阅读说明：本技术 雨刮器的控制方法、控制装置和车辆 (Control method and control device for windscreen wiper and vehicle ) 是由 李哲 盛春楠 郭彦东 欧志辉 于 2019-09-19 设计创作，主要内容包括：本申请公开了一种雨刮器的控制方法。控制方法包括：在第二工作模式下根据调节信号调节雨刮器在当前雨量下的控制策略；根据调节后的当前雨量下的控制策略调整雨刮器在第一工作模式下雨量与雨刮器的控制策略的对应关系；在雨刮器以第一工作模式工作时,根据调整后的对应关系确定雨刮器的控制策略。本申请实施方式的控制方法中,雨刮器具有两种不同的工作模式,当第一工作模式下雨刮器提供的控制策略不能满足需求时,可切换至第二工作模式自主调节雨刮器至合适的状态,从而调节第一工作模式下的雨刮器的控制策略,对于后续雨情,第一工作模式能够提供合适的控制策略。本申请还公开了一种控制装置和车辆。(The application discloses a control method of a windscreen wiper. The control method comprises the following steps: adjusting a control strategy of the windscreen wiper under the current rainfall according to the adjusting signal in a second working mode; adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall; and when the windscreen wiper works in the first working mode, determining a control strategy of the windscreen wiper according to the adjusted corresponding relation. According to the control method, the windscreen wiper has two different working modes, when the control strategy provided by the windscreen wiper in the first working mode cannot meet the requirement, the windscreen wiper can be switched to the second working mode to automatically adjust the windscreen wiper to a proper state, so that the control strategy of the windscreen wiper in the first working mode is adjusted, and the first working mode can provide a proper control strategy for subsequent rain conditions. The application also discloses a control device and a vehicle.)

1. A control method of a wiper blade, wherein the wiper blade has a first operation mode and a second operation mode, and is switchable between the first operation mode and the second operation mode, the control method comprising:

Adjusting a control strategy of the windscreen wiper under the current rainfall according to an adjusting signal in the second working mode;

Adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

and when the windscreen wiper works in the first working mode, determining a control strategy of the windscreen wiper according to the adjusted corresponding relation.

2. The method of claim 1, wherein said determining a control strategy for said wiper blade according to said adjusted correspondence when said wiper blade is operating in said first mode of operation comprises:

acquiring images of a windshield on a multi-frame vehicle, wherein the images comprise a rain image and a no-rain image;

Calculating the proportion of the rain images in the multi-frame images;

And determining a control strategy of the windscreen wiper according to the proportion of the rain images and the adjusted corresponding relation.

3. The control method according to claim 2, wherein the calculating of the proportion of the rained image in the plurality of frames of images includes:

Inputting the acquired image of the windshield into a preset target rainwater detection model;

generating a rainwater probability characteristic map by adopting the target rainwater detection model;

Generating rainwater distribution data corresponding to each frame of the image by adopting the rainwater probability characteristic map;

Setting a binarization threshold value to carry out binarization processing on the rainwater distribution data;

And determining whether the current frame of image is the rainy image according to the processing result.

4. The control method of claim 3, wherein said adjusting the correspondence between the rain fall of the wiper blade in the first operating mode and the control strategy of the wiper blade according to the adjusted control strategy of the current rain fall comprises:

Comparing the change trends of the working gears of the windscreen wiper before and after adjustment;

if the working gear of the windscreen wiper changes in the negative direction after being adjusted, the binaryzation threshold value is increased to reduce the proportion of the rain images;

And resetting the corresponding relation between the rainfall in the first working mode and the working gear change quantity of the windscreen wiper according to the reduced proportion of the rain images.

5. the control method of claim 4, wherein said adjusting the correspondence between the rain fall of the wiper blade in the first operating mode and the control strategy of the wiper blade according to the adjusted control strategy of the current rain fall further comprises:

if the working gear of the windscreen wiper is changed in the positive direction after being adjusted, reducing the binarization threshold value to improve the proportion of the rain image;

And resetting the corresponding relation between the rainfall in the first working mode and the working gear change quantity of the windscreen wiper according to the improved proportion of the rain images.

6. The control method of claim 1, wherein the adjusting the correspondence between the rain fall of the wiper blade in the first operating mode and the control strategy of the wiper blade according to the adjusted control strategy of the current rain fall comprises:

Comparing the speed of the first windscreen wiper before the windscreen wiper is adjusted with the speed of the second windscreen wiper after the windscreen wiper is adjusted;

if the first windscreen wiper speed is higher than the second windscreen wiper speed, reducing the first windscreen wiper speed corresponding to the current rainfall in a first working mode;

and adjusting the corresponding relation between the rainfall and the speed of the windscreen wiper in the first working mode according to the corresponding relation between the reduced speed of the first windscreen wiper and the current rainfall.

7. the control method of claim 6, wherein said adjusting the correspondence between the rain fall of the wiper blade in the first operating mode and the control strategy of the wiper blade according to the adjusted control strategy of the current rain fall comprises:

If the first windscreen wiper speed is lower than the second windscreen wiper speed, the first windscreen wiper speed corresponding to the current rainfall in a first working mode is increased;

And adjusting the corresponding relation between the rainfall and the speed of the windscreen wiper in the first working mode according to the improved corresponding relation between the speed of the first windscreen wiper and the current rainfall.

8. the control method of claim 1, wherein the adjusting the correspondence between the rain fall of the wiper blade in the first operating mode and the control strategy of the wiper blade according to the adjusted control strategy of the current rain fall comprises:

And adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper after the windscreen wiper works for a preset time by the adjusted control strategy.

9. A control device for a wiper blade, said wiper blade having a first operation mode and a second operation mode and being switchable between said first operation mode and said second operation mode, said control device comprising:

The adjusting module is used for adjusting a control strategy of the windscreen wiper under the current rainfall according to an adjusting signal in the second working mode;

The processing module is used for adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

And the determining module is used for determining the control strategy of the windscreen wiper according to the adjusted corresponding relation when the windscreen wiper works in the first working mode.

