes the second region W1b.

The wiper motor 50 is a drive source for the wiping operation by the first wiper 10 and the second wiper 20. The wiper motor 50 is electrically connected to the wiper control device 300 and rotates at a speed corresponding to a control signal from the wiper control device 300. The rotational kinetic force of the wiper motor 50 is transmitted to the first wiper arm 12 and the second wiper arm 22 via the link mechanism 30 described later, and reciprocates the first wiper arm 12 and the second wiper arm 22. With the reciprocating movement of the first wiper arm 12, the first wiper blade 11 reciprocates between the first lower end position BP1 and the first upper end position TP1, so that the first region W1a is wiped off. Further, as the second wiper arm 22 reciprocates, the second wiper blade 21 reciprocates between the second lower end position BP2 and the second upper end position TP2, so that the second region W1b is wiped off.

The first wiper 10 and the second wiper 20 perform a wiping operation in conjunction with each other. Specifically, when the first wiper blade 11 wipes from the first lower end position BP1 to the first upper end position TP1, the second wiper blade 21 is also adjusted to the movement of the first wiper blade 11. , The wiping is executed from the second lower end position BP2 toward the second upper end position TP2. When the first wiper blade 11 reaches the first upper end position TP1, the second wiper blade 21 also reaches the second upper end position TP2. Then, at the upper end positions TP1 and TP2, the first wiper blade 11 and the second wiper blade 21 reverse the wiping direction. After that, the first wiper blade 11 performs wiping toward the first lower end position BP1, and the second wiper blade 21 performs wiping toward the second lower end position BP2. Then, when the first wiper blade 11 reaches the first lower end position BP1, the second wiper blade 21 also reaches the second lower end position BP2.

Although a detailed description will be described later, in the present embodiment, the wiper device 100 includes the connecting portion 60 described later, so that the first wiper 10 and the second wiper 20 described above interlock to execute the wiping operation. This is configured so that the first wiper 10 and the second wiper 20 can perform the wiping operation independently by switching between them.

The wiper motor 50 has a reduction mechanism 52 and an output shaft 32. The speed reduction mechanism 52 reduces the rotational speed of the rotary motion of the wiper motor 50. The reduction mechanism 52 is composed of a worm gear. The output shaft 32 is configured to be rotatable in both forward and reverse directions as the wiper motor 50 rotates. In the present embodiment, the rotation angle θ of the output shaft 32 is defined by an angle between the vertical direction and the longitudinal direction of the crank arm 34 described later, and corresponds to the wiping position of the first wiper blade 11 and the second wiper blade 21. do.

The link mechanism 30 is a mechanism for connecting the wiper motor 50 with the first wiper 10 and the second wiper 20. The link mechanism 30 includes a crank arm 34, a pair of link rods 36 and 46, a pair of pivot levers 38 and 40, a pair of pivot shafts 42 and 44, a connecting portion 60, and a holding portion 48.

The crank arm 34 connects the output shaft 32 and the second link rod 36. One end of the crank arm 34 is fixed to the output shaft 32. The other end of the crank arm 34 is rotatably connected to the second link rod 36. The crank arm 34 rotates alternately in the forward rotation direction and the reverse rotation direction according to the rotation of the wiper motor 50.

The second link rod 36 connects the crank arm 34 and the second pivot lever 38. As described above, one end of the second link rod 36 is rotatably connected to the crank arm 34. The other end of the second link rod 36 is rotatably connected to the second pivot lever 38. The first link rod 46 connects the second pivot lever 38 and the first pivot lever 40. One end of the first link rod 46 is rotatably connected to the second pivot lever 38. The other end of the first link rod 46 is rotatably connected to the first pivot lever 40.

The pair of pivot levers 38 and 40 transmit the rotational kinetic force of the wiper motor 50 to the first wiper arm 12 and the second wiper arm 22. The first wiper arm 12 and the second wiper arm 22 reciprocate by swinging the pivot levers 38 and 40 in response to the rotational motion force of the wiper motor 50.

The pair of pivot shafts 42 and 44 are rotatably supported by a pivot holder (not shown) mounted on the vehicle. The first pivot shaft 44 is provided at the end of the first pivot lever 40 on the side not connected to the first link rod 46, and one end of the first wiper arm 12 is fixed. Further, the second pivot shaft 42 is provided at the end of the second pivot lever 38 on the side not connected to the first link rod 46, and one end of the second wiper arm 22 is fixed.

The connecting portion 60 has a mechanism for performing connection and disconnection of the first wiper 10 and the second wiper 20. When the connecting portion 60 wants the first wiper blade 11 and the second wiper blade 21 to perform the wiping operation in conjunction with each other, the connecting portion 60 connects the first wiper 10 and the second wiper 20. On the other hand, when it is desired to independently execute the wiping operation without interlocking the first wiper blade 11 and the second wiper blade 21 with each other, the connecting portion 60 separates the first wiper 10 and the second wiper 20. As will be described later, when the first wiper blade 11 and the second wiper blade 21 perform the wiping operation independently, the first wiper blade 11 and the second wiper blade 21 interlock with each other to perform the wiping operation. It means that it is not executed, the first wiper blade 11 does not execute the wiping operation, and only the second wiper blade 21 executes the wiping operation.

The state of the connecting portion 60 shown in FIG. 2 is a state in which the first wiper blade 11 and the second wiper blade 21 are interlocking with each other to execute the wiping operation. The state of the connecting portion 60 shown in FIG. 3 is a state in which the first wiper blade 11 is stopping the wiping operation and the second wiper blade 21 is executing the wiping operation. As shown in FIGS. 2 and 3, the connecting portion 60 includes a protruding portion 61, a magnetic body 62, a solenoid 63, and a spring 64.

The protrusion 61 is arranged at a position corresponding to the opening 46a of the first link rod 46. The protrusion 61 is connected to the first pivot lever 40 in the first link rod 46 shown in FIG. 1 by being positioned so that a part of the tip side protrudes from the opening 46a when the spring 64 is extended. The rotational movement force of the wiper motor 50 is suppressed from being transmitted to the side, and the movement of the first wiper arm 12 is stopped.

As shown in FIGS. 2 and 3, the magnetic body 62 is a coil that is energized when the spring 64 is expanded and contracted. The solenoid 63 uses the electromagnetic force flowing through the magnetic body 62 to generate a kinetic force for expanding and contracting the spring 64. The spring 64 is a spring having elasticity, and extends upward (opening 46a side) by utilizing the kinetic force of the solenoid 63.

As shown in FIG. 2, when both the first wiper blade 11 and the second wiper blade 21 are executing the wiping operation, the magnetic body 62 is attracted to the solenoid 63 by energizing the solenoid 63. The spring 64 is compressed toward the vehicle body 201a. At this time, the protruding portion 61 is stored inside the vehicle body 201b without protruding from the opening 46a. Therefore, the first wiper blade 11 and the second wiper blade 21 can interlock with each other to execute the wiping operation.

As shown in FIG. 3, while the wiping operation by the first wiper blade 11 is stopped and the wiping operation by the second wiper blade 21 is being executed, the energization of the solenoid 63 is stopped, so that the magnetic body 62 becomes the solenoid 63. The protrusion 61 projects toward the opening 46a due to the elasticity of the spring 64 without being attracted to. At this time, due to the presence of the protruding portion 61, the rotational driving force of the wiper motor 50 is not transmitted to the side of the first link rod 46 connected to the first pivot lever 40, so that the wiping operation of the first wiper blade 11 is stopped. At the same time, the wiping operation of the second wiper blade 21 can be executed.

As shown in FIG. 1, the connecting portion 60 is electrically connected to the wiper control device 300. The wiper control device 300 controls the connection and disconnection of the first wiper 10 and the second wiper 20 by controlling the execution and stop of the energization of the solenoid 63.

The holding portion 48 shown in FIG. 1 is connected to the first pivot shaft 44 and is provided between the first pivot shaft 44 and the windshield 220. When the wiping operation of the first wiper blade 11 is stopped, the holding portion 48 holds the first wiper arm 12 in a state where the first wiper blade 11 is arranged at the first upper end position TP1. A detailed description of how the holding portion 48 holds the first wiper arm 12 will be described later. The holding unit 48 corresponds to the subordinate concept of the holding device in the claim.

The wiper control device 300 is composed of an ECU (Electronic Control Unit). The wiper control device 300 includes a sensor 310, a first motor drive circuit 311 and a connecting portion drive circuit 312, and a microcomputer 320.

The sensor 310 is a position detection sensor and detects the rotation angle θ of the output shaft 32. As described above, since the rotation angle θ of the output shaft 32 is an angle corresponding to the wiping position of the first wiper blade 11 and the second wiper blade 21, the first wiper blade 11 is controlled by controlling the rotation angle θ. And the wiping range and wiping position of the second wiper blade 21 are adjusted.

The first motor drive circuit 311 is a control circuit for controlling the wiper motor 50. The first motor drive circuit 311 controls the power supplied to the wiper motor 50 and the rotational kinetic force of the wiper motor 50.

The connection unit drive circuit 312 is a control circuit for controlling the connection unit 60. The connection unit drive circuit 312 controls the supply and stop of electric power to the connection unit 60 based on an instruction from the wiper operation control unit 321 described later.

The microcomputer 320 includes a CPU and a memory (not shown), and the CPU functions as a wiper operation control unit 321 by executing a control program stored in the memory in advance. The wiper operation control unit 321 adjusts the wiping range, the wiping speed, and the intermittent time, respectively, to control the wiping operation by the first wiper blade 11 and the second wiper blade 21.

In the present embodiment, the “wiping range” means the wiping range on the windshield 220 by the first wiper blade 11 and the second wiper blade 21. In the example shown in FIG. 1, the first region W1a and the second region W1b correspond to the wiping range. Further, the "wiping speed" means the time required to wipe the wiping range by one wiping operation. The "one-time wiping operation" means a wiping operation for one round trip in the wiping range. That is, both the wiping operation for one time from each lower end position BP1 and BP2 to each upper end position TP1 and TP2 and the one-time wiping operation from each upper end position TP1 and TP2 to the lower end positions BP1 and BP2. Means. Further, the "intermittent time" means a waiting time from the completion of the wiping operation to the start of the next wiping operation.

Here, in the present embodiment, the wiper operation control unit 321 changes the wiping operation according to the operating state of the vehicle. Specifically, when the vehicle is executing manual driving, the wiper operation control unit 321 executes the first wiping operation as the wiping operation. Further, when the vehicle is executing automatic driving, the wiper operation control unit 321 executes a second wiping operation different from the first wiping operation as the wiping operation. In the second wiping operation, the wiping range, the wiping speed, and the intermittent time are executed in a manner different from that of the first wiping operation. The first wiping operation and the second wiping operation will be described in detail in the wiper control process described later.

The wiper switch 230 shown in FIG. 1 is mounted in the interior of the vehicle and is used by the occupant of the vehicle to instruct the start / end of the operation of the wiper device 100. The wiper switch 230 detects an operation by a vehicle occupant and outputs a signal according to the detected content to the wiper control device 300.

The image pickup device 210 is mounted on the upper side of the windshield 220 in the interior of the vehicle and substantially in the center along the horizontal direction, and photographs the outdoor situation of the vehicle. The captured image obtained by the image pickup device 210 is used for automatic driving of the vehicle.

A2. Wiper control processing:
The wiper control process shown in FIG. 4 is started when the driver of the vehicle starts the engine of the vehicle. The wiper operation control unit 321 determines whether or not there is a wiper operation request (step S100). Specifically, the wiper operation control unit 321 determines whether or not the wiper switch 230 has been pressed when the vehicle is performing manual driving. Further, when the vehicle is executing automatic driving, the wiper operation control unit 321 determines whether or not a predetermined amount of rainfall has been detected by a rainfall detection sensor (not shown) mounted on the vehicle. When it is determined that there is a wiper operation request (step S100: YES), the wiper operation control unit 321 detects whether or not the vehicle is executing automatic driving (step S110).

When it is determined that the automatic operation is not being executed (step S110: NO), the wiper operation control unit 321 executes the first wiping operation (step S120). In the first wipe operation, the wiper operation control unit 321 causes both the first wiper blade 11 and the second wiper blade 21 to perform the wipe operation. At that time, the wiper operation control unit 321 controls the wiping range, the wiping speed, and the intermittent time as follows.

The wiper operation control unit 321 sets the wiping range (hereinafter, referred to as "first wiping range") in the first wiping operation as the first area W1a and the second area W1b. That is, in the first wiping operation, almost the entire wiping on the windshield 220 is executed. Further, the wiper operation control unit 321 sets the wiping speed in the first wiping operation to a predetermined default value. Further, the wiper operation control unit 321 sets the intermittent time in the first wiping operation when the first wiper blade 11 is located at the first lower end position BP1 and when the second wiper blade 21 is located at the second lower end position BP2. Provided in each of. That is, an intermittent time is provided when the first wiper blade 11 and the second wiper blade 21 each complete the wiping operation for one reciprocation and the wiper blades 11 and 21 are located at the lower end positions BP1 and BP2.

As shown in FIG. 4, when it is determined in the above-mentioned step S110 that the automatic operation is being executed (step S110: YES), the wiper operation control unit 321 executes the second wiping operation (step S130).

As shown in FIG. 5, in the second wiping operation, the wiper operation control unit 321 stops the first wiper blade 11 at the first upper end position TP1 (step S200).

In FIG. 6, the first wiper blade 11 before the execution of step S200 is shown by a broken line, and the first wiper blade 11 after execution of step S200 is shown by a solid line. In FIG. 6, for convenience of explanation, the reference numerals of some of the components of the wiper device 100 are not shown. In step S200, the wiper operation control unit 321 first moves the first wiper blade 11 shown by the broken line stopped at the first lower end position BP1 to the first upper end position TP1 as shown by the solid line. When the first wiper blade 11 moves to the position of the first upper end position TP1, the wiper operation control unit 321 executes disconnection between the first wiper 10 and the second wiper 20 at the connecting unit 60. After that, the wiper operation control unit 321 causes the holding unit 48 to hold the first wiper arm 12 and stops the first wiper blade 11 at the first upper end position TP1.