10. A vehicle comprising a wiper blade having a first operating mode and a second operating mode and switchable between the first operating mode and the second operating mode, and a processor configured to:

adjusting a control strategy of the windscreen wiper under the current rainfall according to an adjusting signal in the second working mode;

adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

And when the windscreen wiper works in the first working mode, determining a control strategy of the windscreen wiper according to the adjusted corresponding relation.

11. A vehicle, characterized by comprising:

one or more processors, memory; and

one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs including instructions for executing the control method of the wiper blade according to any one of claims 1 to 8.

12. A non-transitory computer-readable storage medium of computer-executable instructions which, when executed by one or more processors, cause the processors to perform the method of controlling a wiper blade of any one of claims 1 to 8.

Technical Field

The application relates to the technical field of automobiles, in particular to a control method and a control device of a windscreen wiper and a vehicle.

Background

Along with the development of electronic technology, some traditional spare parts in the vehicle are also gradually electronized, intelligent, the wiper is as the indispensable configuration of car, can help the driver to obtain better field of vision when the driving, thereby guarantee driving safety, the appearance of automatic wiper can be compared with traditional manual wiper and can be according to the size automatically regulated windscreen wiper speed of rainfall, the driver has greatly made things convenient for, however in the correlation technique, the corresponding relation of windscreen wiper speed and rainfall of automatic wiper solidifies in relevant storage equipment and can't be set by the user's oneself or change, in some scenes, the windscreen wiper speed that automatic wiper provided can't make the driver satisfied with, user experience is relatively poor.

disclosure of Invention

In view of this, embodiments of the present application provide a control method and a control device for a wiper blade, and a vehicle.

the application provides a control method of a windscreen wiper, wherein the windscreen wiper is provided with a first working mode and a second working mode and can be switched between the first working mode and the second working mode, and the control method comprises the following steps:

Adjusting a control strategy of the windscreen wiper under the current rainfall according to an adjusting signal in the second working mode;

Adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

And when the windscreen wiper works in the first working mode, determining a control strategy of the windscreen wiper according to the adjusted corresponding relation.

in some embodiments, the determining the control strategy of the wiper blade according to the adjusted corresponding relationship when the wiper blade operates in the first operating mode includes:

acquiring images of a windshield on a multi-frame vehicle, wherein the images comprise a rain image and a no-rain image;

calculating the proportion of the rain images in the multi-frame images;

and determining a control strategy of the windscreen wiper according to the proportion of the rain images and the adjusted corresponding relation.

In some embodiments, the calculating the proportion of the rain image in the plurality of frames of images includes:

inputting the acquired image of the windshield into a preset target rainwater detection model;

generating a rainwater probability characteristic map by adopting the target rainwater detection model;

generating rainwater distribution data corresponding to each frame of the image by adopting the rainwater probability characteristic map;

setting a binarization threshold value to carry out binarization processing on the rainwater distribution data;

And determining whether the current frame of image is the rainy image according to the processing result.

in some embodiments, the adjusting the corresponding relationship between the rainfall capacity of the wiper blade in the first working mode and the control strategy of the wiper blade according to the control strategy at the adjusted current rainfall capacity includes:

Comparing the change trends of the working gears of the windscreen wiper before and after adjustment;

If the working gear of the windscreen wiper changes in the negative direction after being adjusted, the binaryzation threshold value is increased to reduce the proportion of the rain images;

and resetting the corresponding relation between the rainfall in the first working mode and the working gear change quantity of the windscreen wiper according to the reduced proportion of the rain images.

In some embodiments, the adjusting the corresponding relationship between the rainfall capacity of the wiper blade in the first working mode and the control strategy of the wiper blade according to the adjusted control strategy in the current rainfall capacity further includes:

If the working gear of the windscreen wiper is changed in the positive direction after being adjusted, reducing the binarization threshold value to improve the proportion of the rain image;

and resetting the corresponding relation between the current rainfall and the working gear change quantity of the windscreen wiper in the first working mode according to the improved proportion of the rain images.

in some embodiments, the adjusting the corresponding relationship between the rainfall capacity of the wiper blade in the first working mode and the control strategy of the wiper blade according to the control strategy at the adjusted current rainfall capacity includes:

comparing the speed of the first windscreen wiper before the windscreen wiper is adjusted with the speed of the second windscreen wiper after the windscreen wiper is adjusted;

If the first windscreen wiper speed is higher than the second windscreen wiper speed, reducing the first windscreen wiper speed corresponding to the current rainfall in a first working mode;

And adjusting the corresponding relation between the rainfall and the speed of the windscreen wiper in the first working mode according to the corresponding relation between the reduced speed of the first windscreen wiper and the current rainfall.

In some embodiments, the adjusting the corresponding relationship between the rainfall capacity of the wiper blade in the first working mode and the control strategy of the wiper blade according to the control strategy at the adjusted current rainfall capacity includes:

if the first windscreen wiper speed is lower than the second windscreen wiper speed, the first windscreen wiper speed corresponding to the current rainfall in a first working mode is increased;

and adjusting the corresponding relation between the rainfall and the speed of the windscreen wiper in the first working mode according to the improved corresponding relation between the speed of the first windscreen wiper and the current rainfall.

In some embodiments, the adjusting the corresponding relationship between the rainfall capacity of the wiper blade in the first working mode and the control strategy of the wiper blade according to the control strategy at the adjusted current rainfall capacity includes:

and adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper after the windscreen wiper works for a preset time by the adjusted control strategy.

The application provides a controlling means of wiper, the wiper has first mode of operation and second mode of operation, and can be in first mode of operation with switch between the second mode of operation, controlling means includes:

The adjusting module is used for adjusting a control strategy of the windscreen wiper under the current rainfall according to an adjusting signal in the second working mode;

the processing module is used for adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

And the determining module is used for determining the control strategy of the windscreen wiper according to the adjusted corresponding relation when the windscreen wiper works in the first working mode.

the application provides a vehicle, including wiper and treater, the wiper has first mode of operation and second mode of operation, and can switch between first mode of operation and second mode of operation, the treater is used for:

Adjusting a control strategy of the windscreen wiper under the current rainfall according to an adjusting signal in the second working mode;

Adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

And when the windscreen wiper works in the first working mode, determining a control strategy of the windscreen wiper according to the adjusted corresponding relation.