The holding portion 48 shown in FIG. 7 is an enlarged view of the holding portion 48 in the state shown in FIG. 6 (after the execution of step S200), and the vicinity of the holding portion 48 is also shown. FIG. 7 shows a schematic cross section of the first wiper arm 12 seen from the connection side with the first pivot shaft 44 to the connection side with the first wiper blade 11 along the windshield 220. As shown in FIG. 7, the holding portion 48 includes a spring portion 48a and a protruding portion 48b. The spring portion 48a has elasticity, and when energized, the spring portion 48a extends upward (the connection side of the first wiper arm 12 with the first pivot shaft 44). The protruding portion 48b suppresses the movement of the first wiper arm 12 when the spring portion 48a is stretched. When the above-mentioned step S200 is executed, the spring portion 48a is extended upward as shown in FIG. 7 by energizing the spring portion 48a, and the protruding portion 48b protrudes toward the lower end of the first wiper arm 12. Then, the movement of the first wiper arm 12 in the lateral direction (wiping direction) is suppressed by the protruding portion 48b and the vehicle body 201c. As a result, the first wiper blade 11 stops at the first upper end position TP1.

As shown in FIG. 5, after the execution of step S200, the wiper operation control unit 321 sets the wiping range to the wiping range in the second wiping operation (hereinafter, referred to as “second wiping range”) (step S210).

As shown with hatching in FIG. 8, the second wiping range W2 is a region in front of the imaging device 210 in the imaging direction, and includes the first end LP and the second end RP of the second region W1b. It is an enclosed area. The first end LP is the position of one end along the wiping direction D2 in the second wiping range W2. The second end RP is the position of the other end along the wiping direction D2 in the second wiping range W2. As shown in FIG. 8, the first virtual line VL1 is a virtual straight line connecting the center position of the imaging device 210 in the intersecting direction intersecting the imaging direction and the second pivot axis 42. When the imaging device 210 is composed of a stereo camera, the "center position in the crossing direction intersecting the imaging direction in the imaging device 210" is the center position of the two cameras along the horizontal direction as the center of the imaging direction. Call the position. The second virtual line VL2 is a virtual straight line connecting the first end LP and the second pivot axis 42. The third virtual line VL3 is a virtual straight line connecting the second end RP and the second pivot axis 42. The angle θ1 formed by the first virtual line VL1 and the second virtual line VL2 and the angle θ1 formed by the first virtual line VL1 and the third virtual line VL3 are equal to each other. As is clear from FIGS. 1 and 8, the second wiping area W2 is smaller (narrower) than the combined area of the first area W1a and the second area W1b, which are the first wiping areas.

The reason why the second wiping range W2 is narrower than the first wiping ranges W1a and W1b and set in the front region in the imaging direction of the imaging device 210 is as follows. That is, in order to make the field of view (condensing range of the imaging device 210) recognizable to some extent during imaging by the imaging device 210, it is necessary to wipe the front region in the imaging direction, while the other regions are This is because the need for wiping is low, and power consumption can be reduced by not wiping the area. Further, the reason why the second wiping range W2 is symmetrical with respect to the substantially midpoint in the longitudinal direction of the imaging device 210 is that the period for wiping the front region in the imaging direction can be made constant. be.

As shown in FIG. 5, after the execution of step S210, the wiper operation control unit 321 sets the intermittent time of the second wiper blade 21 to the first end LP and the second end RP in the second wiping range W2, respectively. It is provided when the blade 21 is positioned (step S220). As described above, in the first wiping operation, the intermittent time is provided only when the second wiper blade 21 is located at one end in the first wiping range, but in the second wiping operation, in addition to this. Therefore, an intermittent time is also provided when the second wiper blade 21 is located at the other end. At this time, the wiper operation control unit 321 sets a longer time as the intermittent time than the intermittent time in the first wiping operation. This is because when the vehicle is in automatic driving, the image pickup device 210 only needs to be able to recognize the state of the image pickup direction, so that it is not necessary to frequently perform the wiping operation.

After executing step S220, the wiper operation control unit 321 determines whether or not there is a high-speed operation request (step S230). Specifically, the wiper operation control unit 321 determines that there is a high-speed operation request when the detection result of the rainfall detection sensor (not shown) mounted on the vehicle is greater than the predetermined rainfall. On the other hand, if the detection result is less than or equal to the predetermined rainfall, it is determined that there is no high-speed operation request.

When it is determined that there is a high-speed operation request (step S230: YES), the wiper operation control unit 321 changes the upper limit value of the wiping speed of the second wiper blade 21 (step S240). The wiper operation control unit 321 sets the upper limit value of the wiping speed of the second wiper blade 21 to a speed faster than the upper limit value of the wiping speed in the first wiping operation. For example, in heavy rain, by wiping the second wiping range W2 at high speed, deterioration of the image quality of the captured image obtained by the image pickup device 210 is suppressed, and deterioration of the recognition ability of the vehicle, pedestrian, etc. based on the image is suppressed. It is possible to suppress the deterioration of the running safety of the vehicle.

After the execution of step S240, the wiper operation control unit 321 starts the wiping operation by the second wiper blade 21 (step S250). After the execution of step S250, the second wiping operation is completed, and step S140 shown in FIG. 4 is executed. If it is determined in step S230 described above that there is no request for high-speed operation (step S230: NO), step S250 is executed in the same manner as after the execution of step S240 described above.

In FIG. 4, it is drawn that step S140 is executed after the completion of step S130, but step S140 is executed in parallel with step S130. The wiper operation control unit 321 executes the deposit removing process (step S140). In the second wiping operation, the wiping range is narrower than that in the first wiping operation. Therefore, even if deposits are attached to a place other than the second wiping range W2 on the windshield 220, the deposits are not removed and remain adhered as they are. Therefore, the deposit removing process (step S140) is executed in parallel with step S130 to temporarily widen the wiping range and remove the deposits. Hereinafter, a detailed description will be given.

As shown in FIG. 9, the wiper operation control unit 321 determines whether or not the deposit is detected (step S300). The wiper operation control unit 321 determines whether or not deposits such as bird droppings, mud, and snow have been detected from the captured image obtained by the image pickup device 210.

When it is determined that the deposit is detected (step S300: YES), the wiper operation control unit 321 determines whether or not the deposit is snowfall (step S310). When snow is detected from the captured image acquired in step S300, the wiper operation control unit 321 determines that the deposit is snowfall. When it is determined that the deposit is snowfall (step S310: YES), the wiper operation control unit 321 expands the second wiping range W2 (step S330). For example, the wiper operation control unit 321 expands the wiping range from the second wiping range W2 to the second area W1b. When snowfall is detected as deposits, the wiping range is widened by the first wiper 10 and the first wiper 10 and the first wiper 10 due to the snow accumulated on the windshield 220 when the vehicle is switched from automatic operation to manual operation after the snowfall continues. 2 This is to prevent the wiper 20 from getting stuck. After the execution of step S330, the deposit removal process is completed, and step S150 shown in FIG. 4 is executed.

In step S310 described above, when it is determined that the deposit is not snowfall (step S310: NO), the wiper operation control unit 321 expands the second wiping range for a predetermined time (step S320). When the deposit is not snowfall, unlike step S330, it is the bird droppings and mud adhering on the windshield 220 that widen the wiping range and perform the wiping operation only for a predetermined time. This is because deposits such as these can be removed by wiping for a short time. After the execution of step S320, the deposit removal process is completed in the same manner as after the execution of step S330 described above.

If it is determined in step S300 described above that no deposits have been detected (step S300: NO), the deposit removal process is completed as in the case after the execution of step S330 described above.

As shown in FIG. 4, after the execution of step S140, the wiper operation control unit 321 determines whether or not there is a switching request (step S150). Specifically, it is determined whether or not the driver of the vehicle has switched from automatic driving to manual driving, or whether or not manual driving has been switched to automatic driving. The wiper operation control unit 321 determines, for example, by detecting whether or not a button mounted on the vehicle for instructing the start / end of automatic driving has been pressed. When such a button is pressed, the wiper operation control unit 321 determines that there is a switching request. On the other hand, when such a button is not pressed, the wiper operation control unit 321 determines that there is no switching request. When it is determined that there is a switching request (step S150: YES), the wiper operation control unit 321 executes the switching process (step S160).

As shown in FIG. 10, in the switching process, the wiper operation control unit 321 determines whether or not the switching request is switching from manual operation to automatic operation (step S400). When it is determined that the switching from the manual operation to the automatic operation is performed (step S400: YES), the wiper operation control unit 321 executes the above-mentioned second wiping operation (step S410).

On the other hand, when it is determined that the switch is not from manual operation to automatic operation (step S400: NO), in other words, when switching from automatic operation to manual operation, the wiper operation control unit 321 uses the second wiper blade. The first wiping operation of 21 is started (step S420). Specifically, the wiper operation control unit 321 changes the wiping range of the second wiper blade 21 from the second wiping range W2 to the first wiping range (second area W1b). Therefore, when the second wiper blade 21 is switched from the automatic operation to the manual operation, the second wiper blade 21 is first a part of the first wiping range W1a and W1b on the windshield 220, and includes the front area of the driver's seat of the vehicle. The wiping range W1b will be wiped. Further, the wiper operation control unit 321 changes the wiping speed to the wiping speed of the first wiping operation. Further, the wiper operation control unit 321 changes the intermittent time to the intermittent time of the first wiping operation. Here, when the automatic operation is switched to the manual operation, the second wipe operation is switched to the first wipe operation, but the wiper operation control unit 321 is attached to the first wiper blade 11 and the second wiper blade 21. At the same time, instead of executing the first wiping operation, the second wiper blade 21 is made to execute the first wiping operation before the first wiper blade 11.

After executing step S420, the wiper operation control unit 321 determines whether or not the second wiper blade 21 has moved to a predetermined position (step S430). In the present embodiment, the "predetermined position" is the second upper end position TP2. The wiper operation control unit 321 uses the detection result of the sensor 310 to determine whether or not the second wiper blade 21 has moved to the second upper end position TP2. When it is determined that the second wiper blade 21 has not moved to a predetermined position (step S430: NO), the wiper operation control unit 321 determines that the second wiper blade 21 has moved to a predetermined position. Step S430 is repeatedly executed until the determination is made. At this time, the first wiper blade 11 is standing by in a stopped state at the first upper end position TP1.

On the other hand, when it is determined that the second wiper blade 21 has moved to a predetermined position (step S430: YES), the wiper operation control unit 321 releases the stop of the first wiper blade 11 and the first wiper. The wiping operation of the blade 11 is started (step S440). At this time, since the first wiper blade 11 starts the wiping operation from the first upper end position TP1 and the second wiper blade 21 starts the wiping operation from the second upper end position TP2, the wiper blades 11 and 21 can be synchronized.

After executing step S440, the wiper operation control unit 321 executes the first wiping operation (step S450). After executing step S450 or step S410 described above, the switching process is completed, and the process returns to step S100 described above shown in FIG.

FIG. 11 shows changes in the positions of the first wiper blade 11 and the second wiper blade 21 when switching from automatic operation to manual operation. Note that in FIG. 11, components other than the first wiper blade 11 and the second wiper blade 21 of the wiper device 100 are not shown. When the vehicle is executing automatic driving, since the second wiping operation is being executed, the first wiper blade 11 is stopped at the position P1 (first upper end position TP1), and the second wiper blade 21 is the second. 2 Wiping range W2 is being wiped. For example, the second wiper blade 21 is wiping from the position P2 to the position P3.

When the above-mentioned step S420 is executed and the wiping range of the second wiper blade 21 is changed to the second region W1b, the second wiper blade 21 extends beyond the first end LP to the second upper end position TP2. Wipe off. When the second wiper blade 21 moves to the position P4 (that is, the second upper end position TP2), it is determined in step S430 that the second wiper blade 21 has moved to the second upper end position TP2, which is a predetermined position. NS. After that, when the above-mentioned step S440 is executed, the stop of the first wiper blade 11 is released, and the first wiper blade 11 starts the wiping operation. As a result, the first wiper blade 11 and the second wiper blade 21 synchronously execute the first wiping operation, the first wiper blade 11 is at the position P5, and the second wiper blade 21 is at the position P6. Each moves almost at the same time.

As shown in FIG. 4, after the execution of step S160, the process returns to step S100 described above. Further, when it is determined in the above-mentioned step S150 that there is no switching request (step S150: NO), the process returns to the above-mentioned step S100 as in the case after the execution of the above-mentioned step S160.

According to the wiper control device 300 according to the first embodiment having the above configuration, when the vehicle is performing manual driving, the first wiping operation is executed as the wiping operation, and the vehicle is executing automatic driving. In this case, as the wiping operation, the second wiping operation different from the first wiping operation is executed, so that the wiper device 100 can be appropriately controlled in the autonomous driving vehicle.

Further, since the second wiping range W2 is narrower than the first wiping ranges W1a and W1b, the power consumption required for the second wiping operation can be made smaller than the power consumption required for the first wiping operation. In addition, since the second wiping range W2 includes the region in front of the image pickup device 210 in the image pickup direction, it is possible to secure the field of view of the image pickup device 210 in the image pickup direction when the automatic operation is being executed. It is possible to suppress the deterioration of the image quality of 210.

Further, in the second wiping operation, an intermittent time is provided when the second wiper blade 21 is positioned at each of the first end LP and the second end RP along the wiping direction in the second wiping range W2, so that the second end Compared with the configuration in which the intermittent time is provided only when the second wiper blade 21 is positioned on the RP, the power consumption required for the second wiping operation can be reduced. In addition, since the intermittent time in the second wiping operation is longer than the intermittent time in the first wiping operation, the power consumption required for the wiping operation can be reduced.