A vehicle is provided that includes one or more processors, memory; and one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs including instructions for executing the wiper blade control method as described above.

A non-transitory computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method of controlling a wiper blade is provided.

In the control method, the control device, the vehicle and the computer-readable storage medium of the wiper of the embodiment of the application, the wiper has two different working modes, namely a first working mode and a second working mode, when a control strategy provided by the wiper in the first working mode cannot meet the requirement of a driver, the wiper can be switched to the second working mode, in the second working mode, the driver can independently adjust the wiper to a proper gear, and the wiper adjusts the corresponding relation between the rainfall and the control strategy in the first working mode according to the control strategy adjusted by the driver, so that for subsequent rain conditions, the first working mode of the wiper can provide a proper working gear to meet the requirement of the driver.

drawings

the foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

Fig. 1 is a schematic flow chart of a method for controlling a wiper blade according to some embodiments of the present disclosure.

FIG. 2 is a schematic illustration of a vehicle according to certain embodiments of the present application.

FIG. 3 is a block schematic diagram of a control device according to certain embodiments of the present application.

fig. 4 to 5 are schematic flow charts of a control method of a wiper blade according to some embodiments of the present application.

fig. 6 is a schematic view of the mounting position of the image pickup apparatus according to some embodiments of the present application.

FIG. 7 is a schematic illustration of a rain probability characteristic map of certain embodiments of the present application.

Fig. 8 is a schematic illustration of a rain water distribution profile of certain embodiments of the present application.

fig. 9 to 11 are schematic flow charts of a control method of a wiper blade according to some embodiments of the present application.

Detailed Description

reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The wiper blade is generally used to wipe off rainwater attached to a windshield of a vehicle, thereby providing a better view to a driver and increasing driving safety. In traditional wiper, need the driver to adjust the gear of wiper according to the rain condition manual, nevertheless, can disperse driver's attention in the driving process, have certain potential safety hazard. Along with the development of vehicle-mounted electronic technology, the intelligent windscreen wiper in the related art can detect rainfall by combining a sensor and output a working gear according to the detected rainfall, so that the windscreen wiper can automatically switch the working gear according to the rain condition. However, the corresponding relation between the working gear of the intelligent windscreen wiper and the rainfall is calibrated when the vehicle leaves a factory, and a user cannot set or modify the corresponding relation by himself or herself. Therefore, in some application scenarios, the working gear provided by the windscreen wiper may not meet the requirements of the driver. For example, the driver considers that the operating range of the wiper output is too high, and the speed of the wiper is too high, thereby causing the wiper to interfere with the driver's sight. For another example, the driver thinks that the operating range of the wiper output is too low, and the speed of the wiper is too slow, so that rainwater on the windshield interferes with the sight of the user.

Referring to fig. 1, the present application provides a control method for a wiper blade. The windscreen wiper has a first working mode and a second working mode and can be switched between the first working mode and the second working mode. The control method comprises the following steps:

S10: adjusting a control strategy of the windscreen wiper under the current rainfall according to the adjusting signal in a second working mode;

s20: adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper according to the adjusted control strategy under the current rainfall;

s30: and when the windscreen wiper works in the first working mode, determining a control strategy of the windscreen wiper according to the adjusted corresponding relation.

referring to fig. 2 and 3, the present embodiment provides a vehicle 100. The vehicle 100 includes a wiper 10 and a processor 12. The processor 12 is configured to adjust a control strategy of the wiper 10 in the current rainfall according to the adjustment signal in the second working mode, adjust a correspondence between the rainfall of the wiper 10 in the first working mode and the control strategy of the wiper 10 according to the adjusted control strategy in the current rainfall, and determine the control strategy of the wiper 10 according to the adjusted correspondence when the wiper 10 works in the first working mode. The processor 12 may be a processor 12 provided independently for adjusting the wiper 10, or may be a processor 12 of a vehicle driving system, which is not limited herein.

The embodiment of the present application also provides a control device 110, and the control method of the wiper blade according to the embodiment of the present application can be implemented by the control device 110.

Specifically, the control device 110 includes an adjustment module 111, a processing module 112, and a determination module 113. S10 may be implemented by the adjusting module 111, S20 may be implemented by the processing module 112, and S30 may be implemented by the determining module 113. In other words, the adjusting module 111 is configured to adjust the control strategy of the wiper blade 10 under the current rainfall according to the adjusting signal in the second operation mode. The processing module 112 is configured to adjust a corresponding relationship between the rainfall of the wiper 10 in the first working mode and the control strategy of the wiper 10 according to the adjusted control strategy under the current rainfall. The determining module 113 is configured to determine a control strategy of the wiper blade 10 according to the adjusted corresponding relationship when the wiper blade 10 operates in the first operating mode.

in the control method, the control device 110 and the vehicle 100 of the wiper according to the embodiment of the present application, the wiper 10 has two different working modes, namely, a first working mode and a second working mode, when a control strategy provided by the wiper in the first working mode cannot meet a requirement of a driver, the wiper 10 can be switched to the second working mode, in the second working mode, the driver can independently adjust the wiper to an appropriate gear, and the wiper 10 adjusts a corresponding relationship between a rainfall and the control strategy in the first working mode according to the control strategy adjusted by the driver, so that for a subsequent rain condition, the first working mode of the wiper 10 can provide an appropriate working gear to meet the requirement of the driver. In addition, in the embodiment of the application, the personalized setting is started by using the behavior of the second working mode, the setting entrance is simplified, and the operation is more convenient.

Generally, the rainfall is classified into several grades of light rain, medium rain, heavy rain and extra heavy rain according to the relevant standards in meteorology. In some embodiments, the speed of the wiper blade 10 corresponds to the amount of rain, and the control strategy is to decide to increase or decrease the speed of the wiper blade 10. In this way, the rainfall and the wiper speed are correlated, and it is understood that the larger the rainfall, the faster the speed of the corresponding wiper 10.