Further, as the second wiping operation, the wiping operation by the first wiper blade 11 among the plurality of wiper blades is stopped, and the second wiper blade 21 is made to perform the wiping of the second wiping range. Compared with the configuration in which the wiping operation is executed at the same time as the second wiper blade 21, the power consumption required for the wiping operation can be reduced.

In addition, when the vehicle switches from automatic operation to manual operation, the second wiper blade 21 is made to perform the first wipe operation before the first wiper blade 11 is made to perform the first wipe operation, and then the first wiper blade 21 is made to perform the first wipe operation. Since the wiper blade 11 and the second wiper blade 21 perform the first wiping operation, the transition to the first wiping operation can be easily realized. Further, when the vehicle is switched from automatic driving to manual driving, the second wiper blade 21 includes the front area of the driver's seat of the vehicle on the windshield 220 before the first wiper blade 11 is made to perform the first wiping operation. Since the wiping range W1b is set to a predetermined value and a part of the first wiping ranges W1a and W1b is wiped, the visibility of the driver of the vehicle can be secured first, and the running safety of the vehicle is lowered. Can be suppressed.

In addition, when the vehicle switches from automatic operation to manual operation, the first wiper blade 11 is kept on standby until the second wiper blade 21 moves to the second upper end position TP2, and the second wiper blade 21 is moved to the second upper end position TP2. When it reaches, the first wiping operation of the first wiper blade 11 is started, so that the wiping operation by the first wiper blade 11 and the wiping operation by the second wiper blade 21 can be executed in synchronization, causing discomfort to the driver. Can be reduced.

The wiper device 100 has a holding unit 48 for holding the first wiper blade 11 at the first upper end position TP1, and the wiper operation control unit 321 has a holding unit 48 from a state where the first wiper blade 11 is not held. Since the second wipe operation is executed after the state is switched to the state held by the first wiper blade 11, the first wiper blade 11 can be easily stopped. Further, by stopping the first wiper blade 11 at the first upper end position TP1, it is possible to suppress the position of the stopped first wiper blade 11 in front of the driver, and it is possible to reduce the discomfort given to the driver.

In addition, when deposits adhere to the windshield 220 during the execution of the second wipe operation, the wipes in a wider wiping range than the second wipe range are executed for a predetermined time, so that the deposits are removed. Can be easily removed.

B. Second embodiment:
The wiper control device 300a according to the second embodiment shown in FIG. 12 is provided with two second motor drive circuits 311a and 313 in place of the first motor drive circuit 311 in that the connection portion drive circuit 312 is omitted. It is different from the wiper control device 300 in the first embodiment shown in FIG. Further, the wiper device 100a in the second embodiment is different from the wiper device 100 shown in FIG. 1 in that the connecting portion 60 is omitted and that the wiper device 100a includes two wiper motors 50. Since the other configurations of the wiper control device 300a and the wiper device 100a in the second embodiment are the same as those of the wiper control device 300 and the wiper device 100 in the first embodiment, the same components are designated by the same reference numerals. The detailed description thereof will be omitted.

Similar to the first embodiment, the wiper device 100a in the second embodiment is configured such that the first wiper blade 11 and the second wiper blade 21 can independently perform the wiping operation. The wiper device 100a includes two wiper motors 50 for operating the wipers 10 and 20 independently. The second motor drive circuit 311a is equipped with a control circuit for operating the first wiper blade 11 independently. The second motor drive circuit 313 is equipped with a control circuit for operating the second wiper blade 21 independently.

The second motor drive circuits 311a and 313 shown in FIG. 13 are connected to the wiper motor 50 and the microcomputer 320. The second motor drive circuits 311a and 313 have a first relay r1, a second relay r2, a third relay r3, and a fourth relay r4. The relays r1 to r4 switch the rotation direction of the wiper motor 50 by switching the relays r1 to r4 on and off in response to an instruction from the microcomputer 320 (wiper operation control unit 321). For example, when a positive (+) voltage is applied to the terminal ta of the wiper motor 50 and a negative (−) voltage is applied to the terminal tb, the wiper motor 50 rotates forward. On the contrary, when a negative (−) voltage is applied to the terminal ta and a positive (+) voltage is applied to the terminal tb, the wiper motor 50 rotates in the reverse direction. Therefore, when the second relay r2 and the fourth relay r4 are turned on and the first relay r1 and the third relay r3 are turned off, the wiper motor 50 rotates forward and the second relay r2 and the fourth relay r4 are turned off. Then, when the first relay r1 and the third relay r3 are on, the wiper motor 50 rotates in the reverse direction.

According to the wiper control device 300a according to the second embodiment having the above configuration, since it is not necessary to provide the link mechanism 30 with the connecting portion 60, the conventional link mechanism 30 can be used, and the cost of the wiper device 100a is reduced. You can reduce it.

C. Third Embodiment:
Since the wiper control device 300 in the third embodiment is the same as the wiper control device 300 in the first embodiment shown in FIG. 1, detailed description thereof will be omitted. The wiper control process according to the third embodiment is different from the wiper control process according to the first embodiment in that the wiper control process at the time of power failure (hereinafter referred to as “power supply error wiper control process”) is executed. The power supply abnormality wiper control process is a process of executing control to stop the wiping operation by the wiper device 100 when a power abnormality occurs in the battery that supplies power to the wiper device 100. The battery is installed in the vehicle.

The wiper control process at the time of power failure shown in FIG. 14 is started at the same time as the start of the second wiping operation. The wiper operation control unit 321 acquires abnormality information (step S500). Specifically, the wiper operation control unit 321 acquires battery abnormality information from an ECU (not shown) that controls the voltage of the battery mounted on the vehicle. After the execution of step S500, the wiper operation control unit 321 acquires the power information (step S510). Specifically, the wiper operation control unit 321 acquires the remaining power amount (SOC: State Of Chage) of the battery and the open end voltage (OCV: Open Circuit Voltage) of the battery from an ECU (not shown), as in step S500. ..

After the execution of step S510, the wiper operation control unit 321 determines whether or not there is a power supply abnormality (step S520). Specifically, the wiper operation control unit 321 determines whether or not there is a power supply abnormality based on whether or not a flag indicating an abnormal state of the battery is detected in the abnormality information acquired in step S500. When it is determined that there is a power supply abnormality (step S520: YES), the wiper operation control unit 321 determines whether or not the remaining electric energy (SOC) is smaller than a predetermined threshold value (step S530). In the present embodiment, the "predetermined threshold value" in step S530 is a value indicating that the remaining power amount (SOC) is extremely small, for example, the wiping operation by the second wiper blade 21 is stopped immediately. It is set to a value corresponding to the amount of remaining power (SOC) that can be consumed.

When it is determined that the remaining electric energy (SOC) is smaller than a predetermined threshold value (step S530: YES), the wiper operation control unit 321 has the current position of the second wiper blade 21 in front of the imaging device 210 in the imaging direction. It is determined whether or not it is within the region (step S540). The wiper operation control unit 321 detects the position of the second wiper blade 21 from the rotation angle θ of the output shaft 32 by using the detection result of the sensor 310, so that the current position of the second wiper blade 21 is the image pickup device 210. It is determined whether or not it is within the front region in the imaging direction of. Step S540 is executed because when the second wiper blade 21 is stopped in the region in front of the imaging device 210 in the imaging direction, the second wiper blade 21 is always reflected in the image captured by the imaging device 210. Therefore, the intention is to avoid such a situation.