In other embodiments, the rainfall corresponds to the number of operating range changes of the wiper 10, and the number of operating range changes of the wiper 10 refers to determining whether to raise, lower or keep the wiper 10 unchanged according to the current rainfall and determining the number of raising or lowering the wiper. The control strategy is to determine the lifting number of the wiper gears. For example, the operating range of the wiper blade 10 may include a plurality of ranges of low speed intervals, low speed succession, high speed succession, and the like. Specifically, the low-speed interval gear further includes a plurality of sub-gears. For example, the plurality of sub-gear positions are respectively scraped once every x seconds, scraped once every y seconds, scraped once every z seconds, and scraped once every l seconds (x > y > z > l). The low-speed continuous gears have no interval, and the speed of the windscreen wiper is the same as the low-speed interval gears. High speed consecutive gears are also without intervals and the wiper speed is faster than low speed consecutive. If the current gear is a low speed gear with x seconds, and the control strategy is up to 2, the wiper 10 will be operated at the low speed gear with z seconds. The working gear of the wiper blade 10 includes dimensions such as a wiper period and a wiper speed, wherein upshifting means reducing the wiper period and/or accelerating the wiper speed, and downshifting means increasing the wiper period and/or slowing the wiper speed. The number of gears indicates the degree of increase or decrease, with larger numbers being deeper.

The wiper blade 10 in the embodiment of the present application includes a first operation mode and a second operation mode. The first mode of operation is an automatic mode. The second working mode is a manual mode, in which the working gear setting of the wiper 10 is the same as the automatic mode, and the user can adjust the speed of the wiper 10 according to the subjective feeling of the current rainfall.

for the wiper blade 10, the automatic mode, i.e., the first operation mode, is higher in priority than the manual mode, i.e., the second operation mode. That is, after the wiper 10 is started, the wiper 10 is first operated in the first operation mode, and when it is detected that the user manually adjusts the wiper 10, the wiper 10 is switched from the first operation mode to the second operation mode, and in the second operation mode, the wiper 10 is not automatically adjusted according to the amount of rain.

after the driver adjusts the wiper 10 to a satisfactory working state in the second working mode, the processor 12 adjusts the corresponding relationship between the rainfall capacity in the first working mode and the wiper control strategy according to the adjusted wiper control strategy and the current rainfall capacity, so that the wiper 10 has a new corresponding relationship between the rainfall capacity and the wiper control strategy. When the user starts the wiper 10 again or after the wiper 10 is switched back to the first working mode, the wiper 10 can automatically output a working gear satisfying the driver according to the adjusted corresponding relationship without manual adjustment again.

In the embodiment of the present application, not only the control strategy of the wiper corresponding to a certain specific rainfall (current rainfall) but also the corresponding relationship between other rainfalls and the control strategy in the first operating mode is adjusted, so that the adjusted corresponding relationship can have the same variation trend when facing different rainfalls, and a proper wiper control strategy can be provided for a driver according to a completely new corresponding relationship in subsequent use.

referring to fig. 4, in some embodiments, S30 includes:

S31: collecting multiple frames of images of a windshield on a vehicle, wherein the images comprise a rain image and a no-rain image;

s32: calculating the proportion of rain images in the multi-frame images;

S33: and determining a control strategy of the windscreen wiper according to the proportion of the rain images and the adjusted corresponding relation.

In some embodiments, the determining module 113 includes an image acquiring unit, a calculating unit, and a determining unit, S31 may be implemented by the image acquiring unit, S32 may be implemented by the calculating unit, and S33 may be implemented by the determining unit. Or the image acquisition unit is used for acquiring a plurality of frames of images of the windshield on the vehicle. The calculating unit is used for calculating the proportion of the rain images in the multi-frame images. The determining unit is used for determining the control strategy of the windscreen wiper according to the proportion of the rain images and the adjusted corresponding relation.

in some embodiments, the vehicle 100 further includes a camera 11. The camera device 11 is used for shooting a vehicle windshield, and the processor is used for collecting images of multiple frames of windshields, calculating the proportion of rain images in the multiple frames of images, and determining the control strategy of the windscreen wiper 10 according to the proportion of the rain images and the adjusted corresponding relation.

specifically, the wiper cycle is a time interval in which the wiper blade 10 passes the same position twice in the same direction, and may be, for example, a time from one homing to the next homing of the wiper blade 10. Taking a wiper period as an example of a predetermined period, in actual operation, the camera device 11 continuously records a video on the windshield, and the processor 12 captures a certain number of frame images from the acquired video data at equal time intervals, that is, the time intervals between two adjacent frame images are equal.

During rainfall, the wiper 10 keeps the working gear constant or the rain force keeps basically constant but the wiper 10 works at different gears along with the change of the rain force, the time ratio that a user can see a road through a windshield is different, and during driving in rainy days, in order to ensure the driving safety, the time ratio that the user can see the road in a preset wiper period is ensured to be larger than a preset threshold value. In the embodiment, the ratio of the rainy image to the no-rain image in the predetermined wiper period is obtained to reflect the ratio of the time that the user can see the road clearly, and it can be understood that, in the predetermined period, the ratio of the rainy image is higher, and the ratio of the time that the user can see the road clearly is lower, at this time, the ratio of the rainy image needs to be reduced by adjusting the gear of the wiper, so that the ratio of the no-rain image is increased, and the ratio of the time that the user can see the road clearly meets the predetermined threshold. In some examples, one wiper cycle may be employed as the predetermined cycle. Of course, a plurality of wiper periods can be used as one wiper period, and the number of the wiper periods is proper, so that the situation that the rain is not judged correctly due to the overlong detection period is prevented.

Taking a wiper period as a preset period as an example, acquiring a plurality of frames of images in the wiper period, analyzing image data to obtain an image with rain and an image without rain in the images, and calculating the ratio of the image with rain, so that the ratio of the image with rain corresponds to the amount of rain. For example, a rain image having a duty ratio of less than 10% corresponds to light rain, a duty ratio of less than 30% corresponds to medium rain, a duty ratio of less than 50% corresponds to heavy rain, a duty ratio of less than 70% corresponds to heavy rain, a duty ratio of less than 80% corresponds to heavy rain, and a duty ratio of greater than or equal to 80% corresponds to heavy rain. It should be noted that the corresponding relationship between the ratio of the rain image and the rain amount in this embodiment is only an illustrative description, and is not limited specifically here. Further, in the embodiment in which the amount of rain corresponds to the number of changes in the operation position of the wiper blade 10, the ratio of the rain image corresponds to the number of up-down shift positions of the operation position of the wiper blade 10. For example, after adjustment, the relationship between the ratio of the rain image and the number of changes in the operating range is: the ratio of the rain images is less than 10%, and the working gear of the windscreen wiper 10 is determined to be lowered by 2. The rain ratio is more than or equal to 1/10 and less than 20%, and the working gear of the windscreen wiper 10 is determined to be reduced by 1 gear. The ratio of the rain image is more than or equal to 20% and less than 30%, and the working gear of the windscreen wiper 10 is determined to be kept unchanged. The ratio of the rain images is more than or equal to 30% and less than 40%, and the working gear of the windscreen wiper 10 is determined to be shifted up to 1. The ratio of the rain image is more than or equal to 40% and less than 50%, and the working gear of the windscreen wiper 10 is determined to be raised by 2. The ratio of the rain images is more than or equal to 50% and less than 60%, and the working gear of the windscreen wiper 10 is determined to be shifted up to 3. And determining that the working gear of the windscreen wiper 10 is shifted up to 4 when the ratio of the rain images is more than or equal to 60%. The number of changes between the ratio of the rain image and the operating range is only illustrative and is not particularly limited.

referring to fig. 5, in some embodiments, S32 includes:

S321: inputting the acquired image of the windshield into a preset target rainwater detection model;

S322: generating a rainwater probability characteristic diagram by adopting a target rainwater detection model;

s323: adopting a rainwater probability characteristic diagram to generate rainwater distribution data corresponding to each frame of image;

s324: setting a binarization threshold value to carry out binarization processing on the rainwater distribution data;

s325: and determining whether the current frame of image is a rain image according to the processing result.

in some embodiments, S321-S325 may be implemented by a computing unit, or the computing unit is configured to input the acquired image of the windshield into a preset target rainwater detection model, generate a rainwater probability feature map using the target rainwater detection model, generate rainwater distribution data corresponding to each frame of image using the rainwater probability feature map, set a binarization threshold value to perform binarization processing on the rainwater distribution data, and determine whether the current frame of image is a rainy image according to a processing result.

In some embodiments, the processor 12 is configured to input the acquired image of the windshield into a preset target rainwater detection model, generate a rainwater probability feature map using the target rainwater detection model, generate rainwater distribution data corresponding to each frame of image using the rainwater probability feature map, set a binarization threshold to perform binarization processing on the rainwater distribution data, and determine whether the current frame of image is a rainy image according to a processing result.

Specifically, referring to fig. 6, the image of the windshield acquired by installing the camera device in the vehicle may be acquired, or the image acquired by installing the camera device (such as a driving recorder) in the vehicle may be acquired. The camera device of the vehicle is installed right in front of the rear view mirror of the vehicle, and the light-colored portion may indicate the range of the windshield that the camera device can cover.

the processor 12 has an image algorithm module therein, which can receive the image data of the windshield collected by the camera device to analyze the rainwater distribution on the windshield.

Each frame of the multiple frames of images respectively corresponds to image data of the windshield collected by the windscreen wiper in a cleaning period, and the image data of each frame of the windshield corresponds to a frame of rainwater probability characteristic diagram for representing the rainwater distribution condition of the windshield in the current state.

The generation of a single-frame rain probability feature map is taken as an example for explanation. The preset target rain detection model can be a convolutional neural network model which is generated by pre-training and used for detecting rain, and the target rain detection model can be generated by deep learning convolutional neural network detection algorithm training.

in a specific implementation, the image data is input into a preset target rainwater detection model, and the preset target rainwater detection model is adopted to detect the probability of rainwater existing in the region corresponding to each pixel in the image data.

in this embodiment, the target rain detection model may be generated by:

Acquiring an image sample; the method comprises the steps that an image sample is generated by dividing image data of a windshield according to the size of a preset area, and the image sample comprises a training sample and a verification sample;

training a preset initial rainwater detection model by using a training sample to generate a candidate rainwater detection model;

Verifying the candidate rainwater detection model by using a verification sample, and calculating verification accuracy;

And when the verification accuracy is greater than a preset threshold value, determining the candidate rainwater detection model as a target rainwater detection model.

Wherein the image samples may be samples used for training a target rain detection model. The method comprises the steps of acquiring video data on a large number of windshields through a camera device deployed on a vehicle, obtaining image data by extracting key frames in the video data, and segmenting the image data according to the size of a preset area to obtain an image sample.

the preset region size may be a region of the divided image data set in advance to indicate a region size of the image sample. For example, the preset region size may be a region size corresponding to a square with a side length of m.

Further, in order to further improve the accuracy of the prediction probability of the target rainwater detection model, the image sample may be divided into two parts, one part is used as a training sample for training the target rainwater detection model, and the other part is used as a verification sample for verifying the target rainwater detection model. After the training sample is adopted to train the initial rainwater detection model to generate the candidate rainwater detection model, the verification sample can be adopted to verify the candidate rainwater detection model, and the verification accuracy rate is calculated.

When the verification accuracy is greater than a preset threshold value, the candidate rainwater detection model reaches the expectation, and the candidate rainwater detection model is determined as a target rainwater detection model; when the verification accuracy is smaller than or equal to the preset threshold, the verification result does not reach the expectation, the candidate rainwater detection model can be continuously trained, or the candidate rainwater detection model is discarded, and the substep is executed again: and training the preset initial rainwater detection model by adopting the training sample to generate a candidate rainwater detection model.

The rain probability feature map may be a grayscale map indicating a probability that rain exists in a region corresponding to each pixel in the detected image data, and the magnitude of the probability of the region corresponding to the pixel is expressed by 8 bits in an unsigned manner using a grayscale value. For example, solid black (gray scale value of 0) indicates a probability of 0%, and solid white (gray scale value of 255) indicates a probability of 100%.