When it is determined that the current position of the second wiper blade 21 is not within the front region of the imaging device 210 in the imaging direction (step S540: NO), the wiper operation control unit 321 stops the second wiper blade 21 (step S560). ). Specifically, the wiper operation control unit 321 stops the wiping operation of the second wiper blade 21 by stopping the drive of the wiper motor 50. After executing step S560, the process returns to step S500 described above.

In step S540 described above, when it is determined that the second wiper blade 21 is within the front region of the imaging device 210 in the imaging direction (step S540: YES), the wiper operation control unit 321 is mounted on the vehicle at the time of abnormality. The wiping operation by the second wiper blade 21 is continued by receiving the power supply from the battery (step S550). After executing step S550, the process returns to step S540 described above. Then, the above-mentioned steps S540 and S550 are executed until it is determined that the second wiper blade 21 is not within the front region of the imaging device 210 in the imaging direction.

If it is determined in step S520 described above that there is no power supply abnormality (step S520: NO), the process returns to step S500 described above. If it is determined in step S530 described above that the amount of remaining power is not smaller than a predetermined threshold value (step S530: NO), the process returns to step S500 described above.

According to the wiper control device 300 according to the third embodiment having the above configuration, when the power abnormality of the battery mounted on the vehicle occurs when the second wiping operation is being executed, the image pickup direction of the image pickup device 210 Since the second wiper blade 21 is stopped at a position different from the position in the front region of the above, the field of view of the image pickup device 210 can be secured, and the deterioration of the image quality of the captured image obtained by the image pickup device 210 can be suppressed. Further, since the wiping operation is stopped when the power abnormality of the battery occurs, the power consumption required for the wiping operation can be reduced and the decrease in the remaining power amount of the battery can be suppressed.

D. Other embodiments:
D1. Other Embodiment 1:
In each of the above embodiments, the second wiping range W2 set in step S210 is a region of the second region W1b surrounded by the first end LP and the second end RP, but the present invention is not limited thereto. .. For example, the second wiping range may be set to the second area W1b. Even in this configuration, the second wiping range is smaller than the combined area of the first wiping range W1a and the second wiping range W1b. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained. In addition, even when the vehicle is performing automatic driving, the area including the front area of the driver's seat of the vehicle on the windshield 220 is wiped off, so that the driver can easily operate even immediately after switching from automatic driving to manual driving. You can know the situation in front of the vehicle.

D2. Other Embodiment 2:
In each of the above embodiments, the intermittent time in the second wiping operation is provided when the second wiper blade 21 is located at each position of the first end LP and the second end RP. Not limited to. For example, the second wiper blade 21 may be provided only when it is located at the second end RP. In this configuration, the intermittent time may be set longer than in the configuration in which the intermittent time is provided when the second wiper blade 21 is located at each position of the first end LP and the second end RP. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D3. Other Embodiment 3:
In each of the above embodiments, the wiper control devices 300 and 300a control the wiping operation of the wiper device 100 for wiping the windshield 220, but the present invention is not limited thereto. For example, the wiper control devices 300 and 300a may control the wiping operation of the wiper device for wiping the rear window. Further, for example, the wiper control devices 300 and 300a may control the wiping operation of the wiper device for wiping the side mirrors. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D4. Other Embodiment 4:
In each of the above embodiments, the wiper devices 100 and 100a are provided with two wiper blades, but the wiper devices 100 and 100a may be provided with any number of wiper blades. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D5. Other Embodiment 5:
In each of the above embodiments, the wiper devices 100 and 100a are parallel wiper devices, but the present invention is not limited thereto. For example, it may be an overlap type wiper device. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D6. Other Embodiment 6:
In each of the above embodiments, the image pickup apparatus 210 is mounted on the upper side of the windshield 220 and substantially at the center along the horizontal direction, but the present invention is not limited thereto. For example, it may be provided in the upper portion of the windshield 220 on the driver's seat side. Further, for example, in a configuration in which the wiper device 100 is a wiper device for wiping the rear window, the image pickup device may be provided on the upper side of the rear window and substantially at the center along the horizontal direction. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D7. Other Embodiment 7:
In each of the above embodiments, the first wiper blade 11 is stopped at the first upper end position TP1 during the second wiping operation, but the present invention is not limited to this. For example, the second wiper blade 21 may be stopped at an arbitrary position that does not interfere with the wiping operation. Specifically, it may be stopped at an arbitrary position in the first region W1a that does not overlap with the second wiping range W2. For example, it may be stopped at the position of the first lower end position BP1. Further, for example, the device may be stopped at a position further outside (opposite the wiping direction) from the first upper end position TP1. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D8. Other Embodiment 8:
In the first embodiment, the connecting portion 60 is provided in connection with the second pivot lever 38 on the first link rod 46, but the present invention is not limited thereto. For example, the connecting portion 60 may be provided in the vicinity of the substantially central portion of the first link rod 46. In this configuration, the first wiper 10 and the second wiper 20 are operated independently by disconnecting the connection between the first link rod 46 and the second link rod 36 before stopping the first wiper blade 11. Can be done.

D9. Other Embodiment 9:
In each of the above embodiments, the holding portion 48 stops the first wiper blade 11 by providing a recess in the first wiper arm 12 and fitting the protruding portion 48b of the holding portion 48 into the recess to fit the first wiper blade 11 into the recess. May be retained. Even in such a configuration, the same effect as that of each of the above-described embodiments can be obtained.

D10. Other Embodiment 10:
In the first embodiment, when the automatic operation is switched to the manual operation, the timing at which the first wiper blade 11 starts the first wiping operation is the timing at which the second wiper blade 21 is located at the second upper end position TP2. However, the present invention is not limited to this. The timing at which the first wiper blade 11 starts the first wiping operation is the timing at which the second wiper blade 21 reaches the position of the second wiper blade 21 corresponding to the current position of the first wiper blade 11 during manual operation. For example, when the first wiper blade 11 is stopped at an arbitrary position as in the other embodiment 7 described above, the first wiper blade 11 and the second wiper blade 21 are operated in conjunction with each other. When the second wiper blade 21 is moved to a position suitable for this purpose, the first wiping operation of the first wiper blade 11 may be started. The above-mentioned "suitable position" will be specifically described with reference to FIG.

FIG. 15 shows changes in the positions of the first wiper blade 11 and the second wiper blade 21 during the execution of the switching process from the automatic operation to the manual operation, as in the case of FIG. Further, in FIG. 15, similarly to FIG. 11, components other than the first wiper blade 11 and the second wiper blade 21 of the wiper device 100 are not shown. When the vehicle is executing automatic driving, the second wiper blade 11 is stopped at the position P7 (first upper end position TP1) because the second wipe operation is being executed, and the second wiper blade 21 is the second wiper blade 21. 2 Wiping range W2 is being wiped. For example, the second wiper blade 21 is wiping from the position P8 to the position P9.