Referring to fig. 7 and 8, in the present embodiment, the rain probability characteristic map is generated as follows:

generating a probability matrix of each frame of image data by adopting a target rainwater detection model, wherein the probability matrix comprises a probability value;

converting the probability value in the probability matrix into a gray value;

acquiring the original height, the original width and the original coordinate information of each frame of image data;

Respectively generating corresponding target height, target width and target coordinate information by adopting the original height, original width and original coordinate information of each frame of image data;

And generating a rainwater probability characteristic map by adopting the gray value, the target height, the target width and the target coordinate information.

specifically, each probability value in the probability matrix may be used to indicate a probability that rain exists in a region corresponding to a pixel.

In this embodiment, the probability value in the probability matrix output by the target rainwater detection model may be converted into a gray value.

specifically, the conversion relationship between the gray-scale value and the probability value can be expressed as follows:

where p represents the probability value and fc (p) represents the corresponding gray value.

For example, if the probability value is 0.6, the gray-scale value corresponding to the probability value is 255 × 0.6 ═ 153; if the probability value is 0.4, the gray scale value corresponding to the probability value is 255 × 0.4 — 102.

Further, after the gray value of the area corresponding to each pixel is determined, the target height and the target width of the rainwater probability feature map and the target coordinate information corresponding to each pixel in the rainwater probability feature map can be further determined.

specifically, assuming that, when training the target rain detection model, the preset region size for indicating the region size of the image sample is a square with a side length of m, the height-width relationship between the rain probability characteristic diagram and the image data may be expressed as:

(m∈N，s∈N)。

wherein, H is the original height of the image data, W is the original width of the image data, H 'is the target height of the rainwater probability characteristic diagram, and W' is the target width of the rainwater probability characteristic diagram. And s is the stride step size of the convolutional neural network in the target rainwater detection model, and the numerical value of the stride step size is determined by the overall structure of the convolutional neural network.

When the original height and the original width of the image data are known, the target height and the target width of the rain probability feature map can be determined by the height-width relationship between the rain probability feature map and the image data.

the original coordinate information comprises an original abscissa and an original ordinate, and the target coordinate information comprises a target abscissa and a target ordinate.

the coordinate relationship between the rain probability feature map and the corresponding pixel in the image data can be expressed as:

(m∈N，s∈N)。

Wherein x is an original abscissa of a pixel in the image data, y is an original ordinate of a pixel in the image data, x 'is a target abscissa of a corresponding pixel in the rain probability feature map, and y' is a target ordinate of a corresponding pixel in the rain probability feature map. And s is the stride step size of the convolutional neural network in the target rainwater detection model, and the numerical value of the stride step size is determined by the overall structure of the convolutional neural network. The target abscissa and the target ordinate of the corresponding pixel in the rain probability feature map and the image data can be determined by the coordinate relationship between the rain probability feature map and the corresponding pixel in the image data.

after determining the gray value, the target height, the target width and the target coordinate information, the gray value, the target height, the target width and the target coordinate information may be further used to generate a rainwater probability feature map.

After the rain probability feature map is generated, the rain probability feature map may be further employed to generate rain distribution data for the windshield.

In some examples, the rain water distribution data may be generated by:

carrying out binarization processing on the rainwater probability characteristic map to generate a rainwater distribution map;

And generating rainwater distribution data of the windshield by adopting the rainwater distribution map.

The binarization processing is to set the gray value of a pixel point of the rainwater probability characteristic map to be 0 or 255, so as to generate a rainwater distribution map, and the whole image of the rainwater distribution map has an obvious visual effect only including black and white.

Specifically, a binarization threshold may be set, the binarization threshold being used to indicate a critical gray value, the gray value of a pixel greater than the binarization threshold is set as a gray maximum value (i.e., a gray value of 255), and the gray value of a pixel less than the binarization threshold is set as a gray minimum value (i.e., a gray value of 0), thereby achieving binarization.

for example, if the binarization threshold is 120, and if the gray value of a certain pixel in the rain probability feature map is 130, and exceeds the binarization threshold, the gray value of the pixel is adjusted to be the maximum gray value 255, which is white. When the gray value of a certain pixel in the rain probability characteristic map is 40 and does not reach the binarization threshold value, the gray value of the pixel is adjusted to be 0, namely black.

In embodiments of the present invention, the rain profile may be used to generate rain distribution data for the windshield. In the rain distribution graph, more white coverage indicates more rain coverage, more black coverage indicates less rain coverage, and thus, whether an image is a rainy image can be determined according to the area ratio of black or white coverage, for example, when the white proportion in one frame of image is greater than 20%, the current frame of image can be considered as a rainy image.

further, each frame image in a predetermined wiper period may be judged, thereby calculating a ratio of the rain image therein.

in other embodiments, the detection of the rain condition of the windshield may also be implemented by a rain sensor, for example, an infrared rain sensor, a resistive rain sensor, a capacitive rain sensor, etc., which are not limited herein.

Referring to fig. 9, in some embodiments, S20 includes:

s21: comparing the change trends of the front working gear and the rear working gear of the windscreen wiper;

S22 a: if the working gear of the windscreen wiper is changed in the negative direction after being adjusted, the binaryzation threshold value is increased to reduce the proportion of the rain image;

S23 a: and resetting the corresponding relation between the rainfall in the first working mode and the working gear change quantity of the windscreen wiper according to the reduced proportion of the rain images.

in some embodiments, S21-S23a may be implemented by processing module 112. Or, the processing module 112 is configured to compare a variation trend of the working position of the wiper 10 before and after adjustment, increase a binarization threshold to reduce a proportion of the rain image when the working position of the wiper changes in a negative direction after adjustment, and reset a corresponding relationship between a rainfall amount in the first working mode and a variation amount of the working position of the wiper according to the reduced proportion of the rain image.

In some embodiments, the processor 12 is configured to compare the trend of the change of the operating position of the wiper blade 10 before and after adjustment, increase the binarization threshold to reduce the proportion of the rain image in the case of a negative change of the operating position of the wiper blade, and reset the corresponding relationship between the rainfall in the first operating mode and the change amount of the operating position of the wiper blade according to the reduced proportion of the rain image.

Specifically, in the present embodiment, the amount of rain corresponds to the number of changes in the operating range of the wiper blade 10, and the control strategy of the wiper blade is based on the ratio of the image determined to be rained to the entire image in a predetermined wiper cycle. The change trend of the working positions of the windscreen wiper before and after adjustment is that the change quantity of the working positions after adjustment is increased or reduced relative to the change quantity of the working positions before adjustment. When the operating position of the wiper blade is changed in the negative direction after adjustment, that is, the number of the changed operating positions is reduced, it can be considered that the wiper position provided by the wiper blade 10 in the first operating mode is too high relative to the current rainfall, and the increment of the wiper position is too large, that is, the ratio of the rain image is high at this time.

in actual operation, a new binarization threshold value can be iteratively calculated by adopting a dichotomy method, so that the ratio of the current rainfall to a new rain picture is obtained, and the change quantity of the corresponding new windscreen wiper gears is obtained. Specifically, for the current rainfall, the binarization threshold is increased, so that the rain image is reduced, and thus the proportion of the rain image in the predetermined wiper period is reduced, and the number of changes of the wiper blade 10 according to the new working gear, that is, the number of changes of the working gear after adjustment is reduced compared with the number of changes of the working gear before adjustment. For other rainfall, due to the change of the binarization threshold value, the proportion of the corresponding rain images can generate non-linear changes with the same direction, so that the time proportion that a user can see the road clearly in one wiper period is basically the same. For example, before adjustment, corresponding to the current rain amount, the ratio of the rain image in the predetermined wiper period is 40%, the control strategy in the first operating mode is to increase 2, the user manually decreases the current operating gear by 1, that is, increases 1, the change of the operating gear is a negative change or the change number of the operating gear is reduced, in this case, after the binarization threshold is increased, the ratio of the rain image in the predetermined period is decreased by 30%, so that the variable number of the operating gear corresponding to the new wiper in the current rain condition is increased by 1. Therefore, the control strategy of the adjusted windscreen wiper for the current rain condition is to increase 1 gear, so that the change quantity of the working gears of the windscreen wiper is the same as that of the windscreen wiper manually adjusted. For other rainfall, the proportion of the original rain image is correspondingly reduced, so that the number of the new windscreen wiper gears is changed. Further, the adjusted binarization threshold is stored in a memory. When the wiper blade 10 is restarted, the processor 12 will perform control of the wiper blade 10 according to the new binarization threshold.

further, in such an embodiment, S20 further includes:

S22 b: if the working gear of the windscreen wiper is changed in the positive direction after being adjusted, reducing a binarization threshold value to improve the proportion of the rain image;

s23 b: and resetting the corresponding relation between the rainfall in the first working mode and the working gear change quantity of the windscreen wiper according to the improved proportion of the rain images.

In some embodiments, S22b, S23b may be implemented by the processing module 112. Or, the processing module 112 is configured to, in a case that the operating range of the wiper blade is changed in the forward direction after adjustment, reduce the binarization threshold to increase the proportion of the rain image, and reset the corresponding relationship between the rainfall in the first operating mode and the number of changes in the operating range of the wiper blade according to the increased proportion of the rain image.

In some embodiments, the processor 12 is configured to decrease the binarization threshold value to increase the proportion of the rain image in the case of a positive change after the adjustment of the operating range of the wiper blade, and is configured to reset the corresponding relationship between the rainfall in the first operating mode and the change amount of the operating range of the wiper blade according to the increased proportion of the rain image.

specifically, when the operating position of the wiper blade is changed in the forward direction after adjustment, that is, the number of changes in the operating position is increased, it can be considered that the wiper position provided by the wiper blade 10 in the first operating mode is too low with respect to the current amount of rain, and the increment of the wiper position is too small, that is, the ratio of rain images is low at this time.

In actual operation, a new binarization threshold value can be iteratively calculated by adopting a dichotomy method, so that the ratio of the current rainfall to a new rain picture is obtained, and the change quantity of the corresponding new windscreen wiper gears is obtained. Specifically, for the current rainfall, the binarization threshold is lowered to increase the number of rain images, so that the proportion of rain images in the predetermined wiper period is increased, and the number of changes of the wiper blade 10 according to the new operating range, that is, the number of changes of the operating range after adjustment is increased compared with the number of changes of the operating range before adjustment. For other rainfall, due to the change of the binarization threshold value, the corresponding proportion of the rain images has the same direction and nonlinear change, thereby ensuring that the time proportion that a user can see the road clearly in one wiper period is basically the same. For example, before adjustment, corresponding to the current rainfall, the ratio of the rain images in the predetermined wiper period is 30%, the control strategy in the first working mode is to increase 2, the user manually increases the current working gear by 2, that is, by 4, the change of the working gear is a positive change or the change number of the working gear is increased, in this case, after the binarization threshold is reduced, the ratio of the rain images in the predetermined period is increased by 50%, so that the change number of the working gear of the new wiper corresponding to the current rain condition is increased by 4. Therefore, the control strategy of the adjusted windscreen wiper for the current rain condition is to increase 4 gears, so that the change quantity of the working gears of the windscreen wiper is the same as that of the manually adjusted windscreen wiper. For other rainfall, the proportion of the original rain image is correspondingly increased, so that the number of the new windscreen wiper gears is changed. Further, the adjusted binarization threshold is stored into a memory. When the wiper blade 10 is restarted, the processor 12 will perform control of the wiper blade 10 according to the new binarization threshold.

In addition, for different users, the number of operating range changes of different wipers 10 can be set to meet the demand for the same amount of rainfall. For example, the control strategy of the wiper blade 10 in the first operation mode is to increase the current rainfall by 1 gear, and the user a manually increases the current gear position of the wiper blade 10 by 1 gear, that is, by 2 gears. After the processing of the binarization threshold value and the adjustment of the corresponding relation, when the user a uses the wiper 10 again, the control strategy of the wiper 10 in the first working mode increases the working gear by 2 steps for the same rainfall.

And the user B manually decreases the current shift position of the wiper blade 10 by 1, i.e., the shift position is not increased or decreased. After the processing of the binary threshold value and the adjustment of the corresponding relation, when the user B uses the wiper blade 10 again, the control strategy of the wiper blade 10 in the first working mode is to keep the current working gear unchanged for the same rainfall.

Therefore, for different users, in the face of the same rainfall, the wiper 10 can output different control strategies according to the requirements of the users, so that the gear adjustment of the wiper 10 is more personalized.