When the automatic operation is switched to the manual operation, the wiper operation control unit 321 releases the stop of the first wiper blade 11 and moves the first wiper blade 11 to the position P10. After that, when the second wiper blade 21 moves from the position P9 to the position P11, the first wiping operation of the first wiper blade 11 is started. As a result, the first wiper blade 11 and the second wiper blade 21 interlock with each other to execute the wiping operation, the first wiper blade 11 executes the wiping operation toward the position P12, and the second wiper blade 21 executes the wiping operation toward the position P12. Perform a wipe operation towards. Even in such a configuration, the same effect as that of the first embodiment is obtained.

D11. Other Embodiment 11:
In the other embodiment 10, the position suitable for operating the first wiper blade 11 and the second wiper blade 21 in conjunction with each other is not limited to the position P11 shown in FIG.

FIG. 16 shows changes in the positions of the first wiper blade 11 and the second wiper blade 21 during the execution of the switching process from the automatic operation to the manual operation, as in the case of FIG. Further, in FIG. 16, as in FIG. 15, components other than the first wiper blade 11 and the second wiper blade 21 of the wiper device 100 are not shown. In the example shown in FIG. 16, the first wiper blade 11 is stopped at the first lower end position BP1 (position P14 shown in FIG. 16) while the second wiping operation is being executed. At this time, the second wiper blade 21 is executing the wiping operation of the second wiping range W2, and is executing the wiping operation from the position P15 toward the second end RP.

When the automatic operation is switched to the manual operation, the wiper operation control unit 321 releases the stop of the first wiper blade 11 and moves the first wiper blade 11 to the position P16. At this time, the wiper operation control unit 321 moves the second wiper blade 21 from the position P15 to the position P17, and the first wiper blade 11 and the second wiper blade 21 do not intersect with each other. When the second wiper blade 21 moves to the position P17, the wiper operation control unit 321 starts the first wiping operation of the first wiper blade 11. As a result, the first wiper blade 11 and the second wiper blade 21 interlock with each other to execute the wiping operation, the first wiper blade 11 executes the wiping operation toward the position P18, and the second wiper blade 21 executes the wiping operation toward the position P19. Perform a wipe operation towards. Even in such a configuration, the same effect as that of the other embodiment 10 is obtained.

D12. Other Embodiment 12:
In the other embodiment 11, the position suitable for operating the first wiper blade 11 and the second wiper blade 21 in conjunction with each other is not limited to the position P17 shown in FIG.

FIG. 17 shows changes in the positions of the first wiper blade 11 and the second wiper blade 21 during the execution of the switching process from the automatic operation to the manual operation, as in the case of FIG. Further, in FIG. 17, similarly to FIG. 16, components other than the first wiper blade 11 and the second wiper blade 21 of the wiper device 100 are not shown. In the example shown in FIG. 17, the first wiper blade 11 is stopped at the first lower end position BP1 (position P20 shown in FIG. 17) while the second wiping operation is being executed. At this time, the second wiper blade 21 is executing the wiping operation of the second wiping range W2, and is executing the wiping operation from the position P21 to the position P22.

When the automatic operation is switched to the manual operation, the wiper operation control unit 321 releases the stop of the first wiper blade 11. At this time, the first wiper blade 11 is not moved from the position P20. After that, the second wiper blade 21 executes a wiping operation from the position P22 to the first end LP, reverses the wiping direction at the first end LP, and wipes from the first end LP toward the second lower end position BP2. Perform the action. Then, when the second wiper blade 21 moves to the position P23, the wiper operation control unit 321 operates the first wiper blade 11 and the second wiper blade 21 in conjunction with each other. As a result, the first wiper blade 11 executes the wiping operation toward the position P24, and the second wiper blade 21 executes the wiping operation toward the position P25. Even in such a configuration, the same effect as that of the other embodiment 11 is obtained.

D13. Other Embodiment 13:
In each of the above-described embodiments and the other embodiments, the wiper operation control unit 321 controls the wiping operation by adjusting all of the wiping range, the wiping speed, and the intermittent time, but the present invention is not limited thereto. .. For example, the wiper operation control unit 321 may control the wiping operation by adjusting the wiping range and the wiping speed. Further, for example, the wiping operation may be controlled by adjusting only the wiping range. That is, in general, if the wiper operation is controlled by adjusting at least one of the wiping range, the wiping speed, and the intermittent time, the above-mentioned embodiments and the other embodiments are generally used. It has the same effect as.

D14. Other Embodiment 14:
In each of the above embodiments, when the vehicle is washed during the execution of the second wiping operation, the first wiper blade 11 does not have to be stopped at the first upper end position TP1. In this case, the first wiper blade 11 may be stopped at the first lower end position BP1. Further, in such a case, the second wiper blade 21 does not have to be stopped within the second wiping range W2. In this case, the second wiper blade 21 may be stopped at the second lower end position BP2. Not limited to such a situation where the vehicle is washed, in any situation where it is considered that the first wiper blade 11 is damaged by stopping the first wiper blade 11 at the first upper end position TP1, the first wiper blade 11 is used. 11 may be stopped at an arbitrary position in the first region W1a that does not overlap with the second wiping range W2. Further, in any situation where it is considered that the second wiper blade 21 fails by stopping the second wiper blade 21 within the second wiping range W2 such as the first end LP and the second end RP, the second wiper blade 21 is second. The wiper blade 21 may be stopped at the second lower end position BP2. Even in such a configuration, the same effect as that of each embodiment is obtained.

D15. Other Embodiment 15:
In each embodiment and each other embodiment, some or all of the functions and processes realized by the software may be realized by hardware. In addition, some or all of the functions and processes realized by the hardware may be realized by the software. As the hardware, various circuits such as an integrated circuit, a discrete circuit, or a circuit module combining these circuits may be used. Further, when a part or all of the functions of the present invention are realized by software, the software (computer program) can be provided in a form stored in a computer-readable recording medium. "Computer readable recording medium" is not limited to portable recording media such as flexible disks and CD-ROMs, but is fixed to internal storage devices in computers such as various RAMs and ROMs, and computers such as hard disks. It also includes external storage devices that have been installed. That is, the term "computer-readable recording medium" has a broad meaning including any recording medium in which data packets can be fixed rather than temporarily.

D16. Other Embodiment 16:
In the deposit removing treatment in the first embodiment, when the deposit is detected, the second wiping range W2 is expanded, but the present invention is not limited to this. For example, the second wiping range W2 may be widened even when no deposit is detected. In this configuration, for example, the second wiping range W2 may be expanded at predetermined time intervals during the execution of the second wiping operation. Further, for example, the time interval for expanding the second wiping range W2 may be changed according to the detected amount of snowfall. Specifically, when the amount of snowfall is less than a predetermined amount, the interval for expanding the second wiping range W2 is set to one of the 10 wiping operations of the second wiper blade 21, and the amount of snowfall is set in advance. When the amount is larger than the specified amount, the interval for expanding the second wiping range W2 may be one of the two wiping operations of the second wiper blade 21. The example of the time interval for expanding the second wiping range W2 is not limited to the above example, and may be any time interval. Even in such a configuration, the same effect as that of the first embodiment is obtained.

D17. Other Embodiment 17:
In the first embodiment, the second wiping operation is started after the state in which the first wiper blade 11 is not held is switched to the state in which the first wiper blade 11 is held by the holding portion 48. Not limited. For example, in the second embodiment, the first wiper blade 11 moves from the first lower end position BP1 to the first upper end position TP1, and the second wiper blade 21 moves from the second lower end position BP2 to the second upper end position TP2. When switching from manual operation to automatic operation is performed while moving toward, the second wipe operation of the second wiper blade 21 is started before the first wiper blade 11 reaches the first upper end position TP1. You may. At this time, the second wiper blade 21 performs a wiping operation from the position when the switch from the manual operation to the automatic operation is performed to the first end LP, reverses the wiping direction at the first end LP, and causes the first wiper blade 21 to perform the wiping operation. The wiping operation from the 1st end LP to the 2nd end RP may be performed. Even in such a configuration, the same effect as that of the first embodiment is obtained.

The present invention is not limited to the above-described embodiment and other embodiments, and can be realized by various configurations within a range not deviating from the gist thereof. For example, the embodiment corresponding to the technical feature in each embodiment described in the column of the outline of the invention, the technical feature in another embodiment may be used to solve a part or all of the above-mentioned problems, or In order to achieve a part or all of the above-mentioned effects, it is possible to replace or combine them as appropriate. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

100 ... Wiper device, 100a ... Wiper device, 210 ... Imaging device, 300 ... Wiper control device, 300a ... Wiper control device, 321 ... Wiper operation control unit

Claims (14)

It is a wiper control device (300, 300a) for controlling a wiper device (100, 100a) equipped in a vehicle that executes automatic driving by using an image captured by the image pickup device (210).
The wiping operation of the wiper device is controlled by adjusting at least one of a wiping range, a wiping speed, and an intermittent time, which is a waiting time from the completion of the wiping operation to the start of the next wiping operation. Equipped with a wiper operation control unit (321)
The wiper operation control unit
When the vehicle is performing manual driving, the first wiping operation is executed as the wiping operation.
When the vehicle is executing the automatic driving, as the wiping operation, a second wiping operation different from the first wiping operation is executed .
The wiper device has a wiper blade that is powered by a battery mounted on the vehicle and performs wiping in the second wiping operation.
The wiper operation control unit stops the wiper blade at a position different from the front region in the imaging direction of the imaging device when a power abnormality occurs in the battery during the second wiping operation.
Wiper control device. The wiper control device according to claim 1.
The power consumption required for the second wiping operation is smaller than the power consumption required for the first wiping operation.
Wiper control device. The wiper control device according to claim 1 or 2.
The second wiping range (W2), which is the wiping range by the second wiping operation, is narrower than the first wiping range (W1a, W1b), which is the wiping range by the first wiping operation.
Wiper control device. The wiper control device according to claim 3.
The second wiping range includes a region in front of the imaging device in the imaging direction.
Wiper control device. The wiper control device according to claim 4.
The wiper device performs the wiping operation by rotating in a predetermined angle range around a predetermined axis.
A first imaginary line connecting the said centered position in an intersecting direction that intersects the imaging direction of the imaging device axis (VL1), said second wiping one end along the wipe can up direction that put in the range (LP ) And the angle formed by the second virtual line (VL2) connecting the axis.
The angles formed by the first virtual line (VL3) connecting the first virtual line and the position of the other end (RP) along the wiping direction in the second wiping range are equal to each other.
Wiper control device. The wiper control device according to any one of claims 3 to 5.
The wiper device has a wiper blade (21) that performs wiping.
In the second wiping operation, the intermittent time is provided when the wiper blades are located at one end (LP) and the other end (RP) along the wiping direction in the second wiping range, respectively.
Wiper control device. The wiper control device according to any one of claims 3 to 6.
The intermittent time in the second wiping operation is longer than the intermittent time in the first wiping operation.
Wiper control device. The wiper control device according to any one of claims 1 to 7.
The wiper device has a plurality of wiper blades (11, 21) that perform wiping.
As the second wipe operation, the wiper operation control unit stops the wipe operation by the first wiper blade (11) of the plurality of wiper blades, and the first wiper blade among the plurality of wiper blades. A second wiper blade (21) different from the above is made to perform wiping of the second wiping range.
Wiper control device. The wiper control device according to claim 8.
The wiper operation control unit causes the second wiper blade to perform the first wiping operation before causing the first wiper blade to perform the first wiping operation when the vehicle switches from the automatic operation to the manual operation. The operation is executed, and then the first wiper blade and the second wiper blade are made to execute the first wiping operation.
Wiper control device. The wiper control device according to claim 9.
The first wiper blade and the second wiper blade perform wiping of the windshield (220) of the vehicle.
The wiper operation control unit causes the second wiper blade to perform the first wiping operation on the windshield when the vehicle switches from the automatic operation to the manual operation. A predetermined wiping range including the front area of the driver's seat of the vehicle, and a part of the first wiping range is wiped.
Wiper control device. The wiper control device according to any one of claims 8 to 10.
The wiper operation control unit causes the first wiper blade to stand by until the second wiper blade moves to a predetermined position when the vehicle switches from the automatic operation to the manual operation, and the second wiper blade When reaches the predetermined position, the first wiping operation of the first wiper blade is started.
It said predetermined position is a position of the second wiper blade which corresponds to the position of the first wiper blade when switched to the manual operation,
Wiper control device. The wiper control device according to any one of claims 8 to 11.
The wiper device has a holding device (48) for holding the first wiper blade at one end along the wiping direction in the first wiping range.
The wiper operation control unit further controls switching between a state in which the first wiper blade is held by the holding device and a state in which the first wiper blade is not held by the holding device.
The wiper operation control unit executes the second wiping operation when the first wiper blade is switched from the state in which the first wiper blade is not held to the state in which the first wiper blade is held by the holding device.
Wiper control device. The wiper control device according to any one of claims 4 to 12.
The wiper operation control unit, for a predetermined time in the second wiping during execution of the operation, prior SL to execute the wiping of wide wiping range than the second wiping range,
Wiper control device. It is a wiper control method for controlling a wiper device installed in a vehicle that executes automatic driving by using an image captured by the image pickup device.
The wiping operation of the wiper device is controlled by adjusting at least one of a wiping range, a wiping speed, and an intermittent time, which is a waiting time from the completion of the wiping operation to the start of the next wiping operation. With a process to do
The step is
When the vehicle is performing manual driving, as the wiping operation, a step of executing the first wiping operation and a step of executing the first wiping operation,
When the vehicle is executing the automatic driving, as the wiping operation, a step of executing a second wiping operation different from the first wiping operation and a step of executing the second wiping operation.
Only including,
The wiper device has a wiper blade that is powered by a battery mounted on the vehicle and performs wiping in the second wiping operation.
The step includes a step of stopping the wiper blade at a position different from the front region in the imaging direction of the imaging device when a power abnormality occurs in the battery during the second wiping operation.
Wiper control method.

Images