Referring to fig. 10, in some embodiments, S20 includes:

S24: comparing the speed of the first windscreen wiper before the windscreen wiper is adjusted with the speed of the second windscreen wiper after the windscreen wiper is adjusted;

s25 a: if the first windscreen wiper speed is higher than the second windscreen wiper speed, reducing the first windscreen wiper speed corresponding to the current rainfall in the first working mode;

S26 a: and adjusting the corresponding relation between the rainfall and the speed of the windscreen wiper in the first working mode according to the corresponding relation between the reduced speed of the first windscreen wiper and the current rainfall.

In some embodiments, S24-S26a may be implemented with processing module 112. Or, the processing module 112 is configured to compare a first wiper speed before adjustment of the wiper with a second wiper speed after adjustment, reduce a first wiper speed corresponding to a current rainfall in the first working mode when the first wiper speed is greater than the second wiper speed, and adjust a corresponding relationship between the rainfall and the wiper speed in the first working mode according to a corresponding relationship between the reduced first wiper speed and the current rainfall.

in some embodiments, the processor 12 is configured to compare a first wiper speed before wiper adjustment with a second wiper speed after adjustment, and to decrease the first wiper speed corresponding to the current amount of rain in the first operation mode when the first wiper speed is greater than the second wiper speed, and to adjust the correspondence between the amount of rain in the first operation mode and the wiper speed according to the correspondence between the decreased first wiper speed and the current amount of rain.

specifically, in the present embodiment, the speed of the wiper blade 10 corresponds to the amount of rain, and the wiper blade speed corresponding to the amount of rain is adjusted in the control process. When the speed of the first wiper blade is greater than the second wiper blade speed, it can be considered that the wiper blade speed provided by the wiper blade 10 in the first operation mode is excessively high relative to the current amount of rain.

In actual operation, the speed of the first windscreen wiper corresponding to the current rainfall is reduced to the speed of the second windscreen wiper after manual adjustment. Meanwhile, the speed of the windscreen wiper corresponding to other rainfall is proportionally reduced. For example, the front wiper is adjusted to work at a first wiper speed c corresponding to the current rainfall, and the user manually adjusts the first wiper speed to a second wiper speed c'. And for other rainfall, adjusting the speed of the windscreen wiper corresponding to the rainfall according to the same proportional relation. Further, the corresponding relation between the adjusted rainfall and the wiper speed is stored in the memory again. When the wiper 10 is restarted, the processor 12 executes control of the wiper 10 according to the new correspondence.

In such embodiments, S20 includes:

S25 b: if the first windscreen wiper speed is lower than the second windscreen wiper speed, the first windscreen wiper speed corresponding to the current rainfall in the first working mode is increased;

s26 b: and adjusting the corresponding relation between the rainfall and the speed of the windscreen wiper in the first working mode according to the corresponding relation between the improved speed of the first windscreen wiper and the current rainfall.

In some embodiments, S25b, S26b may be implemented by the processing module 112. Or, the processing module 112 is configured to increase the first wiper speed corresponding to the current rainfall in the first working mode when the first wiper speed is lower than the second wiper speed, and adjust the corresponding relationship between the rainfall and the wiper speed in the first working mode according to the corresponding relationship between the increased first wiper speed and the current rainfall.

in some embodiments, the processor 12 is configured to increase the first wiper speed corresponding to the current rainfall in the first operation mode when the first wiper speed is less than the second wiper speed, and to adjust the correspondence between the rainfall and the wiper speed in the first operation mode according to the correspondence between the increased first wiper speed and the current rainfall.

Specifically, when the speed of the first wiper blade is smaller than the second wiper blade speed, it can be considered that the wiper blade speed provided by the wiper blade 10 in the first operation mode is excessively slow with respect to the current amount of rain.

in actual operation, the speed of the first windscreen wiper corresponding to the current rainfall is increased to the speed of the second windscreen wiper after manual adjustment. Meanwhile, the speed of the windscreen wiper corresponding to other rainfall is proportionally increased. For example, the front wiper is adjusted to work at a first wiper speed d corresponding to the current rainfall, and the user manually adjusts the first wiper speed to a second wiper speed d'. And for other rainfall, adjusting the speed of the windscreen wiper corresponding to the rainfall according to the same proportional relation. Further, the corresponding relation between the adjusted rainfall and the wiper speed is stored in the memory again. When the wiper 10 is restarted, the processor 12 executes control of the wiper 10 according to the new correspondence.

referring to fig. 11, in some embodiments, S20 includes:

s27: and adjusting the corresponding relation between the rainfall of the windscreen wiper in the first working mode and the control strategy of the windscreen wiper after the windscreen wiper works for a preset time by the adjusted control strategy.

In some embodiments, S27 may be implemented by processing module 112. Or, the processing module 112 is configured to adjust a corresponding relationship between the rainfall capacity of the wiper in the first operation mode and the control strategy of the wiper after the wiper 10 operates for a predetermined time with the adjusted control strategy.

in some embodiments, the processor 12 is configured to adjust the correspondence between the rain amount of the wiper blade in the first operation mode and the control strategy of the wiper blade after the wiper blade 10 operates for a predetermined time with the adjusted control strategy.

specifically, in operation, after the driver selects a preferred control strategy suitable for the current rainfall amount in the second operation mode and continues to use the shift position for a period of time, for example, 30s, it is considered that the driver is satisfied with the current control strategy of the wiper blade, and after the processor 12 performs the relevant processing, the corresponding relationship between the rainfall amount in the first operation mode and the control strategy of the wiper blade is reset. Therefore, when the user uses the first working mode after opening the wiper 10 again, the wiper 10 provides a proper wiper control strategy according to the adjusted corresponding relationship.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the control method of the wiper blade of any of the above embodiments.

The embodiment of the application also provides a vehicle. The vehicle includes a memory and one or more processors, one or more programs being stored in the memory and configured to be executed by the one or more processors. The program includes instructions for executing the control method of the wiper blade according to any one of the above embodiments.

The processor may be used to provide computational and control capabilities to support the operation of the entire vehicle. The memory of the vehicle provides an environment for the computer readable instructions in the memory to operate.

It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.

the above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.